Method for estimating traffic lanes

A method for estimating traffic lanes uses as input data the position and direction of feature vectors, which are measured from multiple different sensors independently of one another. A feature vector is formed by a position in the coordinate system of the ego-vehicle, which position describes a point on the border of a traffic lane, and a direction or an angle which indicates the direction in which the border of the traffic lane runs at this position. Further input data are variables which represent the quality of the measurement of the positional and the directional accuracy and the probability of the existence of a feature vector. The input data are accumulated chronologically together. The geometry of traffic lanes is estimated from the accumulated input data, taking into account the quality of the measurement. The estimated geometry of traffic lanes is output.