System and Method for Map Matching

In one example, we describe a method, system, and infrastructure for dealing with lane-level matching problem, and provide different methods of estimating position corrections, position and map matched confidence, self-correcting map matching (i.e., Map Matching Algorithm (at lane-level)), and turning and lane change events. On the top of the described algorithms, the V2V data, when available, can be used to help the entire discussed algorithm steps. If the relative GPS accuracy between the host vehicle and the remote vehicles in the proximity of the host vehicle is enough to separate vehicle in lane, and there are enough vehicles to exist in all lanes of interest, then it becomes an easier job to determine which lane the host vehicle is in, and this can reflect very positively on all the above algorithm steps.