The RoadGraph is a graph based environmental model for driver assistance systems. It integrates information from different sources like digital maps, onboard sensors and V2X communication into one single model about the vehicle's environment. At the moment of information aggregation some function independent situation analysis is done. In this paper we look at techniques for lane-precise map-matching even with moderate GPS reception using distinct information sources. We also analyze the

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... s of aggregating objects from different sources with a-priori knowledge of the street-layout. Results of this novelty approach are shown.