1. A method of determining a lane identity in a roadway in which a vehicle is traveling, the roadway including a plurality of lanes, the method comprising: obtaining, using one or more sensors, a lane marker type to a left side and to a right side of the vehicle at a current position of the vehicle or ahead of the current position of the vehicle in a forward direction of travel of the vehicle; obtaining, using one or more sensors, an instantaneous position of the vehicle on the roadway; determining, using map data, a number of lanes in the roadway at the instantaneous position of the vehicle; detecting, using one or more sensors, lane crossings of the vehicle between the plurality of lanes in the roadway; and generating a lane identification confidence belief indicating a probability that the vehicle is in a particular lane of the plurality of lanes of the roadway based on: any detected lane crossings, the number of lanes in the roadway, the lane marker type to a left side and to a right side of the vehicle at the current position of the vehicle or ahead of the current position of the vehicle in a forward direction of travel of the vehicle; and a weighted average of an instantaneous lane identification confidence belief and a lane identification confidence belief prior to a current sample time period.