1. A method of lane assignment in a vehicle, comprising the steps of: providing one or more trajectories, wherein the or each trajectory represents a time sequence of positions of a moving object; selecting one first object from the one or more moving objects and the vehicle, wherein a first lane assignment indicates a lane to which the first object is assigned; selecting one second object from the one or more moving objects; determining a distance between a current position of the first object and the trajectory of the second object; comparing the distance with a predefined threshold; and providing, based on the first lane assignment and a result of the comparison, a second lane assignment indicating a lane to which the second object is assigned.