1. A method for determining road lane characteristics of a road, the method comprising: obtaining Lidar data of road markers on the road, and extracting road lane marker data from the Lidar data; accessing road map data; determining road segment node locations from the road map data, wherein the nodes are evenly spaced at an interval defined by δ o /2; searching for line segments lateral to the nodes, wherein the searching is performed over a rectangle defined by vectors of a length δ o /2; tying the Lidar generated road marker data to respective road segment node locations; applying particle filtering, using a dual particle filter, to the road lane marker data and road segment node locations to estimate road lane characteristics including at least one of a bicycle lane, a road exit, and a road entrance adjacent to the road; and generating a road lane map including the road lane characteristics.