1. A method performed by a positioning system of a vehicle for determining a position of the vehicle along a road, the road comprising one or more road markings arranged on a surface of the road, the method comprising: detecting a plurality of road markings; matching road markings of the plurality of road markings with mapped road markings of stored map data based on comparing detected characteristics of the plurality of road markings with mapped characteristics of the mapped road markings; identifying a mapped identified road marking determined to correspond with a detected identified road marking of the plurality of road markings; and determining a positioning estimate of the vehicle along the road based on a mapped road marking position associated with the mapped identified road marking.