A method for context based lane prediction, the method may include obtaining sensed information regarding an environment of the vehicle; providing the sensed information to a second trained machine learning process; and locating one or more lane boundaries by the second trained machine learning process. The second trained machine learning process is generated by: performing a self-supervised training process, using a first dataset, of a first machine learning process to provide a first trained machine learning process; wherein the first trained machine learning process comprises a first encoder portion and a first decoder portion; replacing the first decoder portion by a second decoder portion to provide a second machine learning process; and performing an additional training process, using a second dataset that is associated with lane boundary metadata, of the second machine learning process to provide a second trained machine learning process.