Embodiments herein include an automated vehicle performing for identifying vehicles and lanes in roadway by an autonomy system of an automated vehicle. The autonomy system gathers image inputs from cameras or other sensors. The autonomy system assigns index values to the driving lanes and shoulder lanes, and then assigns the index values to the vehicles. The autonomy system generates data segments from the image data, corresponding to creating segments of an image, such that a single image is segmented for portions of the image, such as segmented outputs of each lane line or segmented outputs of portions of the vehicle. The autonomy system compares the segmented portions of the image to detect that a lane contains a vehicle.