A technique for assigning lanes on a road to objects moving in a vicinity of a vehicle on the road is proposed. A method embodiment of the invention comprises the steps of providing trajectories, wherein the or each trajectory represents a time sequence of positions of a moving object; selecting first and second objects and 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 a result of the comparison, a lane assignment indicating a lane to which the second object is assigned.