FET is a controllable resistor by the voltage. When any of them is "on" (by high voltage from MCU) - the bottom lamp's end is connected to the GND via a FET's low resistance, and lamp is on.
So, R5 and R6 are connected between GND and +12V.
K = R6/(R5 + R6) = 10/43 = 0.23
So, MCU ADC can measure max voltage V = 0.23 * 12V ~ 2.8V.
But maybe here ADC is not needed, as 2.8V for 3.3V MCU is just the logical "1", high level that can be just "digitally read" in B4R.
When FET is closed (high resistance), lamp is off as both lamp's contacts are near 12V, so Vlamp ~0 V = low digital level (to be read by MCU).