Abstract: A method for environment scanning using LiDAR. The method includes: emitting a primary beam into an environment; receiving secondary beams reflected by objects in the environment; determining a multiple reflection value for each secondary beam; assigning each secondary beam a coordinate point in the environment; and providing a point cloud having the coordinate points, wherein, for each coordinate point, the multiple reflection value determined for the associated secondary beam is stored, wherein the multiple reflection value contains information regarding whether the associated secondary beam belongs to a group of multiple reflections.

Abstract: A method for ascertaining a spatial orientation of a trailer of an autonomously driving towing vehicle with trailer. In the method, sensor data of a plurality of different sensor types are processed, so that the trailer and objects in the environment are identified in the sensor data, the sensor data communicated by the various sensor types and processed in this way being combined with one another, and the movement path of the trailer relative to the objects in the environment being determined on the basis of these combined sensor data.

Abstract: A method for ascertaining a spatial orientation of a trailer of an autonomously driving towing vehicle with trailer. In the method, sensor data of a plurality of different sensor types are processed, so that the trailer and objects in the environment are identified in the sensor data, the sensor data communicated by the various sensor types and processed in this way being combined with one another, and the movement path of the trailer relative to the objects in the environment being determined on the basis of these combined sensor data.