Abstract: A device for determining map data with respect to a route portion, configured to acquire a first set of first observations during a first trip along the route portion and a second set of second observations during a second trip along the route portion, determine values of a measure of similarity for different possible observation pairs each consisting of one first observation and one second observation, determine, on the basis of the values of the measure of similarity for different possible observation pairs, an overall association with one or more one-to-one associations between, in each case, one first observation from the first set and one second observation from the second set. The device is also configured to determine the map data with respect to the route portion on the basis of the overall association.

Abstract: A device estimates an actual trajectory of a vehicle. The device is designed to determine a sequence of measured position values over a corresponding sequence of times by use of a position sensor. The device is further designed to determine a sequence of odometry values on the basis of sensor data from one or more vehicle sensors. The device is also designed to determine, as an estimation of the actual trajectory of the vehicle, a sequence of estimated pose values for the sequence of times and a systematic position offset for the sequence of measured position values so that an optimization criterion is improved, in particular is optimized at least locally.

Abstract: A road having a lane includes a first and a second segment having no branch-offs, and a third segment, which lies between the first and second segments and in the range of which the road forms a single-level traffic junction with another road. A method for determining the course of the lane includes steps of determining driving trajectories of a plurality of motor vehicles in the lane in the range of the first and/or the second segment; determining the course of the lane in the range of the first and second segments on the basis of the driving trajectories; determining a probable driving trajectory of the motor vehicles in the range of the third segment on the basis of the determined course in the first and second segments; and determining the course of the lane in the range of the third segment.