Abstract: A method for environmental acquisition for acquiring the surrounding environment of a vehicle. Using a plurality of cameras and/or sensor devices, from at least two positions, images of the surrounding environment are produced, and on the basis of the images a free surface, as well as a contour bounding the free surface, are ascertained. Separately for each image and the contour determined on the basis of this image, for a multiplicity of points along the contour, feature vectors are calculated and entered into a one-dimensional array. Through matching of the one-dimensional arrays, correspondences are sought for which the three-dimensional position is subsequently ascertained by triangulation. A computing unit for carrying out at least individual method steps of the method is also described.

Abstract: A method for the automatic production and updating of a data set for an autonomous vehicle, in which at least one traffic light and a switching state of the at least one traffic light are registered; at least one road marking is ascertained; a trajectory of at least one vehicle traveling ahead is registered; and the collected data are used for producing and updating a data set, and based on the at least one detected trajectory, the at least one switching state of the at least one traffic light and the at least one ascertained road marking, at least one traffic lane is allocated to at least one traffic light. In addition, an autonomous or partially autonomous vehicle is described for carrying out the method.

Abstract: A method for calibrating a detection system. The detection system including at least one movable detection device. The method includes: ascertaining at least two possible different positions of the at least one movable detection device, precalibrating the at least one movable detection device based on each of the at least two possible positions, providing precalibration information for the at least two possible positions, —ascertaining an instantaneous positioning of the at least one movable detection device, ascertaining calibration information for the instantaneous position on the basis of the precalibration information, and calibrating the at least one movable detection device in the instantaneous position on the basis of the provided calibration information.

Abstract: A method for calibrating a detection system. The detection system including at least one movable detection device. The method includes: ascertaining at least two possible different positions of the at least one movable detection device, precalibrating the at least one movable detection device based on each of the at least two possible positions, providing precalibration information for the at least two possible positions, —ascertaining an instantaneous positioning of the at least one movable detection device, ascertaining calibration information for the instantaneous position on the basis of the precalibration information, and calibrating the at least one movable detection device in the instantaneous position on the basis of the provided calibration information.

Abstract: A method for environmental acquisition for acquiring the surrounding environment of a vehicle. Using a plurality of cameras and/or sensor devices, from at least two positions, images of the surrounding environment are produced, and on the basis of the images a free surface, as well as a contour bounding the free surface, are ascertained. Separately for each image and the contour determined on the basis of this image, for a multiplicity of points along the contour, feature vectors are calculated and entered into a one-dimensional array. Through matching of the one-dimensional arrays, correspondences are sought for which the three-dimensional position is subsequently ascertained by triangulation. A computing unit for carrying out at least individual method steps of the method is also described.

Abstract: A method for the automatic production and updating of a data set for an autonomous vehicle, in which at least one traffic light and a switching state of the at least one traffic light are registered; at least one road marking is ascertained; a trajectory of at least one vehicle traveling ahead is registered; and the collected data are used for producing and updating a data set, and based on the at least one detected trajectory, the at least one switching state of the at least one traffic light and the at least one ascertained road marking, at least one traffic lane is allocated to at least one traffic light. In addition, an autonomous or partially autonomous vehicle is described for carrying out the method.

Abstract: A method for ascertaining data of a traffic scenario having the steps: —detecting an environment of a vehicle with the aid of a sensor device; —detecting behaviors of road users with the aid of the sensor device; —combining and evaluating the detected data of the environment and the behaviors of the road users; and—storing the combined and evaluated data.