Abstract: The disclosure relates to a method and to a server apparatus and to a motor vehicle for automatically mapping a surrounding area. In the method, the server apparatus creates a route network map of the surrounding area from odometry data from a fleet of respective motor vehicles. The server apparatus generates a mapping plan for mapping sections of the surrounding area. The mapping plan divides the surrounding area into multiple subareas and defines at least one subarea that is still to be mapped. The fleet vehicles are then iteratively instructed to collect surroundings data in accordance with the mapping plan only for subareas that are still to be mapped and to transmit said surroundings data to the server apparatus, and the mapping plan is accordingly updated based on the received surroundings data in order to avoid collecting and transmitting redundant surroundings data for subareas that have already been mapped.

Abstract: Systems and methods of evaluating parking spaces are provided, and in particular evaluating parking spaces in parking lots or parking garages, with regard to autonomous driving. This is accomplished by determining an accessible area of the parking space, and defining grid points in the accessible area. Features of the parking space are determined for each of the grid points, where each of the features is registrable from a respective one of the grid points. A quality value is obtained from an average number of features that is registrable from each of the grid points.

Abstract: The disclosure relates to a method and an assistance apparatus for supporting vehicle functions in a parking lot. Surroundings data are recorded and processed in order to recognize semantic and/or geometric objects, wherein the surroundings data depict the parking lot or represent same in the form of a point cloud. Data portions are extracted from the surroundings data, these data portions corresponding to semantic and/or geometric objects that have been classified as relevant to a parking maneuver and comprising pixels or data points that depict or represent the recognized semantic and/or geometric objects. Of the surroundings data, only the extracted data portions together with object data that, as a semantic and/or geometric attribution of the data portions, in each case indicate to which at least one semantic and/or geometric object the data portions correspond, are then sent to a server in order to automatically create an overall map.

Abstract: According to a method for self-localization of a vehicle, a first pose of the vehicle is determined in a map coordinates system, based on environment sensor data representing an environment of the vehicle, a landmark is detected in the environment, a position of the landmark is determined in the map coordinates system and a second pose of the vehicle is determined in the map coordinates system dependent on the position of the landmark. An assignment instruction is consulted, matching up the first pose with at last one preferred sensor type or at least one dominant landmark type. Depending on the assignment instruction, a first environment sensor system is activated and a second environment sensor system is deactivated, whereupon the environment sensor data are generated by means of the first environment sensor system.

Abstract: According to a method for self-localization of a vehicle, a first pose of the vehicle is determined. Environment sensor data are generated by means of an environment sensor device and on the basis of this a landmark is detected in the environment. A position of the landmark is determined and in dependence on this a second pose of the vehicle is determined. A memorized assignment instruction is consulted, matching up the first pose with at last one preferred sensor type or at least one dominant landmark type, and depending on this a first portion of the environment sensor data is selected that was generated by means of a first environment sensor system of the environment sensor device configured according to a first sensor type. For the detecting of the landmark, a first landmark detection algorithm is applied to the first portion of the environment sensor data.

Abstract: A method for detecting at least one intersection point of road marking lines, wherein a computing unit of a transportation vehicle receives a camera image and identifies a first road marking line based on the camera image. Using the computing unit, a search region is automatically defined in an environment of the first road marking line, and an automatic search limited to the search region is performed. At least one intersection point of the first road marking line with at least a second road marking line is identified as the result of the search.

Abstract: A method for providing map data which include position information for first landmarks of a first landmark class, collecting environment data, and determining a position of the mobile unit. Training data are generated and stored for the first landmarks based on the position of the mobile unit, the collected environment data and the position information. Based on the training data, a first detector module is generated for detecting the first landmark class. The position determination system includes a memory unit for providing map data which include position information for first landmarks of a first landmark class, a data acquisition unit for collecting environment data, a localization unit for determining a position of the mobile unit, and a processing unit for generating and storing training data based on the position of the mobile unit, the collected environment data and the position information for the first landmarks.

Abstract: To determine an absolute position of a vehicle, the vehicle is moved along a trajectory starting from the absolute initial position. The trajectory is sensed by odometry starting from a defined initial position, which is associated with the absolute initial position. Three objects are detected from the vehicle which is on the trajectory. At each detection, a detection beam is sensed. The trajectory with the detection beams are matched with a map. Finally, the absolute initial position is determined from the matching.

Abstract: According to a method for self-localization, a vehicle is detected by a vehicle-external sensor system of a parking infrastructure when it is located in a detection region of the vehicle-external sensor system. By way of a vehicle-external communication interface of the parking infrastructure, position information regarding the detection region is relayed in dependence on the detection of the vehicle to at least one vehicle computer unit and an initial pose of the vehicle is determined by the at least one vehicle computer unit in dependence on the position information.

Abstract: According to a method for self-localization of a vehicle, a first pose of the vehicle is determined. Environment sensor data are generated by means of an environment sensor device and on the basis of this a landmark is detected in the environment. A position of the landmark is determined and in dependence on this a second pose of the vehicle is determined. A memorized assignment instruction is consulted, matching up the first pose with at last one preferred sensor type or at least one dominant landmark type, and depending on this a first portion of the environment sensor data is selected that was generated by means of a first environment sensor system of the environment sensor device configured according to a first sensor type. For the detecting of the landmark, a first landmark detection algorithm is applied to the first portion of the environment sensor data.

Abstract: According to a method for self-localization of a vehicle, a first pose of the vehicle is determined in a map coordinates system, based on environment sensor data representing an environment of the vehicle, a landmark is detected in the environment, a position of the landmark is determined in the map coordinates system and a second pose of the vehicle is determined in the map coordinates system dependent on the position of the landmark. An assignment instruction is consulted, matching up the first pose with at last one preferred sensor type or at least one dominant landmark type. Depending on the assignment instruction, a first environment sensor system is activated and a second environment sensor system is deactivated, whereupon the environment sensor data are generated by means of the first environment sensor system.

Abstract: A method for determining landmarks in an environment of a vehicle is described that comprises capturing of initial environmental data, and determining a least a subset of the initial environmental data. The determined subset is assigned a category from a plurality of different categories. Depending on a landmark type, a category is determined, and landmark detection for the landmark type is carried out restricted to the subset of the determined category. A corresponding system for determining landmarks in an environment of a vehicle is also described.

Abstract: A method for providing map data which include position information for first landmarks of a first landmark class, collecting environment data, and determining a position of the mobile unit. Training data are generated and stored for the first landmarks based on the position of the mobile unit, the collected environment data and the position information. Based on the training data, a first detector module is generated for detecting the first landmark class. The position determination system includes a memory unit for providing map data which include position information for first landmarks of a first landmark class, a data acquisition unit for collecting environment data, a localization unit for determining a position of the mobile unit, and a processing unit for generating and storing training data based on the position of the mobile unit, the collected environment data and the position information for the first landmarks.

Abstract: In the method for determining landmarks in an environment of a vehicle, initial environmental data are captured, and a least a subset of the initial environmental data is determined. The determined subset is assigned a category from a plurality of different categories. Depending on a landmark type, a category is determined, and landmark detection for the landmark type is carried out restricted to the subset of the determined category. The system for determining landmarks in an environment of a vehicle comprises a capturing unit for capturing initial environmental data, a segmenting unit for determining at least a subset of the initial environmental data and for assigning a category from a plurality of different categories to the determined subset, and a computing unit for determining a category depending on a landmark type, and for carrying out landmark detection for the landmark type.