Abstract: Systems, methods, and apparatus are provided for compensating for an observation error when estimating a course of a road in an environment of a vehicle. A state function is obtained for mapping the estimated course of the road. Environment measurement data of the environment of the vehicle is obtained. Information about the observation error is captured. A transform is determined by transforming the state function or the environment measurement data based on the captured information about the observation error to compensate for the observation error. The estimated course of the road is adapted using the transform.

Abstract: Systems, methods, and apparatuses are provided for estimating a road profile in surroundings of a vehicle by using a state function that describes the road profile and a Bayes filter for adapting the state function based on surroundings measurement data. Sensor-captured surroundings measurement data is received. Information about an uncertainty regarding at least either the state function or the sensor-captured surroundings measurement data is received. The information is taken as a basis for adapting a state inaccuracy that influences an attenuation of the Bayes filter.