Abstract: A method and a device for locating a vehicle from a fixed reference map in which objects are assigned one or more positions in the reference map. At successive points of a vehicle trajectory, in each case a radar impulse is emitted and subsequently, angle-resolved and time-resolved measurements of the radar impulse response are performed. Object positions are identified in the environment surrounding the vehicle from the radar impulse response, the current identified object positions forming an environment map. The vehicle position is identified in the reference map by comparing the environment map to the reference map, the reference map being created from the identified positions and is continuously updated. An object classification for the identified object positions in the current environment map and/or reference map is performed and the identification of the vehicle position is performed while taking the object classification into account.

Abstract: A method and a device for locating a vehicle from a fixed reference map in which objects are assigned one or more positions in the reference map. At successive points of a vehicle trajectory, in each case a radar impulse is emitted and subsequently, angle-resolved and time-resolved measurements of the radar impulse response are performed. Object positions are identified in the environment surrounding the vehicle from the radar impulse response, the current identified object positions forming an environment map. The vehicle position is identified in the reference map by comparing the environment map to the reference map, the reference map being created from the identified positions and is continuously updated. An object classification for the identified object positions in the current environment map and/or reference map is performed and the identification of the vehicle position is performed while taking the object classification into account.