Abstract: A method for generating a map display for vehicles. The method includes receiving vehicle sensor data; ascertaining poses of the vehicles based on the vehicle sensor data; generating subsets of the plurality of poses by combining poses of drives that have been carried out on an identical subsection of the route, a course of the respective subsection of the route being described by the vehicle sensor data assigned to the poses of every subset; generating sub-segments of the map display based on the subsets of the poses, for each subset a sub-segment being generated, and a course of the traffic lane within a sub-segment corresponding to one of the subsets being ascertained based on the poses of a subset; interpreting the sub-segments as nodes of a graph display of the map display and connecting sub-segments via edges of the graph display.