Method for creating a feature-based localization map for a vehicle taking into account characteristic structures of objects

A device for creating a feature-based localization map for a semi-autonomous and/or autonomous vehicle, comprising:

• an ascertainment unit to ascertain data of at least one object in surroundings of the semi-autonomous and/or autonomous vehicle;
• an identification unit to identify characteristic structures of the at least one object, wherein the ascertainment unit is functionally connected to the identification unit;
• a combination unit to combine the characteristic sections to form a simplification structure of the object, wherein the combination unit is functionally connected to the identification unit;
• and
• an incorporation unit to incorporate the simplification structure into the feature-based localization map, wherein the combination unit is functionally connected to the incorporation unit;
• wherein the ascertainment unit, the identification unit, the combination unit, and the incorporation unit are included in an electronic device having a processor, and
• wherein the at least one feature-based localization map includes a plurality of sensor-based localization maps, wherein the sensor-based localization maps are consolidated and include punctiform objects and objects having arbitrary structures and shapes, which are represented in the form of simplification structures, so that data volumes are reduced based on the consolidated radar-based localization maps, and wherein localization results are improved using object representations based on the simplification structures, wherein the punctiform objects include multiple points.

A non-transitory computer-readable medium, on which is stored a computer program, which is executable by a processor, comprising:

• a program code arrangement having program code for creating a feature-based localization map for a semi-autonomous and/or autonomous vehicle, by performing the following:
• ascertaining, via an ascertainment unit, data of at least one object in surroundings of the semi-autonomous and/or autonomous vehicle;
• identifying, via an identification unit, characteristic structures of the at least one object, wherein the ascertainment unit is functionally connected to the identification unit;
• combining, via a combination unit, the characteristic structures to form a simplification structure of the object, wherein the combination unit is functionally connected to the identification unit;
• and
• incorporating, via an incorporation unit, the simplification structure into at least one feature-based localization map, wherein the combination unit is functionally connected to the incorporation unit;
• wherein the ascertainment unit, the identification unit, the combination unit, and the incorporation unit are included in an electronic device having the processor, and
• wherein the at least one feature-based localization map includes a plurality of sensor-based localization maps, wherein the sensor-based localization maps are consolidated and include punctiform objects and objects having arbitrary structures and shapes, which are represented in the form of simplification structures, so that data volumes are reduced based on the consolidated radar-based localization maps, and wherein localization results are improved using object representations based on the simplification structures, wherein the punctiform objects include multiple points.