System for creating a vehicle surroundings model

A system for creating a surroundings model for a vehicle, the system comprising:

• at least one navigation unit configured to provide instantaneous position information for the vehicle and road segment information about at least one segment of road in front of the vehicle in time and space, wherein the navigation unit provides the road segment information in a digital map format, the road segment information comprising course information about a course of one of a road border and a lane marking of the at least one segment of the road;
• at least one sensor unit configured to detect at least one object and to provide relative position information indicative of a distance between the vehicle and the at least one object,
• wherein the system is configured to ascertain a geometry of the at least one segment of the road in front of the vehicle based on the course information, the geometry of the at least one segment of the road comprising geometry points distributed and representative of one of the road border and the lane marking, each geometry point comprising absolute position information,
• wherein the system is configured to merge absolute position information for the at least one object with information provided by the at least one navigation unit in the digital map format to create a vehicle surroundings model, the merging comprising:
• identifying a plurality of alternative points for the at least one object based on the relative position information, the plurality of alternative points being located on a circle around the vehicle, the circle having a radius that corresponds to a distance from the vehicle to the at least one object;
• identifying a respective alternative point of the plurality of alternative points for the at least one object based on an evaluation of the plurality of alternative points and geometry points, wherein the respective alternative point comprises absolute alternative point information corresponding to the absolute position information for the at least one object;
• and
• creating the vehicle surroundings model based on the geometry of a road and the absolute position information for the at least one object, where the vehicle surroundings model includes at least one object model representative of the at least one object, and
• wherein the vehicle is controlled based on the vehicle surroundings model.