Identification of unknown traffic objects

A computer-implemented method for generating training data for a machine learning (ML) algorithm configured for identification of at least one unknown traffic object on a road, the method comprising:

• obtaining, by a processing unit of a vehicle, sensor data from a sensor system of an ego vehicle travelling on the road, the sensor data comprising one or more images, captured by a vehicle-mounted camera, of a surrounding environment of the vehicle and information indicative of a speed of the ego vehicle and/or speed of at least one external vehicle;
• determining, by the processing unit, a presence of at least one unknown traffic object in the surrounding environment of the ego vehicle based on the obtained sensor data;
• determining, by the processing unit, a change of speed of the ego vehicle, and/or of the at least one external vehicle travelling on the road and being present in the surrounding environment of the ego vehicle, based on the obtained sensor data;
• wherein, said change of speed corresponds to a substantially consistent new vehicle speed which is maintained by the ego vehicle and/or by the at least one external vehicle for at least a predetermined period of time;
• and
• in an instance of a co-occurrence of the determined change of speed and the determined presence of the at least one unknown traffic object in the surrounding environment of the ego vehicle:
• automatically selecting and storing, by the processing unit, one or more images of the at least one unknown traffic object for forming a training data set for the ML algorithm configured for identification of the at least one unknown traffic object.