Method and system for creating a lane-accurate occupancy grid map for lanes

A system for creating a lane-accurate occupancy grid map for lanes, the system comprising:

• at least one mobile device comprising:
• at least one camera for capturing an image sequence of an environment of the at least one mobile device,
• an evaluation unit, and
• a transmitting device for communicating with a map creation device,
• the evaluation unit identifies and classifies objects in the captured image sequence, determines object positions of the objects relative to the at least one mobile device, defines a section in the environment, the section having a predetermined size and predetermined boundaries, assigns identified and classified objects to the determined object positions in the defined section, determines a lane present in a section, transmits object information and the object positions of the identified and classified objects, section information relating to the defined section, lane information and an item of time information to the map creation device by the transmitting device, and
• repeats the preceding operations to define further sections of the environment;
• and
• the map creation device which:
• receives the object information and the object positions, the section information, the lane information and the time information for each of the sections from the at least one mobile device,
• compares the individual sections with one another based on the object information and object positions, the section information, the lane information and the time information,
• joins the sections of the at least one mobile device at their respectively adjacent boundaries, and
• merges the joined sections of the at least one mobile device to form a digital map,
• wherein the map creation device also determines a current lane occupancy for lanes in sections of the digital map by assigning the at least one mobile device to the determined lane based on the object information and object positions, section information, the lane information and the time information received from the at least one mobile device.