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

A method for creating a feature-based localization map for a vehicle, comprising the following steps:

• ascertaining data of at least one object in surroundings of the vehicle;
• identifying characteristic structures of the at least one object;
• combining the characteristic structures to form a simplification structure of the object;
• and
• incorporating the simplification structure into the feature-based localization map.

A device for creating a feature-based localization map for a vehicle, comprising:

• an ascertainment unit configured to ascertain data of at least one object in surroundings of the vehicle;
• an identification unit configured to identify characteristic structures of the at least one object;
• a combination unit configured to combine the characteristic sections to form a simplification structure of the object;
• and
• an incorporation unit configured to incorporate the simplification structure into the feature-based localization map.

A non-transitory computer-readable data carrier on which is stored a computer program including program code for creating a feature-based localization map for a vehicle, the program code, when executed by a computer, causing the computer to perform:

• ascertaining data of at least one object in surroundings of the vehicle;
• identifying characteristic structures of the at least one object;
• combining the characteristic structures to form a simplification structure of the object;
• and
• incorporating the simplification structure into the feature-based localization map.