A computer-implemented tool for locating obstructing objects in vehicle roadway regions characterized by landmarks, comprising a nonvolatile readable memory in which processor-readable control program commands of a program module for locating obstructing objects are stored, and a processor that is connected to the memory and executes the control program commands of the program module for locating obstructing objects, in which
- a) primary sensor measurement data, detectable by at least one sensor of a vehicle sensor system, from a roadway region having at least one landmark and at least one obstructing object, the primary sensor measurement data belonging to at least one sensor measurement object that can represent one of the at least one landmark, and secondary sensor measurement data, belonging to at least one sensor measurement object that can represent one of the at least one obstructing object, is input into the processor, in particular read in by the processor or uploaded into the processor,
- b) stored landmark reference data, stored in particular in the form of map material, which represents the at least one landmark, is input into the processor, in particular read in by the processor or uploaded into the processor, wherein
- c) the processor and the program module for locating obstructing objects are designed in such a way that
- c1) the primary sensor measurement data and the secondary sensor measurement data are associated with the landmark reference data representing the at least one landmark for landmark association, wherein
- the data association between the primary sensor measurement data and the landmark reference data has been accomplished and consequently, by means of associated primary sensor measurement data, a landmark association for the at least one sensor measurement object is possible and therefore the respective landmark is represented by the associated primary sensor measurement data,
- the data association between the secondary sensor measurement data and the landmark reference data has not been accomplished and consequently a landmark association for the at least one sensor measurement object is impossible,
- d) sensor-capture-specific locating distances between the at least one non-associable sensor measurement object SMOHO and the at least one landmark represented by the respective associated primary sensor measurement data are ascertained on the basis of the associated primary sensor measurement data and the secondary sensor measurement data by putting sensor-capture-specific information items contained in the associated primary sensor measurement data and in the secondary sensor measurement data relating to the locating distances to be ascertained in a relationship with one another,
- e) the at least one obstructing object is located on a roadway in the roadway region, where it constitutes an obstacle for a vehicle, if the at least one non-associable sensor measurement object of can be associated with the roadway, either on the basis of the ascertained sensor-capture-specific locating distances, or on the basis of the ascertained sensor-capture-specific locating distances with the addition of the landmark of map material, which represents at least one reference object, in particular a noise protection wall on a road or an overhead line mast on a railroad track, of the vehicle roadway region, in addition to the at least one landmark, having a defined, constant distance from a roadway of the roadway region, and otherwise, if the at least one non-associable sensor measurement object cannot be associated with the roadway, the at least one obstructing object is located outside of the roadway in the roadway region, where it does not constitute an obstacle for the vehicle.