Method and device for supporting creation of height map, and server and method for creating height map

Abstract

The invention relates to a method for providing support during the creation of a height map, comprising the following steps: detecting the surroundings of a land vehicle, in particular a motor vehicle or a rail vehicle, and ascertaining image data based on the detection by means of a camera device of the land vehicle, a height of a location in the surroundings of the land vehicle relative to a reference location is ascertained on the basis of the image data, and the ascertained height of the location is transmitted via a communication network to a remote map server for providing support for the remote map server during creation of a height map. The present invention relates to a method of providing support in creating a height map, a device of providing support in creating a height map, a land vehicle, a map server for creating a height map, a method of creating a height map, a computer program and a machine-readable storage medium.

Description

Technical Field

[0001] The invention relates to a method for providing support when creating a height map, a device for providing support when creating a height map, a land vehicle, a map server for creating a height map, a method for creating a height map, a computer program and a machine-readable storage medium. Background Art

[0002] Patent document US Pat. No. 8,825,391 B1 discloses a method of creating a height map using a laser.

[0003] Patent document US Pat. No. 11,067,994 B2 discloses the creation of a height map. Summary of the invention

[0004] The object of the present invention is to provide a method which provides support in the creation of a height map.

[0005] The invention is also based on the object of providing a device which provides support in the creation of a height map.

[0006] The invention is also based on the object of providing a land vehicle.

[0007] The invention is also based on the object of providing a map server for creating a height map.

[0008] The invention is also based on the object of providing a method for creating a height map.

[0009] The invention is also based on the object of providing a computer program.

[0010] The invention is also based on the object of providing a machine-readable storage medium.

[0011] These objects are solved by a method according to the invention for providing support in creating a height map, a device according to the invention for providing support in creating a height map, a land vehicle according to the invention, a map server according to the invention for creating a height map, a method according to the invention for creating a height map, a computer program according to the invention and a machine-readable storage medium according to the invention. Advantageous embodiments of the invention are described below.

[0012] According to a first aspect, a method for providing support in creating a height map is provided, comprising the following steps:

[0013] detecting the surroundings of a land vehicle, in particular a motor vehicle or a rail vehicle, and determining image data based on the detection by means of a camera device of the land vehicle,

[0014] Determine the height of a location in the surroundings of the land vehicle relative to a reference location based on the image data,

[0015] The obtained height of the location is sent to the remote map server via the communication network to provide support to the remote map server when creating a height map.

[0016] According to a second aspect, there is provided an apparatus for providing support in creating a height map, comprising:

[0017] a camera device which is configured to detect the surroundings of a land vehicle, in particular a motor vehicle or a rail vehicle, and to ascertain image data based on the detection,

[0018] a determination device which is configured to determine, based on the image data, a height of a location in the surroundings of the land vehicle relative to a reference location,

[0019] A communication device is configured to send the obtained height of a location to a remote map server via a communication network, so as to provide support to the remote map server when creating a height map.

[0020] According to a third aspect, a land vehicle, in particular a motor vehicle or a rail vehicle, is provided, comprising a device according to the second aspect.

[0021] According to a fourth aspect, there is provided a map server for creating a height map, comprising:

[0022] a communication device, which is configured to receive an ascertained height of a location in the surroundings of the ground vehicle from a ground vehicle, in particular a motor vehicle or a rail vehicle, via a communication network,

[0023] A processor device is configured to create a height map based on the determined heights.

[0024] According to a fifth aspect, there is provided a method for creating a height map using the map server according to the fourth aspect, comprising the following steps:

[0025] receiving, by means of a communication device via a communication network, an ascertained altitude of a location in the surroundings of the land vehicle, in particular a motor vehicle or a rail vehicle,

[0026] A height map is created based on the obtained heights by a processor device.

[0027] According to a sixth aspect, there is provided a computer program comprising instructions, which, when executed by a computer, cause the computer to perform the method according to the first aspect and / or according to the fifth aspect.

[0028] According to a seventh aspect, there is provided a machine-readable storage medium on which is stored the computer program according to the sixth aspect.

[0029] The present invention is based on and includes the recognition that the above-mentioned task is solved in the following way: On the land vehicle side, a camera device of the land vehicle is used to detect the surroundings of the land vehicle, wherein, based on the detection, the height of the location of the surroundings of the land vehicle relative to the reference location is determined. The determined height is sent from the land vehicle to a remote map server via a communication network, so that the remote map server can create a height map based on this information. In the above-mentioned prior art, a laser is used to create a height map. In contrast, the camera device is less expensive and technically simpler to implement. Typically, today's motor vehicles are already equipped with a camera device, for example for detecting the surroundings for driver assistance functions, such as lane keeping assistance. Therefore, a camera device that has already been installed in a motor vehicle can be used to create a height map. Therefore, the camera device that has already been installed in the land vehicle can be efficiently utilized. Therefore, it is not necessary to use an additional laser as used in the above-mentioned prior art.

[0030] Therefore, the height of a location in the surroundings of the land vehicle relative to a reference location can be efficiently determined on the land vehicle side, thereby efficiently supporting the map server when creating a height map, so that the map server can efficiently create a height map.

[0031] In one embodiment of the method according to the first aspect, the height of a location is calculated using the following formula: e=l*cosβ*tanα, wherein e is the height of the location, wherein l is the depth of the location relative to the video camera, wherein β is the inclination angle of the camera, and wherein α is the complementary angle of the angle between the horizon and the surface normal at the location whose height is to be calculated.

[0032] This results in the technical advantage that, for example, the altitude of a location can be efficiently determined.

[0033] In one embodiment of the method according to the first aspect, it is provided that the current position of the land vehicle is obtained based on the image data, wherein a data set is obtained, the data set comprising the current position of the land vehicle and the obtained height, wherein the data set is sent to a remote map server via a communication network.

[0034] This results in the following technical advantages, for example, that the current position of a land vehicle can be efficiently determined, wherein by sending the current position to a remote map server, the remote map server can be efficiently supported in the creation of a height map, provided that the remote map server has additional information, namely the current position, available for the creation of the height map. In particular, when the map server receives a large number of respectively determined heights and the respective current positions of the land vehicles from a large number of land vehicles, this additional information can be efficiently used in the creation of the height map.

[0035] In one specific embodiment of the method according to the first aspect, it is provided that landmarks in the surroundings of the land vehicle are identified based on the image data, and the current position of the land vehicle is ascertained based on the landmarks.

[0036] This results in the technical advantage that, for example, the current position of the land vehicle can be efficiently determined.

[0037] Landmarks are, for example, infrastructure elements such as signal light devices, traffic signs, buildings, bridges, street lights, utility poles, columns, masts. Landmarks are, for example, plants or trees or bushes.

[0038] In one embodiment of the method according to the first aspect, multiple heights of multiple locations in the surroundings of the land vehicle relative to a reference location are packaged in a data block, which is sent to a remote map server via a communication network.

[0039] This results in the technical advantage that, for example, the determined height can be efficiently transmitted to a remote server.

[0040] The camera is, for example, a video camera. The image data includes, for example, video images.

[0041] A communication device in the sense of this specification comprises, for example, one or more communication interfaces. A communication interface is, for example, a wireless communication interface or, for example, a wired communication interface. A wireless communication interface is, for example, a WLAN interface or, for example, a mobile radio network interface. A wired interface is, for example, an Ethernet interface.

[0042] A communication network in the sense of the present description comprises, for example, a wireless communication network, for example a WLAN network or, for example, a mobile radio network, and / or a wired communication network, for example an Ethernet communication network.

[0043] The remote map server is implemented, for example, in a cloud infrastructure.

[0044] A land vehicle in the sense of the present description is, for example, one of the following land vehicles: a motor vehicle, such as a passenger car or a truck or a motorcycle, or a rail vehicle, such as a train, a tram or a rail bus.

[0045] Thus, the land vehicle is, for example, a road vehicle or, for example, a rail vehicle.

[0046] The embodiments made in conjunction with the method according to the first aspect apply in an analogous manner to the device according to the second aspect, the land vehicle according to the third aspect, the map server according to the fourth aspect and the method according to the fifth aspect, and vice versa.

[0047] This means that the technical functionality of the method according to the first aspect is derived from the corresponding technical functionality of the device according to the second aspect, the land vehicle according to the third aspect, the map server according to the fourth aspect and the method according to the fifth aspect, and vice versa.

[0048] The embodiments and implementation examples described here can be combined with one another in any desired manner and method, even if this is not explicitly described.

[0049] A method in the sense of this description is, for example, a computer-implemented method.

[0050] When the term "map" is used in this specification, it should always be understood to include the height map. This means that the height map can also be simply represented as a map. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The present invention is explained in more detail below with the help of preferred implementation examples. Here is shown:

[0052] Figure 1 According to the flowchart of the method of the first aspect,

[0053] Figure 2 According to the device of the second aspect,

[0054] Figure 3 According to the land vehicle of the third aspect,

[0055] Figure 4 According to the map server of the fourth aspect,

[0056] Figure 5 According to the flowchart of the method of the fifth aspect,

[0057] Figure 6 According to the machine-readable storage medium of the seventh aspect,

[0058] Figure 7 Motor vehicles travelling on multi-lane highways,

[0059] Figure 8 Example implementations of the concepts described here for creating or supporting heightmaps.

[0060] Fig. 9The first block diagram,

[0061] Fig.10 The second block diagram, and

[0062] Figure 11-13 They are motor vehicles traveling on the road.

[0063] The same reference numerals may be used below for the same features. DETAILED DESCRIPTION

[0064] Figure 1 A flowchart showing a method for providing support in creating a height map, comprising the following steps:

[0065] Detecting 101 the surroundings of a land vehicle, in particular a motor vehicle or a rail vehicle, and ascertaining image data based on the detection by means of a camera device of the land vehicle,

[0066] determining 103 a height of a location in the surroundings of the land vehicle relative to a reference location based on the image data,

[0067] The height of the location obtained is sent 105 to a remote map server via a communication network to provide support to the remote map server when creating a height map.

[0068] Figure 2 An apparatus 201 for providing support in creating a height map is shown, comprising:

[0069] a camera device 203, which is configured to detect the surroundings of a land vehicle, in particular a motor vehicle or a rail vehicle, and to determine image data based on the detection,

[0070] a determination device 205 which is configured to determine, based on the image data, a height of a location in the surroundings of the land vehicle relative to a reference location,

[0071] The communication device 207 is configured to send the obtained height of the location to the remote map server via the communication network, so as to provide support to the remote map server when creating a height map.

[0072] Figure 3A motor vehicle 301 is shown as an example of a land vehicle within the meaning of the present specification. The motor vehicle 301 comprises a device 303 for providing support when creating a height map. The device 303 comprises a camera device 305, which is configured to detect the surroundings of the motor vehicle 301 and to obtain image data based on the detection. The device 303 further comprises an obtaining device, which is configured to obtain the height of a location in the surroundings of the motor vehicle 301 relative to a reference location based on the image data. The device 303 further comprises a wireless communication interface 309 as an example of a communication device within the meaning of the present specification, wherein the wireless communication interface 309 is configured to send the obtained height of the location to a remote map server via a communication network, for providing support to the remote map server when creating a height map.

[0073] The ascertainment device in the sense of this description is integrated, for example, in the camera device. This means that, according to one embodiment, it can be provided that the camera device itself ascertains the height of a location in the surroundings of the land vehicle relative to a reference location based on the image data.

[0074] exist Figure 2 and Figure 3 , the determination device 205 or 307 is shown outside the camera 203 or 305. This is not restrictive. The determination device 205 can be implemented in the camera 203. The determination device 307 can be implemented in the camera 305, for example.

[0075] The step of ascertaining the height of a location in the surroundings of the land vehicle relative to a reference location based on the image data can therefore be performed on the camera device side, ie within the camera device.

[0076] Figure 4 A map server 401 for creating a height map is shown, comprising:

[0077] a communication device 403, which is configured to receive, via a communication network, from a land vehicle, in particular a motor vehicle or a rail vehicle, a determined height of a location in the surroundings of the land vehicle relative to a reference location,

[0078] A processor device 405 is configured to create a height map based on the determined heights.

[0079] The processor device 405 includes, for example, one or more processors.

[0080] The map server 401 is, for example, part of a cloud infrastructure, which may be simply abbreviated as just the cloud.

[0081] Figure 5A flowchart showing a method for creating a height map using a map server according to the fourth aspect is shown, comprising the following steps:

[0082] receiving 501 an ascertained height of a location in the surroundings of the land vehicle relative to a reference location from a land vehicle, in particular a motor vehicle or a rail vehicle, by means of a communication device via a communication network,

[0083] A height map is created 503 by a processor device based on the determined heights.

[0084] Figure 6 A machine-readable storage medium 601 is shown, on which a computer program 603 is stored. The computer program 603 comprises instructions, which, when executed by a computer, cause the computer to perform the method according to the first aspect and / or according to the fifth aspect.

[0085] The device according to the second aspect is, for example, programmed to execute a computer program according to the sixth aspect in an embodiment in which the computer program comprises instructions which, when executed by a computer, cause the computer to execute the method according to the first aspect.

[0086] The map server is programmed, for example, to execute the computer program according to the sixth aspect if the computer program in one embodiment comprises instructions which, when executed by a computer, cause the computer to execute the method according to the fifth aspect.

[0087] This means that the computer program is or can be executed, for example, on the apparatus according to the second aspect if the computer comprises instructions which, when the computer program is executed by the computer, cause the computer to perform the method according to the first aspect.

[0088] The computer program can be executed, for example, by a map server or by a map server, as long as the computer program includes the following instructions: when the computer program is executed by a computer, these instructions cause the computer to execute the method according to the fifth aspect.

[0089] Figure 7 A motor vehicle 701 is shown while traveling on a multi-lane highway 703. The motor vehicle 701 includes an apparatus according to the second aspect, which is not shown for clarity. The motor vehicle 701 detects its environment using a camera. Exemplary landmarks 705, 707 are located on the right side of the highway 703 relative to the direction of travel of the motor vehicle 701. For example, the landmark 705 is a speed limit sign. For example, the landmark 707 can be an electronic traffic sign that can indicate traffic information.

[0090] Motor vehicle 701 can determine the height of a location in the surroundings of the land vehicle relative to a reference location based on the concepts described herein and send this information to the cloud 709 where a map server according to the fifth aspect is implemented.

[0091] Figure 8 Exemplary implementations of the concepts described herein are presented.

[0092] Shown are a plurality of buses 801, trams 803 and trucks 805 in the form of garbage trucks. All of these vehicles are land vehicles in the sense of the present specification and can, for example, be equipped with an apparatus according to the second aspect so that these vehicles can efficiently provide support to a remote map server when creating a height map. These land vehicles 801, 803, 805 can send the corresponding determined heights to a cloud 807, where a map server can be implemented. The data or information received via the cloud 807 can be further processed, for example, in an artificial intelligence 809, for creating a height map. Subsequently, the height map can be sent back from the cloud 807 to the land vehicles 801, 803, 805. These land vehicles can use the height map for the execution of the method according to the first aspect.

[0093] The land vehicles 801 , 803 , 805 comprise a camera device 809 for detecting the respective surroundings, as described above and / or below, for determining the height of a location in the surroundings relative to a reference location.

[0094] Fig. 9 A first block diagram 901 is shown which should exemplarily explain the concepts described herein.

[0095] According to the first block diagram 901 , a land vehicle 903 and a cloud 905 are set, and a map server is implemented in the cloud.

[0096] The land vehicle 903 includes a video camera 906 and an IoT gateway 907 (IoT stands for Internet of Things).

[0097] According to detection functional block 909, the surroundings of land vehicle 903 are detected so that, for example, the angle of the road surface can be determined and landmarks such as road markings or road edges, which are necessary for calculating the height of a location relative to a reference location, can also be detected.

[0098] According to the temporal aggregation functional block 911, detected landmarks are tracked via the video images and the detections from the video images are aggregated into an average value, which improves accuracy and reduces communication bandwidth to the cloud.

[0099] According to the mapping function block 913, the data is packed in blocks and sent to the IoT gateway 907. In addition, according to the mapping function block 913, an already existing height map (reference map) 923 is used so that already mapped landmarks are known and can be used for the detection of corresponding landmarks in the video image.

[0100] The positioning function block 915 uses GPS coarse coordinates 917, the self-motion 921 of the land vehicle estimated by the self-motion function block 919, the reference map 921 received from the cloud 905 via the mobile radio interface 925, especially the LTE interface, and the video image obtained by the detection function block 909 to accurately locate the vehicle (land vehicle) in the global map.

[0101] The cloud 905 performs aggregation 927 of the data (ie the determined heights of locations) from all land vehicles equipped with the apparatus according to the second aspect for creating a height map.

[0102] Aggregation includes, for example, mapping. The created height map is stored, for example, according to functional block 929, for use thereof, for example, in visualization and other services according to functional block 931.

[0103] Inertial sensor data 933 of the inertial sensors of the land vehicle are provided to the self-motion functional block 919, based on which the self-motion 921 can be estimated.

[0104] Fig.10 A second block diagram 1001 based on the first block diagram 901 is shown.

[0105] Reference numeral 1003 designates a frame, i.e. a video image of the video camera 906, which is used for the self-motion functional block 919. According to functional block 1005, landmarks for localization are extracted from the video image 1003. In general, information 1007 can be extracted from the video image 1003, such as: objects, landmarks, vehicles, pedestrians, cyclists.

[0106] According to function block 1009 , the surface of the road or lane is ascertained based on video image 1003 . On this basis, according to function block 1011 , the height of a location in the surroundings of land vehicle 903 relative to a reference location is ascertained.

[0107] The determined height and the current position of the land vehicle 903 are packed into a data block 1013 and sent to the cloud 905. There, the data blocks sent by a large number of land vehicles are integrated into the already existing height map. The height map created in this way can be visualized, for example, according to the function block 1015.

[0108] Fig.11A motor vehicle 1101 is shown traveling on a road 1103. Reference numeral 1105 denotes a reference point on the road 1103. Reference numeral 1107 denotes a point whose height is to be determined. Vehicle 1101 includes a camera 1109 which can detect the area in front of motor vehicle 1101. For example, the height e of point 1107 relative to reference point 1105 can be determined as follows using the image data of camera 1109:

[0109]

[0110] Here, e represents the height of the location 1107 relative to the reference location 1105. l is the depth of the location relative to the camera 1109. β is the tilt angle of the camera. α is the supplementary angle of the angle between the horizon and the surface normal 1111 at the location 1107.

[0111] Fig.12 Another motor vehicle 1201 is shown traveling on a road 1203. The motor vehicle 1201 includes a camera 1205. Reference numeral 1207 shows the y-axis of the camera coordinate system. Reference numeral 1209 shows the z-axis of the camera coordinate system, wherein the z-axis 1209 is collinear with the optical axis 1211 of the camera 1205.

[0112] Reference numeral 1213 shows the y-axis of the road coordinate system. Reference numeral 1215 shows the z-axis of the road coordinate system. Here, the z-axis 1215 is parallel to a tangent line 1217 at the instant or current position of the motor vehicle 1201 .

[0113] The location whose height is to be determined is identified by reference numeral 1219 .

[0114] The virtual image plane is denoted by reference numeral 1221 . The image point of location 1219 in virtual image plane 1221 is denoted by reference numeral 1223 .

[0115] The angle between the optical axis 1221 or the z-axis 1209 of the camera coordinate system and the z-axis 1215 of the road coordinate system is denoted by reference numeral 1225. This angle 1225 is the tilt angle of the camera.

[0116] Fig.13Another motor vehicle 1301 is shown traveling on a road 1303. Motor vehicle 1301 comprises a camera 1304. Reference numeral 1305 denotes the location whose height is to be determined and which is below the current height of motor vehicle 1301. In this case, the height relative to the current position of motor vehicle 1301 is therefore negative. Reference numeral 1307 denotes the distance between camera 1304 and location 1305. Reference numeral 1309 denotes the height of location 1305 relative to the current position of motor vehicle 1301 (which current position is therefore a relative location). Distance 1307 may be, for example, 10 m.

[0117] Vehicles equipped with the device travel in a city, for example, and determine the local altitude, for example. They report their own position cyclically by precise positioning, so that the altitude can be integrated into an already existing altitude map as a global altitude in the cloud.

[0118] The function block "Object / Landmark Detection" identifies, for example, relevant map elements (e.g. road markings, road signs, masts, etc.) that are useful for storage in an HD map (HD: High Definition, i.e. high resolution). This map can then be used, for example, for autonomous driving, map services (e.g. information about wrong-way drivers, hazards) or smart city management (e.g. height maps, traffic density, etc.). Among other things, this map is one of the two inputs to the localization function block.

[0119] The localization block is a block that can be run on a video camera or an IoT gateway. The localization problem is part of SLAM (Simultaneous Localization and Mapping). An initial rough position is used from the GPS input. Then, for example, existing maps (consisting of landmarks that have been measured by multiple vehicles during a large number of trips) and online observations (landmarks identified during the current trip) are used. The exact position of the vehicle is determined, for example, from the overlap of these two inputs.

[0120] Ego motion estimation accurately detects the 6DOF (degree of freedom) of the vehicle's own motion. This is used for trajectory estimation, cross-frame tracking, etc.

[0121] In short, a vehicle traveling on a road can estimate the height profile of the road surface with the help of optical flow. In the form of a function s(z). This means that the height e at each point of the road can be calculated. For example, z = 10m. This height estimate is the result of multiple image measurements and cross-image tracking, and has high accuracy.

[0122] The local altitude calculation block reads the altitude value every meter at depth z(10). The distance traveled comes from the ego-motion estimation (e.g. fusion of vehicle CAN input from optical motion recognition and other sensors).

[0123] According to the data packing function, multiple height measurements and their associated positions from the positioning function can be packed together into a larger data block (eg 4 kBytes).

[0124] Aggregating this information and integrating it into an already existing altitude map ensures alignment between multiple trips on the same road and the recording of new altitude values.

[0125] The alignment problem of multiple driving vehicles is solved in conjunction with the creation of HD maps for autonomous driving. In short, multiple road maps are coordinated with each other using PGO (Pose Graph Optimization).

[0126] For example, new height values ​​contribute to existing values ​​in a weighted manner. It is also possible to exclude outliers in the height map.

[0127] For example, a land vehicle is equipped with a front camera, with the aid of which the surroundings or environment of the land vehicle can be detected and analyzed inside the land vehicle for understanding the surroundings, for example by using different technologies in parallel (e.g., classical computer vision, machine learning, deep neural networks, optical flow and motion structure). This ensures undisturbed safety, as well as higher recognition performance and stability. The wide range of possibilities for recognition performance, but mainly for environmental measurement, brings about versatility (multiple types of data can be accurately detected using the same sensor).

[0128] Some recognition of static or dynamic objects is worth storing in the offline HD map and saved in the cloud. Static or fixed recognized or detected things are represented as landmarks (such as road signs, masts, road markings, etc.). Dynamic or temporary detections are represented as objects (such as vehicles, pedestrians, etc.).

[0129] The resulting maps can be used, for example, in two ways: for autonomous or at least highly autonomous motor vehicles, or for smart cities. Figure 1 Once created, it is sent to the motor vehicle. In addition to the detection of the environment by camera means, the map can be used as a redundant path for the understanding of the scene. In addition to this, the map can be used as an electronic horizon that makes it possible to see beyond the physical line of sight (curves, intersections, obstructions, etc.). This increases the degree of autonomy of such motor vehicles.

[0130] The second use case (in which maps are used for smart cities) also employs the concepts described here. For example, cameras can be installed in a city's fleet of vehicles (such as buses, trams or garbage trucks) and used to create a comprehensive HD real-time map of the city. This approach offers a high degree of flexibility and coverage.

[0131] The data measured by the camera device is sent to a backend or remote map server via an air communication control device (IoT gateway), for example.

[0132] The concept described here particularly includes the measurement of the road altitude. The measurement is performed, for example, relative to a reference starting position (reference location). A land vehicle equipped with the device according to the second aspect can measure these height differences. Together with its current position, it is sent to the cloud or a remote map server, where a global height map is created. The height map can be used as a cadastral map (Kataster).

Claims

1. A method for providing support when creating a height map, comprising the following steps: detecting (101) the surroundings of a land vehicle (301), in particular a motor vehicle or a rail vehicle, and determining image data based on the detection by means of a camera device of the land vehicle (301), determining (103) the height of a location in the surroundings of the land vehicle (301) relative to a reference location based on the image data, The obtained height of the location is sent (105) to a remote map server via a communication network to provide support to the remote map server when creating a height map.

2. The method according to claim 1, wherein: The height of the location is calculated using the following formula: e=l*cosβ*tanα, where e is the height of the location, l is the depth of the location relative to the camera device, β is the inclination angle of the camera device, and α is the supplementary angle of the angle between the horizon and the surface normal at the location whose height is to be calculated.

3. The method according to claim 1 or 2, wherein: The current position of the land vehicle (301) is obtained based on the image data, wherein a data set is obtained, the data set comprising the current position of the land vehicle (301) and the obtained height, wherein the data set is sent to the remote map server via the communication network.

4. The method according to claim 3, wherein: Based on the image data, landmarks in the surroundings of the land vehicle (301) are identified, and based on the landmarks, the current position of the land vehicle is determined.

5. The method according to any one of the preceding claims, wherein: A plurality of obtained heights of a plurality of locations in the surrounding environment of the land vehicle (301) relative to the reference location are packaged into a data block, and the data block is sent to the remote map server via the communication network.

6. A device (201) for providing support when creating a height map, comprising: A camera device, which is configured to detect the surroundings of a land vehicle (301), in particular a motor vehicle or a rail vehicle, and to determine image data based on the detection; a determination device, which is configured to determine the height of a location in the surroundings of the land vehicle (301) relative to a reference location based on the image data, A communication device is configured to send the obtained height of a location to a remote map server via a communication network, so as to provide support to the remote map server when creating a height map.

7. A land vehicle (301), in particular a motor vehicle or a rail vehicle, comprising a device (201) according to claim 6.

8. A map server (401) for creating a height map, comprising: a communication device (403) configured to receive, via a communication network, from a land vehicle (301), in particular a motor vehicle or a rail vehicle, a determined height of a location in the surroundings of the land vehicle (301) relative to a reference location, A processor device (405) is configured to create a height map based on the determined heights.

9. A method for creating a height map using the map server (401) according to claim 8, comprising the following steps: receiving (503) a determined height of a location in the surroundings of the land vehicle (301) relative to a reference location by means of a communication device (403) via a communication network from a land vehicle (301), in particular a motor vehicle or a rail vehicle, A height map is created (503) by a processor device (405) based on the determined heights.

10. Computer program (603) comprising instructions which, when executed by a computer, cause the computer to perform the method according to one of claims 1 to 5 and / or claim 9.

11. A machine-readable storage medium (601) on which a computer program (603) according to claim 10 is stored.

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