Procedure for correcting a landmark

Abstract

Method for correcting a landmark which includes speed information, in which at least one vehicle (1) is provided which includes a control device (2) for controlling the vehicle (1), means for detecting a landmark and a communication device (11), wherein The landmark is recognized by capturing at least the speed information and at least one location information of the landmark, and the control device (2) may change the speed in accordance with the speed information or suggest a corresponding change to the driver of the vehicle (1) when such speed information is detected from a landmark, wherein the vehicle speed at which the vehicle (1) passes the landmark, together with at least one location information of the landmark, is recorded by the control unit (2), and the vehicle speed of the vehicle (1) together with the location information is transmitted by the communication device (11) to a communication device (13) of a superior unit (12), wherein The landmark is identified using the location information, and a comparison of the vehicle speed and the landmark's speed information determines whether the speed value determined by the landmark's speed information is too high, too low, or correct. The correction of the landmark's speed information by the higher-level unit (12) is carried out by comparison.

Description

[0001] The present invention relates to a method for correcting a landmark that includes speed information (i.e., for example, a traffic sign or a display board that shows a permissible maximum speed). The present invention further relates to a corresponding system for correcting a landmark, which preferably performs the correction using the method according to the invention. Technological background

[0002] Vehicles of this type, such as passenger cars, trucks, or motorcycles, are increasingly being equipped with driver assistance systems. These systems use sensors to perceive the surroundings, recognize traffic situations, and support the driver, for example, by intervening with braking or steering, or by issuing visual, haptic, or audible warnings. Radar sensors, lidar sensors, camera sensors, ultrasonic sensors, and similar devices are commonly used for environmental perception. The sensor data collected allows conclusions to be drawn about the environment and objects within it, enabling the creation of an environmental model. Based on this model, instructions can then be issued to warn or inform the driver, or to (partially) autonomously control steering, braking, and acceleration.Assistance functions that process sensor and environmental data can, for example, prevent accidents with other road users or facilitate complex driving maneuvers by supporting or even completely taking over the driving task or vehicle control (partially or fully automated). For instance, the vehicle can perform autonomous emergency braking (Automatic Emergency Brake) using an Emergency Brake Assist (EBA) or speed and following distance control using an Adaptive Cruise Control (ACC). Furthermore, so-called speed assistants or speed assist functions (or Intelligence Speed ​​Assist (ISA) systems) are increasingly being used, which assist the driver in adhering to the current speed limit on the road section being driven.The driver can be notified via feedback from the vehicle if the permitted maximum speed is exceeded. Current ISA systems automatically adopt the speed limit displayed on road signs. In the vehicle settings, it is possible to preset a threshold for exceeding the detected speed (e.g., 10 km / h). However, the driver may not want to accept this speed limit or may question the system's ability to override the driver's wishes in certain situations, thus reducing driver / user acceptance. This occurs particularly in situations where the speed limit is no longer valid, for example, if a speed limit was initially imposed due to roadworks, but the roadworks have ended but the speed limit remains in effect. Printed state of the art

[0003] US Patent 10,156,448 B2 discloses a method by which a user can directly enter a correction to a map error in a vehicle's navigation system. The system is able to implement the correction without external processing. Therefore, it is not necessary for a user to simply report errors to the map provider via a web link and then wait for the provider to verify the error, update its map or navigation data, and finally provide the user with the updates—a very time-consuming process. Furthermore, users can also share corrections with other users and with a shared remote server that aggregates, validates, and distributes the corrections. US Patent 10,156,448 B2 essentially describes the individual correction of map information on a server if the current road information ("ground truth") differs from the information on the server.Because individual inputs are made, this can lead to increased misjudgments or targeted manipulations, thereby reducing road safety. DE 10 2014 211 834 A1 discloses a method for correcting a control parameter for an automatic speed control system of a vehicle, wherein a control parameter is received during a journey of the vehicle, based on which the speed control system can regulate the vehicle's actual speed. Furthermore, a correction request and a correction instruction from the driver of the vehicle are received, wherein the control parameter is corrected depending on the received correction instruction if the correction request was received within a predetermined time interval after receiving the control parameter or if the correction request was received within a predetermined distance traveled after receiving the control parameter.

[0004] From DE 10 2017 218 192 A1, a method for verifying the plausibility of a traffic sign recognition for an autonomously driving vehicle is known, wherein an information signal, which represents information about a traffic sign recognized using an optical sensor of the vehicle, and a position signal, which represents a current position of the vehicle, are read in via an interface to a vehicle device of the vehicle.

[0005] Furthermore, DE 10 2018 132 355 A1 discloses a method for determining a speed limit, in which a speed-relevant traffic sign is scanned and its position is determined. Additionally, the speed profile of a motor vehicle in the area of ​​the traffic sign's position and the speed limit at that position are determined based on this speed profile. Object of the present invention

[0006] The object of the present invention is to provide a method and a system with which improved landmark correction can be achieved, thereby improving road safety. Solution to the task

[0007] The aforementioned problem is solved by the entire teaching of claim 1 and the dependent claim. Advantageous embodiments of the invention are claimed in the dependent claims.

[0008] In the inventive method for correcting a landmark which includes speed information, at least one vehicle is provided, comprising a control unit for steering the vehicle, means for detecting a landmark, and a communication device, wherein the landmark is detected by the vehicle or the means for detecting the landmark by acquiring at least the speed information and at least one location information of the landmark. The control unit can change the vehicle speed according to the speed information or suggest a corresponding change to the driver of the vehicle when such speed information of a landmark is acquired.The vehicle speed at which the vehicle passes the landmark is then recorded by the control unit along with at least one location piece of the landmark, so that the vehicle speed, together with the location piece, can be transmitted by the vehicle's communication unit to a communication unit of a higher-level unit, whereby the landmark is identified based on the location piece (already in the vehicle and / or by the higher-level unit), and by comparing the vehicle speed with the speed piece of the landmark, it is determined whether the speed value set by the speed piece of the landmark is too high or too low or correct (i.e., within a tolerable deviation, e.g., <1% or <5%, neither too high nor too low or(depending on the respective traffic situation), and the correction of the landmark's speed information by the higher-level unit is carried out based on the comparison.

[0009] The higher-level unit can be, for example, a computer that either has access to the higher-level unit's communication system or whose communication system is an integral part of the higher-level unit's communication system. This computer is preferably, for example, part of an authority, an agency (e.g., a road construction office), a traffic safety organization, a police station, or similar entity that has the authority and capability to correct the landmark's speed information.

[0010] According to an advantageous embodiment of the method, the vehicle speed at which the vehicle passes the landmark, together with at least one location piece of the landmark, is stored in the vehicle's memory as a historical speed value. The vehicle first checks whether a historical speed value is already stored in memory for the location piece of the landmark recorded along with the speed information. If a historical speed value is already stored in memory for the respective location piece of information, the control unit either adjusts the vehicle speed accordingly or suggests a speed adjustment to the driver.According to a preferred embodiment of the control device according to the invention, the memory can be an integral part of the control device. Furthermore, the detected speed of the vehicle, together with at least one location piece of information about the road segment or landmark, can only be stored in the memory as a historical speed value if this is also confirmed by the driver of the vehicle. Accordingly, the driver first receives a message, for example, when driving at a higher desired speed (i.e., driving faster than the maximum permissible speed recognized from the traffic sign), asking whether this desired speed should be stored in the memory together with the location information of the traffic sign, so that this speed is set again when the traffic sign is passed again or displayed to the driver as an option. Preferably, a display is provided in the vehicle above which the driver or...where the user or occupants are shown a change in the vehicle's speed, in particular the display may be a cockpit display, the navigation system, an infotainment or entertainment system, (VR) glasses that are connected to the vehicle via radio or Bluetooth, a head-up display or the like.

[0011] Advantageously, if the control unit suggests to the driver that the vehicle speed be changed according to the historical speed value, the control unit can either change the vehicle speed according to the historical speed value if the driver confirms the suggestion, or change the vehicle speed according to the detected speed information from the landmark if the driver does not confirm the suggestion. Preferably, only the correspondingly changed vehicle speed is then transmitted to the higher-level unit.

[0012] The location information can conveniently be coordinates, GPS data, traffic sign information, navigation data, or the like.

[0013] Furthermore, at least one environmental sensor of the vehicle, in particular a camera sensor for traffic sign recognition, can be provided as a means of recognizing a landmark, with which the speed information is recorded. Alternatively or additionally, radar sensors, ultrasonic sensors, lasers, or lidar sensors can also be used, which, for example, can also record the speed information via special markers on the respective traffic sign. Furthermore, the recognition of speed information also includes deriving a specific speed value from detected objects, for example, by assigning speed values ​​to certain objects. For example, a speed value of 50 km / h as the permissible maximum speed in built-up areas can be derived from a detected town sign, or a low speed (e.g., 50 km / h) can be derived from a garage entrance, a zebra crossing, or the like detected by the environmental sensors.walking speed or 10 km / h) can be derived.

[0014] Preferably, at least one device for determining position, in particular a GPS sensor, navigation system, or the like, is provided as a means of recognizing a landmark, with which the location information is acquired. A communication interface could also be considered as a device for determining position, via which, for example, position information from external units or the infrastructure (V2X) can be received.

[0015] According to a particular embodiment of the procedure, the control unit can further execute a driving function with a speed limit, in particular an ACC function or cruise control or a differently configured speed control function, and if the control unit suggests to the driver of the vehicle a change in the vehicle's speed according to the historical speed value, the speed limit of the driving function is changed according to the historical speed value if the driver confirms the suggestion, and / or the control unit changes the speed limit of the driving function according to the detected speed information of the landmark if the driver does not confirm the suggestion.

[0016] Preferably, the recorded vehicle speed, along with at least one location piece of information for the road segment or landmark, is only transmitted to the higher-level unit if this is confirmed by the vehicle driver. Naturally, the transmission to the higher-level unit can be anonymous.

[0017] Furthermore, the higher-level unit can collect vehicle speeds from multiple vehicles and calculate an overall value of all vehicle speeds, for example, an average, a lower limit (i.e., lowest transmitted speed), or an upper limit (i.e., highest transmitted speed) of all vehicle speeds. The higher-level unit then practically compares this overall value of all vehicle speeds with the speed information from the landmark.

[0018] It is expedient for the higher-level unit to correct the landmark's speed information by changing either the landmark's speed information or the landmark itself, if the comparison of the vehicle speed and the landmark's speed information has shown that the speed value specified by the landmark's speed information is too high or too low.

[0019] The correction of the landmark's speed information by the higher-level unit can be achieved, for example, by replacing the landmark, such as by installing a different traffic sign. However, modern landmarks are increasingly digital, meaning they display speeds digitally and are therefore adjustable. According to a preferred embodiment of the method, the landmark has a communication device so that a speed value can be transmitted to it. The higher-level unit then corrects the landmark's speed information by transmitting the vehicle speed or the total value of all vehicle speeds to the landmark, which uses the transmitted speed value as the corrected speed information.The higher-level unit sends, for example, a speed value to the landmark's digital speedometer, which is then converted into the displayed speed (the speed can, of course, be rounded to plausible integer values ​​or values ​​in increments of ten). The present invention serves, in particular, the statistical evaluation of individual drivers' behavior at specific landmarks (e.g., suppressing automatic speed limit adoption), whereby adjustments to the relevant landmark can be made by a higher-level unit (e.g., an agency or authority).

[0020] Furthermore, when comparing the recorded vehicle speed with the landmark's speed information, a threshold for the deviation between the recorded vehicle speed and the landmark's speed information can be defined, e.g., a deviation greater than 20 km / h. This allows for differentiation between exceeding the threshold or a sufficiently large deviation, determining whether the change is temporary due to an obstacle (e.g., roadworks, traffic congestion, etc.). The advantage of this is that once the obstacle is removed or the roadworks are dismantled, the original speed values ​​(e.g., from a database, navigation or map data, etc.) can be immediately reconstructed and used to later adjust the landmark's speed information according to the current traffic situation.

[0021] The present invention also claims, as a subsidiary or dependent claim, a system for correcting a landmark which includes speed information, wherein the correction is preferably carried out using a method according to the invention. The system comprises at least one vehicle, which includes a control unit for controlling the vehicle, means for detecting the landmark, and a communication device, and a higher-level unit, which includes a communication device so that the vehicle and the higher-level unit can mutually transmit (i.e., send and / or receive) information. The landmark is detected by the vehicle, in particular, by acquiring at least the speed information and at least one location information of the landmark.The control unit can then adjust the speed according to the detected speed information or suggest a corresponding adjustment to the vehicle's driver if such speed information is detected from a landmark. The vehicle's speed as it passes the landmark is detected by the control unit along with at least one location piece of the landmark, allowing the vehicle's speed and location information to be transmitted to a higher-level unit. The landmark is then identified using the location information, and a comparison of the vehicle's speed with the landmark's speed information determines whether the speed value determined by the landmark's speed information is too high, too low, or correct.As a result, the higher-level unit can then correct the landmark's speed information based on the comparison (i.e., the landmark's speed information is either decreased, increased, or left at its current value). Description of the invention using exemplary embodiments

[0022] The invention will now be explained in more detail using practical embodiments. The figures show: Fig. 1 a simplified schematic representation of a vehicle and a superior unit of a system according to the invention for correcting a landmark; Fig. 2 a simplified representation of a traffic scene in which the vehicle is driving along a road and detects a permitted maximum speed, but does not adopt it; Fig. 3 a simplified representation of another traffic scene in which the vehicle is driving along a road and detects a permitted maximum speed, but does not adopt it, as well as Fig. 4 a simplified schematic representation of an embodiment of a process flow according to the invention.

[0023] Reference number 1 in Fig. 1 denotes a vehicle or self-driving vehicle (SDR) which has a control unit 2 (ECU, Electronic Control Unit or ADCU, Assisted and Automated Driving Control Unit), various actuators (steering 3, motor 4, brake 5), and sensors for environmental perception (radar sensor 6, camera 7, lidar sensor 8, and ultrasonic sensors 9a-9d). The camera 7 can serve as a means of landmark recognition by having traffic sign recognition, so that, for example, speed limits indicated by traffic signs can be directly detected by the camera. Furthermore, the vehicle includes a display device 10 (comprising, for example, a navigation system, infotainment system, on-board computer, and / or the like) to display information to the driver. The driver can also enter information into the system or confirm information / messages via a human-machine interface (e.g.,(Confirm suggested speeds). Vehicle 1 can be (partially) automated by allowing control unit 2 to access the actuators and sensors or their sensor data. In the area of ​​assisted or (partially) automated driving, the sensor data can thus be used for environment and object recognition, enabling various assistants or assistance functions, such as Intelligent Speed ​​Assist (ISA), Adaptive Cruise Control (ACC), Electronic Brake Assist (EBA), Lane Keep Assist (LKA), Parking Assist, Traffic Jam Assist, or similar functions, to be implemented via control unit 2 or the algorithm stored therein. Furthermore, control unit 2 can access various sensors and actuators of vehicle 1 to measure vehicle parameters, such as...The system determines the current vehicle speed, acceleration, or position (e.g., GPS coordinates). In practical terms, location information can be assigned to the detected landmark based on the vehicle's position.

[0024] The currently recorded speed of vehicle 1, or the vehicle speed when vehicle 1 is traveling along a section of road or passing a landmark (e.g., using a speedometer, wheel speed sensor, speed sensor, or the like), can then be stored as a historical speed value in a memory 2a of vehicle 1, together with at least one location piece of information for the section of road. In particular, memory 2a can be a memory in the control unit, a memory module, or the like, or a memory located elsewhere in vehicle 1, or even a digital or cloud-based memory. The landmark is recognized according to the invention by capturing at least one speed piece of information and at least one location or position piece of information for the landmark.Control unit 2 can then adjust the speed according to the speed information, similar to a speed assistance system, or suggest a corresponding adjustment to the driver when such speed information is detected from a landmark. However, it first checks whether a historical speed value is already stored in memory 2a for the landmark's location information, which is also detected along with the speed information. This means, for example, that it first checks whether a speed has already been recorded for the landmark's position or location information (e.g., GPS coordinates received via the navigation system) during a previous journey of the vehicle over the section of road that includes this location information, or past the landmark, which can thus be recognized or identified based on the location information.For example, if a driver of vehicle 1 travels a previously driven route (e.g., daily commute) at a specific speed on a section of the route with certain location information, this speed value, along with the corresponding location information for that section, is stored in memory 2a as a historical speed value for that section. If a historical speed value already exists in memory 2a for the respective location information, the control unit can immediately change the vehicle speed according to the historical speed value or suggest a speed change to the driver of vehicle 1. This advantageously allows a driver who, for example, travels a familiar route at a habitual speed (e.g.,On a section of the route to work where a speed of 60 km / h is always maintained, the usual speed is displayed for selection, even though a different speed would be automatically set by the speed assistant due to a landmark (e.g., a 50 km / h speed limit sign). This offers the advantage of giving the driver the choice of maintaining their usual speed or adjusting it to the now-detected speed limit. This improves the acceptance of the driving behavior of an autonomously or semi-autonomously controlled vehicle (with assistance functions) among the occupants and / or driver. Naturally, the usual or historical speed values ​​may differ from the currently detected speed.

[0025] The control unit 2 is designed to execute the method according to the invention. For this purpose, the control unit can comprise a computer, processor, controller, or the like to carry out the method according to the invention. A computer program with program code for carrying out the method according to the invention can be provided if the computer program is executed on a computer or other programmable computer known from the prior art. The computer can process the data by means of programmable calculation instructions. With regard to the method, essential properties can thus be subsequently implemented, e.g., by a new program, new programs, an algorithm, or the like. The computer can be designed as part of the control unit (e.g., as an integrated circuit (IC), microcontroller, or system-on-a-chip (SoC)).

[0026] In Fig. Figure 2 depicts a traffic scene in which vehicle 1 is traveling on a road where the speed limit is determined to be 50 km / h by recognizing landmark or traffic sign 14 (e.g., through camera-based traffic sign recognition combined with location information via GPS or the vehicle 1's navigation system). However, vehicle 1, or rather its driver, is using a setting of 80 km / h, resulting from previous speed measurements for traffic sign 14 or the section of road marked with a thick dashed line. This means that vehicle 1 typically travels faster than the speed limit indicated by traffic sign 14 on this section of road. Consequently, the stored setting of 80 km / h is signaled or displayed to the driver, with control unit 2 processing the detected speed information.The speed limit of 50 km / h is suppressed after the driver confirms this saved setting (i.e., the driver sets and saves a different speed limit). The system records data for all personalized target speeds (including location, speed limits, landmarks or GPS markers, etc.) so that it can access this information again when the route is traveled again or the landmark is passed again. This allows the driver to permanently suppress the vehicle's speed assumption, which results from landmark or traffic sign recognition, on regularly traveled routes (e.g., commutes). The suppressed speed can then be stored in the vehicle along with the landmark information (GPS data and other sign information).As the vehicle regularly passes a landmark, the current information can be compared with the information stored in the vehicle. If the speed limit at the landmark changes (e.g., due to roadworks or a new road surface), the driver is notified. The driver can then decide whether to integrate the newly recorded landmark information into the vehicle's system. After confirmation by the driver, the new landmark is stored as a new speed limit suppression setting in the vehicle. If the driver does not confirm this suppression, the new speed is automatically applied upon subsequent passes of the landmark. Furthermore, the speed limit suppression can be taken into account by other longitudinal control systems (e.g., adaptive cruise control or similar).

[0027] In Fig. Figure 3 depicts a traffic scene in which vehicle 1 is traveling on a road where the speed limit is determined to be 100 km / h based on landmark or traffic sign 15 (e.g., through camera-based traffic sign recognition combined with location information via GPS or the vehicle 1's navigation system). However, vehicle 1, or rather its driver, is using a setting of 80 km / h, meaning that vehicle 1 is traveling slower than the maximum speed indicated by traffic sign 15 on this section of the road. Fig. Figure 3 shows the dashed line representing the route of vehicle 1 at 80 km / h as requested by the driver, and the solid line representing the route of vehicle 1 at 100 km / h as determined by a landmark. It is evident that negotiating the curve at 100 km / h would create a dangerous traffic situation, as vehicle 1 would enter the oncoming lane. Consequently, the driver opts for the lower speed, and the control unit 2 suppresses the detected speed information (i.e., the speed of 100 km / h) after the driver confirms the 80 km / h setting (i.e., the driver sets and saves a different speed limit). The determined vehicle speed of 80 km / h can then be transmitted to the higher-level unit 12 (e.g., via radio, mobile network, or similar means).The higher-level unit 12 then receives this vehicle speed and can subsequently modify the landmark's speed information accordingly (e.g., by replacing traffic sign 15, changing the speed value digitally displayed by traffic sign 15 to 80 km / h, or similar). Furthermore, navigation information or data from navigation systems can also be modified via radio (e.g., the higher-level unit 12 can send the corrected or modified landmark speed information to vehicle navigation systems so that it is immediately incorporated into the map data).

[0028] In Fig. Figure 4 shows an embodiment of the process sequence according to the invention, wherein the driver or the vehicle 1 is initially positioned according to the traffic situation in Fig. 3. Two scenarios, S1 and S2, can be presented, where in S1 the curve of the track section is tight and therefore the speed limit (ZG = permissible speed) of 100 km / h is too low for the driver, so the driver usually wants to go faster through the curve, and in S2 the curve of the track section is wide and therefore the speed limit of 100 km / h is too high for the driver, so the driver would like to go faster (e.g. 80 km / h according to Fig.3) wants to drive through the curve. For both scenarios, the driver can, for example, set a vehicle speed when first driving through the road section or passing the traffic sign. This speed is then stored by control unit 2 in memory 2a along with the location information of the traffic sign or road section. Furthermore, control unit 2 can also automatically store speed information along with location information in memory 2a. This process then allows the system to determine, either directly by the vehicle or by the higher-level unit, whether the speed value or the permissible speed (PV) set by the landmark's speed information is too high, too low, or correct. Subsequently, the higher-level unit 12 can correct the landmark's speed information based on this comparison. REFERENCE MARK LIST 1 Ego vehicle 2 Control unit 2a storage 3 Steering 4 engine 5 Brake 6 radar sensor 7 Camera 8 Lidar sensor 9a-9d Ultrasonic sensors 10 Navigation system 11 Communication device 12 higher-level unit 13 Communication device 14 traffic signs 15 traffic signs

Claims

[1] Method for correcting a landmark which includes speed information, wherein at least one vehicle (1) is provided which includes a control device (2) for controlling the vehicle (1), means for detecting a landmark and a communication device (11), wherein The landmark is recognized by capturing at least the speed information and at least one location information of the landmark, and the control device (2) may change the speed in accordance with the speed information or suggest a corresponding change to the driver of the vehicle (1) when such speed information is detected from a landmark, wherein the vehicle speed at which the vehicle (1) passes the landmark, together with at least one location information of the landmark, is recorded by the control unit (2), and the vehicle speed of the vehicle (1) together with the location information is transmitted by the communication device (11) to a communication device (13) of a superior unit (12), wherein The landmark is identified using the location information, and a comparison of the vehicle speed and the landmark's speed information determines whether the speed value determined by the landmark's speed information is too high, too low, or correct. The correction of the landmark's speed information by the higher-level unit (12) is carried out by comparison. [2] Method according to claim 1, characterized by, that the vehicle speed at which the vehicle (1) passes the landmark, together with at least one location information of the landmark, is stored in a memory (2a) as a historical speed value, and first checks whether a historical speed value is already stored in the memory (2a) for the location information of the landmark recorded together with the speed information, and if a historical speed value is already stored in the memory (2a) for the respective location information, the control unit (2) changes the vehicle speed according to the historical speed value or suggests to the driver of the vehicle (1) a change in the vehicle speed according to the historical speed value. [3] Method according to claim 2, characterized by, that if the control device (2) suggests to the driver of the vehicle (1) a change in the vehicle speed in accordance with the historical speed value, - the control unit (2) changes the vehicle speed according to the historical speed value when the driver confirms the suggestion, or - the control unit (2) changes the vehicle speed according to the detected speed information of the landmark if the driver does not confirm the suggestion, and the correspondingly changed vehicle speed is transmitted to the higher unit (12). [4] Method according to any one of the preceding claims, characterized by that the location information consists of coordinates, GPS data, traffic sign information, or navigation data. [5] Method according to any one of the preceding claims, characterized by, that as a means of recognizing a landmark at least an environmental sensor, in particular a camera sensor for traffic sign recognition, is provided with which the speed information is recorded and / or as a means of recognizing a landmark at least a device for determining position, in particular a GPS sensor or navigation system, is provided with which the location information is recorded. [6] Method according to any one of the preceding claims, characterized by , that the recorded vehicle speed together with at least one location information of the road segment or landmark will only be transmitted to the higher-level unit (12) if this is confirmed by the driver of the vehicle (1). [7] Method according to any one of the preceding claims, characterized by, that the superior unit (12) collects vehicle speeds of several vehicles (1) and determines from this an overall value of all vehicle speeds, in particular an average, a lower limit or an upper limit of all vehicle speeds, and the comparison is made on the basis of the overall value of all vehicle speeds and the speed information of the landmark. [8] Method according to any one of the preceding claims, characterized by , that the correction of the landmark speed information by the superior unit (12) is carried out such that the landmark speed information or the landmark is changed if the comparison of the vehicle speed and the landmark speed information has shown that the speed value specified by the landmark speed information is too high or too low. [9] Method according to any one of the preceding claims, characterized by, that the landmark has a communication device so that a speed value can be transmitted to it, and a correction of the landmark's speed information is carried out by the superior unit (12) transmitting the vehicle speed or the total value of all vehicle speeds to the landmark, which uses the speed value thereby transmitted as corrected speed information. [10] Method according to any one of the preceding claims, characterized by, that a limit value is provided for the deviation between the recorded vehicle speed and the speed information of the landmark in the comparison, and if the limit value is exceeded, a temporary change due to an obstacle is assumed, so that when the obstacle is removed, the original speed information of the landmark can be used to change the speed information of the landmark again. [11] System for correcting a landmark which includes speed information, wherein the correction is carried out in particular by means of a method according to one of the preceding claims, comprising at least a vehicle (1) comprising a control device (2) for controlling the vehicle (1), means for detecting a landmark and a communication device (11), and a superior unit (12) which includes a communication device (13) so that the vehicle (1) and the superior unit (12) can transmit information, wherein the landmark is recognized by the vehicle (1) by capturing at least the speed information and at least one location information of the landmark, and the control device (2) may change the speed in accordance with the speed information or suggest a corresponding change to the driver of the vehicle (1) when such speed information is detected from a landmark, wherein the vehicle speed at which the vehicle (1) passes the landmark, together with at least one location information of the landmark, is recorded by the control unit (2), and The vehicle speed of the vehicle (1) is transmitted together with the location information to a higher-level unit (12), whereby the landmark is identified based on the location information, and a comparison of the vehicle speed and the speed information of the landmark is used to determine whether the speed value specified by the speed information of the landmark is too high, too low, or correct, and The correction of the landmark's speed information by the higher-level unit (12) is carried out by comparison.

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