Methods for providing environmental information about the environment of a motor vehicle

Abstract

The invention relates to a method for providing environmental information about the environment of a motor vehicle, comprising the following steps: determining on the motor vehicle side that an event has occurred, detecting the environment of the motor vehicle by means of motor vehicle-side environmental sensors in order to determine, on the motor vehicle side, environmental data based on the detection, which represent the environment of the motor vehicle, in response to the determination that an event has occurred, Vehicle-side determination of the instantaneous position of the vehicle in response to the determination that an event has taken place, vehicle-side transmission of the environmental data and the instantaneous position via a communication network to a communication network address. The invention relates to a system for providing environmental information about the environment of a motor vehicle, a method and a system for processing a digital road map, a method and a system for at least partially automated driving of a motor vehicle, a method and a system for infrastructure-based assistance of a motor vehicle, a motor vehicle, a cloud infrastructure, a computer program and a machine-readable storage medium.

Description

[0001] The invention relates to a method and a system for providing environmental information about the environment of a motor vehicle, a method and a system for processing a digital road map, a method and a system for at least partially automated driving of a motor vehicle, a method and a system for infrastructure-based assistance of a motor vehicle, a motor vehicle, a cloud infrastructure, a computer program and a machine-readable storage medium. State of the art

[0002] ADAS sensors / ECUs are designed to perceive the vehicle's surroundings as accurately as possible. Due to cost pressures, all processing units and memory in ADAS ECUs, such as radar, lidar, and the central control unit, are specified to be as low-powered as possible while still meeting customer requirements. "ADAS" stands for "Advanced Driver Assistance Systems." "ECU" stands for "Electronic Control Unit."

[0003] Therefore, in certain situations with, for example, many road users (bicycles, people) and / or lane guidance lines and large, complex urban intersections, the computing power is too limited to process everything properly.

[0004] The patent application CN 1 14 730 324 A discloses a data processing system for motor vehicles.

[0005] Patent specification US 11,756,353 B2 discloses a method according to which, upon detection of an event that has occurred in a motor vehicle, data is downloaded from a system memory to a non-volatile storage device of the motor vehicle.

[0006] Disclosure document US 2023 / 0080281 A1 discloses a system for a motor vehicle. Disclosure of the invention

[0007] The object underlying the invention is to provide a concept that enables a motor vehicle to be driven efficiently, at least partially automatically, despite limited computing capacities.

[0008] This problem is solved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of dependent claims.

[0009] Following an initial aspect, a procedure for providing environmental information about the environment of a motor vehicle is provided, comprising the following steps: Determining that an event has occurred on the vehicle side, capturing the vehicle's surroundings through vehicle-side environmental sensors in order to determine vehicle-side environmental data based on the capture, which represent the vehicle's surroundings, in response to determining that an event has occurred, Vehicle-side determination of the instantaneous position of the vehicle in response to the determination that an event has taken place, vehicle-side transmission of the environmental data and the instantaneous position via a communication network to a communication network address.

[0010] A second aspect involves providing a system for supplying environmental information about the surroundings of a motor vehicle, including: a determining institution which is set up to determine that an event has taken place, an environmental sensor system which is set up to detect the environment of the motor vehicle in order to determine environmental data based on the detection, which represent the environment of the motor vehicle, in response to the determination that an event has taken place, a position determination device which is set up to determine an instantaneous position of the motor vehicle in response to the determination that an event has taken place, A communication device that is set up to send environmental data and the current position via a communication network to a communication network address.

[0011] A third aspect provides a procedure for editing a digital road map, comprising the following steps: Receiving environmental data from a large number of motor vehicles, representing a respective environment of the motor vehicles, and from a respective position of the motor vehicles assigned to that environment, wherein the positions lie within a geographical area of ​​the digital road map, Determining reference data representing the geographic area without mobile objects, based on environmental data and positions, Adding the reference data to the digital street map.

[0012] A fourth aspect involves providing a system for editing a digital road map, comprehensively: a communication device which is set up to receive environmental data from a large number of motor vehicles, representing a respective environment of the motor vehicles, and from a respective position of the motor vehicles assigned to the respective environment, wherein the positions lie within a geographical area of ​​the digital road map, a computing unit which is set up to determine reference data representing the geographical area without mobile objects based on the environmental data and the positions and to add the reference data to the digital road map.

[0013] A fifth aspect provides a method for at least partially automated driving of a motor vehicle, comprising the following steps: receiving, via a communication network from a communication network address, reference data representing a geographical area without mobile objects on a digital road map, and at least partially automated control of the lateral and / or longitudinal guidance of the motor vehicle based on the reference data.

[0014] A sixth aspect involves providing a system for at least partially automated driving of a motor vehicle, encompassing: a communication device which is set up to receive, via a communication network, from a communication network address, reference data representing a geographical area without mobile objects of a digital street map, a control device which is designed to control the lateral and / or longitudinal guidance of the motor vehicle at least semi-automatically based on the reference data.

[0015] A seventh aspect provides a procedure for infrastructure-based assistance of a motor vehicle, comprising the following steps: receiving an instantaneous position of the motor vehicle via a communication network, Determine, based on the current position and a digital road map encompassing a geographical area, that the motor vehicle is approaching the geographical area, where the digital road map includes the geographical area without reference data representing mobile objects. Sending the reference data to the vehicle via the communication network.

[0016] An eighth aspect is the provision of a system for infrastructure-based assistance of a motor vehicle, encompassing: a communication device which is set up to receive a current position of the motor vehicle via a communication network, a determining device which is set up to determine, based on the current position and a digital road map covering a geographical area, that the motor vehicle is approaching the geographical area, wherein the digital road map includes the geographical area without reference data representing mobile objects, the communication device is set up to send the reference data to the motor vehicle via the communication network.

[0017] According to a ninth aspect, a motor vehicle is provided, comprising the system according to the second aspect and / or the system according to the sixth aspect.

[0018] A cloud infrastructure is provided according to a tenth aspect, encompassing the system according to the fourth aspect and / or the system according to the eighth aspect.

[0019] According to an eleventh aspect, a computer program is provided, comprising instructions which, when the computer program is executed by a computer, for example by the system according to the second aspect and / or by the system according to the fourth aspect and / or by the system according to the eleventh aspect and / or by the system according to the eighth aspect, cause it to execute a procedure according to the first aspect and / or according to the third aspect and / or according to the fifth aspect and / or according to the seventh aspect.

[0020] According to a twelfth aspect, a machine-readable storage medium is provided on which the computer program is stored according to the eleventh aspect.

[0021] The invention is based on the understanding that the above problem is solved by storing reference data in a digital road map of a geographical area, representing that geographical area without mobile objects. "Mobile objects" refers, for example, to road users. Thus, "without mobile objects" means, for example, "without road users." Consequently, the reference data can represent the geographical area without road users. This digital map is stored within a cloud infrastructure, so that a large number of motor vehicles can advantageously obtain information from this digital road map, in this case, the reference data. Based on this reference data, these motor vehicles can advantageously be driven efficiently, at least partially automatically.This provides vehicles with additional information for handling at least partially automated driving tasks, information that might not be obtainable by the vehicle itself due to limited computing capacity. Therefore, these vehicles can be driven efficiently, at least partially, despite potentially limited computing capacity.

[0022] The aspects of the concept described here describe the concept from the perspective of the vehicle and from the perspective of the cloud infrastructure, respectively. Furthermore, aspects of the concept described here are aimed at creating the digital road map, including the reference data, based on which the vehicle can be driven, at least partially, automatically.

[0023] In one embodiment of the method according to the first aspect, it is provided that it is determined whether a processing criterion for the vehicle-side implementation of the vehicle-side environment recognition is fulfilled, whereby it is determined that an event has taken place if the processing criterion is not fulfilled.

[0024] This results, for example, in the technical advantage that it is possible to efficiently determine whether an event has occurred. Therefore, if environmental detection cannot be performed by the vehicle according to this embodiment, it is specifically determined by the vehicle itself that an event has taken place.

[0025] In one embodiment of the method according to the first aspect, it is provided that the processing criterion is not met if the processing resources available on the vehicle side are insufficient for carrying out the environment detection on the vehicle side.

[0026] This results, for example, in the technical advantage of being able to efficiently determine that an event has occurred. Therefore, if, according to this embodiment, the vehicle does not have sufficient processing resources to perform the environmental perception, it is determined that the processing criterion is not met, and in response, the steps of perceiving the environment and determining the vehicle's current position are carried out.

[0027] In one embodiment of the method, it is provided that when an automatic emergency braking assistant of the motor vehicle is triggered, it is determined by the motor vehicle that an event has occurred.

[0028] This results, for example, in the technical advantage that it is possible to efficiently determine whether an event has taken place.

[0029] In one embodiment of the method, it is provided that in the event of an accident involving the motor vehicle, it is determined by the motor vehicle itself that an event has taken place.

[0030] This results, for example, in the technical advantage that it is possible to efficiently determine whether an event has taken place.

[0031] In one embodiment of the method, it is provided that when a vehicle-side vibration is detected which is greater than or greater than a predetermined vibration threshold, it is determined on the vehicle side that an event has taken place.

[0032] This results, for example, in the technical advantage that it is possible to efficiently determine whether an event has taken place.

[0033] In one embodiment of the method, it is provided that, upon detection of a vehicle-side vibration which is greater than or greater than a predetermined vibration threshold, it is determined on the vehicle side that an event has occurred.

[0034] This results, for example, in the technical advantage that it is possible to efficiently determine whether an event has taken place.

[0035] Vehicle-side vibrations or shocks are detected, for example, by one or more vehicle-side acceleration sensors. One or more of these acceleration sensors are, for example, integrated into a vehicle-side inertial measurement unit (IMU). Thus, it is intended that, based on measurement signals from one or more of these acceleration sensors, a vehicle-side shock or vibration is detected. The detected value can then be compared with a predefined threshold. If the comparison shows that the detected vibration or shock is greater than or equal to the predefined threshold, the vehicle determines that an event has occurred.

[0036] Such a shock or vibration can be triggered or generated, for example, by a vehicle driving over a bump in the road, a sinkhole, or a swaying bridge. An earthquake, for instance, can also produce such a shock or vibration.

[0037] In one embodiment of the method according to the first aspect, it is provided that the event is one of the following: Vehicle approach to an event location, vehicle reception via the Communication network of information indicating that the motor vehicle is approaching an event location.

[0038] This results, for example, in the technical advantage that particularly suitable events can be provided in response to which the steps of detecting and determining the current position are carried out.

[0039] Statements made in connection with the procedure according to the first aspect apply analogously to the system according to the second aspect, to the procedure according to the third aspect, to the system according to the fourth aspect, to the procedure according to the fifth aspect, to the system according to the sixth aspect, to the procedure according to the seventh aspect, to the system according to the eighth aspect, to the motor vehicle according to the ninth aspect, and to the cloud infrastructure according to the tenth aspect, and vice versa.

[0040] This means, in particular, that the technical functionalities and technical characteristics of the method according to the first aspect result analogously from corresponding technical functionalities and technical characteristics of the system according to the second aspect, the method according to the third aspect, the system according to the fourth aspect, the method according to the fifth aspect, the system according to the sixth aspect, the method according to the seventh aspect, the system according to the eighth aspect, the motor vehicle according to the ninth aspect, and the cloud infrastructure according to the tenth aspect, and vice versa.

[0041] A method in the sense of the description is, for example, a computer-implemented method.

[0042] For the purposes of this description, a system is, for example, a computer-implemented procedure.

[0043] A system, as described, is, for example, programmed to execute a computer program.

[0044] The vehicle is, for example, programmed to execute the computer program.

[0045] The cloud infrastructure is, for example, set up in terms of software to run the computer program.

[0046] An environmental sensor system, as described, includes, for example, one or more environmental sensors.

[0047] An environmental sensor as described is, for example, one of the following environmental sensors: radar sensor, LiDAR sensor, ultrasonic sensor, image sensor, infrared sensor and magnetic field sensor, vibration sensor, shock sensor, accelerometer.

[0048] In one embodiment, a method is provided which includes an embodiment of the method according to the first aspect and an embodiment of the method according to the fifth aspect.

[0049] For example, a system is provided that includes an embodiment of the system according to the second aspect and an embodiment of the system according to the eleventh aspect. Here, for example, only one communication device may be provided that can perform the respective function of both systems.

[0050] For example, a method is provided which includes an embodiment of the method according to the third aspect and an embodiment of the method according to the seventh aspect.

[0051] For example, a method is provided which includes one embodiment of the method according to the first aspect and / or one embodiment of the method according to the fifth aspect and / or one embodiment of the method according to the third aspect and / or one embodiment of the method according to the seventh aspect.

[0052] For example, a system is provided that includes an embodiment of the system according to the fourth aspect and an embodiment of the system according to the eighth aspect. Here, for example, only one communication device may be provided that can perform the respective function of both systems. The determining device may, for example, be included in or implemented within the computing unit, or the computing unit may, for example, assume the function of the determining device.

[0053] For example, a system is provided which includes one embodiment of the system according to the second aspect and / or one embodiment of the system according to the eleventh aspect and / or one embodiment of the system according to the fourth aspect and / or one embodiment of the system according to the eighth aspect. Here, for example, only one communication device may be provided that can perform the respective function of the corresponding systems.

[0054] "ADAS" stands for "Advanced Driver Assistance Systems". "ECU" stands for "Electronic Control Unit". "AEB" stands for "Autonomous Emergency Braking", which in this context can be translated into German as: Automatic Emergency Braking Assistant.

[0055] A motor vehicle within the meaning of the description includes, for example, a driver assistance system, in particular an ADAS and / or an AEB, and / or an ECU.

[0056] A mobile object, as defined here, is an object that can move, even if it is not currently moving. Thus, a mobile object, as defined here, is, for example, a parked or stationary motor vehicle. In contrast to a mobile object, a static object is an object that cannot move. A static object is, for example, a traffic infrastructure element. A traffic infrastructure element is, for example, a traffic signal or a traffic sign. A static object is, for example, a pylon or a piece of construction site equipment.

[0057] Thus, the reference data represents the geographical area without mobile objects, so that ultimately only the static objects remain.

[0058] This means that the reference data represents the geographical area with exclusively static objects.

[0059] Reference data, for example, is standardized. This allows reference data from different sources to be processed efficiently together.

[0060] Examples of static objects include: roadway, road markings, buildings, lampposts, signs, masts, posts, bridges, pylons, construction site equipment, traffic signal systems, rails, and sidewalks.

[0061] A geographical area as defined in this description includes, for example, a junction, especially an intersection. A geographical area as defined in this description includes, for example, a section of road or a curve.

[0062] The embodiments and examples described here can be combined in any way, even if this is not explicitly described.

[0063] The invention is explained in more detail below with reference to preferred embodiments. These include: Fig. 1. A flowchart of a procedure according to the first aspect, Fig. 2 a system according to the second aspect, Fig. 3 a flowchart of a procedure according to the third aspect, Fig. 4 a system according to the fourth aspect, Fig. 5 a flowchart of a procedure according to the fifth aspect, Fig. 6 a system according to the sixth aspect, Fig. 7. A flowchart of a procedure according to the seventh aspect, Fig. 8 a system according to the eighth aspect, Fig. 9 a motor vehicle according to the ninth aspect, Fig. 10 a cloud infrastructure according to the tenth aspect and Fig. 11 a machine-readable storage medium according to the twelfth aspect.

[0064] Fig. Figure 1 shows a flowchart of a procedure for providing environmental information about the environment of a motor vehicle, comprising the following steps: Determining 101 on the vehicle side that an event has taken place, capturing 103 of the vehicle's environment by vehicle-side environmental sensors in order to determine vehicle-side environmental data based on the capture, which represent the vehicle's environment, in response to the determination that an event has taken place, Motor vehicle-side determination 105 of an instantaneous position of the motor vehicle in response to determining that an event has taken place, Vehicle-side transmission of environmental data and current position via a communication network to a communication network address.

[0065] Fig. Figure 2 shows a system 201 for providing environmental information about the environment of a motor vehicle, including: a determination device 203, which is set up to determine that an event has taken place, an environmental sensor system 205, which is set up to detect the environment of the motor vehicle in order to determine environmental data based on the detection, which represent the environment of the motor vehicle, in response to the determination that an event has taken place, a position determination device 207, which is configured to determine an instantaneous position of the motor vehicle in response to the determination that an event has taken place, a communication device 209 which is set up to send the environment data and the current position via a communication network to a communication network address.

[0066] Fig. Figure 3 shows a flowchart of a procedure for editing a digital road map, comprising the following steps: Received 301 from a multitude of motor vehicles of respective environment data, which represent a respective environment of the motor vehicles, and of a respective position of the motor vehicles assigned to the respective environment, wherein the positions lie within a geographical area of ​​the digital road map, Determine 303 reference data points representing the geographic area without mobile objects, based on the environmental data and the positions. Adding 305 reference data to the digital street map.

[0067] Fig. Figure 4 shows a System 401 for editing a digital street map, including: a communication device 403, which is set up to receive from a multitude of motor vehicles environmental data representing a respective environment of the motor vehicles and from a respective position of the motor vehicles assigned to the respective environment, wherein the positions lie within a geographical area of ​​the digital road map, a computing unit 405, which is set up to determine reference data representing the geographical area without mobile objects based on the environment data and the positions, and to add the reference data to the digital street map.

[0068] Fig. Figure 5 shows a flowchart of a procedure for at least partially automated driving of a motor vehicle, comprising the following steps: Motor vehicle-side reception 501 via a communication network from a communication network address of reference data representing a geographical area without mobile objects of a digital road map, motor vehicle-side at least semi-automated control 503 of a lateral and / or longitudinal guidance of the motor vehicle based on the reference data.

[0069] Fig. Figure 6 shows a system 601 for at least partially automated driving of a motor vehicle, comprising: a communication device 603 which is set up to receive, via a communication network from a communication network address, reference data representing a geographic area without mobile objects of a digital street map, a control device 605 which is configured to control the lateral and / or longitudinal guidance of the motor vehicle at least semi-automatically based on the reference data.

[0070] In general, for example, bidirectional communication between the motor vehicle and the communication network address can be provided.

[0071] For example, it is planned that the vehicle will send a message back to the communication network address indicating whether the reference data was used by the vehicle for at least partially automated steering.

[0072] This makes it advantageous, for example, to determine whether the reference data can be discarded on the infrastructure side, i.e., on the side of the communication network address, for example after a predetermined period of time, such as one year, without any feedback that the reference data has been used on the vehicle side for at least partially automated control.

[0073] Fig. Figure 7 shows a flowchart of a procedure for infrastructure-based assistance of a motor vehicle, comprising the following steps: Receiving 701 a momentary position of the motor vehicle via a communication network, Determine 703 based on the current position and a digital road map encompassing a geographical area that the motor vehicle is approaching the geographical area, where the digital road map includes the geographical area without reference data representing mobile objects, Send 705 of the reference data to the vehicle via the communication network.

[0074] Fig. Figure 8 shows a System 801 for infrastructure-based assistance of a motor vehicle, comprising: a communication device 803 which is configured to receive an instantaneous position of the motor vehicle via a communication network, a determination device 805 which is configured, based on the instantaneous position and a digital road map covering a geographical area, to determine that the motor vehicle is approaching the geographical area, wherein the digital road map includes the geographical area without reference data representing mobile objects, the communication device is set up to send the reference data to the motor vehicle via the communication network.

[0075] Fig. Figure 9 shows a motor vehicle 901, comprising the system 201 of the Fig. 2.

[0076] For example, it is intended that the motor vehicle 901 will use system 601 instead of system 201 or in addition to system 201. Fig. 6 includes.

[0077] Fig. Figure 10 shows a cloud infrastructure 1001, encompassing the system 401 of the Fig. 4. For example, it is planned that the cloud infrastructure 1001 will replace or supplement the system 801 instead of the system 401. Fig. 8 includes.

[0078] Fig. Figure 11 shows a machine-readable storage medium 1101 on which a computer program 1103 is stored according to the eleventh aspect.

[0079] The step of at least partially automated control of the lateral and / or longitudinal guidance of the motor vehicle based on the reference data is carried out with the aim of driving the motor vehicle at least partially automatically.

[0080] In summary, the concept described here envisages in particular a digital street map that includes respective reference data for one or more geographical areas, representing the corresponding geographical area without mobile objects.

[0081] Using a digital road map, a further advantage can be gained, particularly in specific, locally occurring situations, by providing the vehicle with corresponding reference data. This allows the vehicle to obtain information about what the scene or local situation would look like without mobile road users. In this way, the relevant road users in the local situation can be efficiently identified.

[0082] A vehicle encountering a particular traffic situation where, for reasons of computing capacity, object recognition or processing must be deliberately omitted, can, for example, send information about this overload—that is, a processing criterion not being met—to the cloud infrastructure along with its location. Not only overload, but also frequent activation of an automatic emergency braking system or accidents can trigger the processes of environmental perception and determining the current position. This information can then be further processed in the cloud infrastructure to create reference data for the geographic area.

[0083] The collective intelligence of many vehicles equipped with ADAS sensors can lead to a concentration of such activity at a given location. This can also occur only temporarily, for example, due to cultural events.

[0084] Over time, the digital road map contains many locations (geographical areas) where congestion has occurred.

[0085] Vehicles equipped with ADAS sensors that have access to the digital road map are notified by the cloud infrastructure, specifically the system based on the fifth aspect, when approaching predefined positions. These vehicles then upload a single image or multiple images from the camera and a radar / lidar scan to the cloud infrastructure from that location (possibly for each lane), including any detected objects. By fusing many individual images, similar to a puzzle, or through image manipulation, an image / scan of this scene without any other road users can be generated in the cloud infrastructure. Creating an image or scan without other road users is also easier during nighttime driving or on holidays.

[0086] For example, there could be an indicator for the "severity" of the situation at that location, so that the number of images to be uploaded and / or the upload speed are determined based on the severity. This way, instead of just one or two images, entire sequences are uploaded, possibly with a lower frame rate to reduce data consumption, in order to capture more comprehensive scenes around the specified location. Essentially, images from 100 meters before and after the location, not just at a specific point.

[0087] For example, it is planned that over time some previously uploaded reference data will lose its validity and / or that future, more modern cars will no longer require reference data at this point, which will then be discarded, for example.

[0088] Any differences in the environmental sensors of the vehicles can be compensated for in the cloud infrastructure and / or, especially in cases of significant differences, at least added as metadata to the environmental data. Differences arise, for example, from varying environmental sensor technologies, such as camera resolutions, or the installation positions and orientation of the sensors on the vehicle. In such cases, it might be possible, for instance, to have multiple images or scans for each sensor position, tagged with the type and / or name of the corresponding environmental sensor.

[0089] For each "overload" position, there can be a sample image or scan, i.e., the reference data, which is transmitted in advance and temporarily from the digital road map to a motor vehicle that will soon pass this position (geographic area).

[0090] If an overload is detected again at the time of passage, or even proactively, the vehicle's processing ECU can use this image or scan, i.e., the reference data, for object detection. The image / scan from the digital road map, without other road users, can make it easier for the ECU to detect all relevant objects through differential recognition.

[0091] Segmenting the roadway into carriageway, sidewalk, and roadside facilitates the identification of road users within the carriageway segment. In the case of false-positive AEB activations, the concept described here can also be applied to reduce the false-positive rate. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] CN 1 14 730 324 A

[0004] US 11,756,353 B2

[0005] US 2023 / 0080281 A1

[0006]

Claims

[1] Method for providing environmental information about the environment of a motor vehicle (901), comprising the following steps: Determining (101) on the motor vehicle side that an event has taken place, detecting (103) an environment of the motor vehicle (901) by a motor vehicle-side environmental sensor system in order to determine environmental data on the motor vehicle side based on the detection, which represent the environment of the motor vehicle (901), in response to the determination that an event has taken place, Motor vehicle-side determination (105) of an instantaneous position of the motor vehicle (901) in response to the determination that an event has taken place, Motor vehicle-side transmission (107) of the environment data and the current position via a communication network to a communication network address. [2] Method according to claim 1, wherein it is determined whether a processing criterion for the vehicle-side implementation of the vehicle-side environment recognition is fulfilled, wherein it is determined that an event has taken place if the processing criterion is not fulfilled. [3] Method according to claim 2, wherein the processing criterion is not met if the processing resources available on the vehicle side are insufficient for the vehicle-side performance of the environment detection. [4] Method according to one of the preceding claims, wherein when an automatic emergency braking assistant of the motor vehicle (901) is triggered, it is determined on the motor vehicle side that an event has taken place. [5] Method according to one of the preceding claims, wherein in the event of an accident of the motor vehicle (901) it is determined by the motor vehicle that an event has taken place. [6] Method according to any of the preceding claims, wherein the event is one of the following: motor vehicle approaching an event position, motor vehicle receiving information via the communication network that the motor vehicle (901) is approaching an event position. [7] System (201) for providing environmental information about the environment of a motor vehicle (901), comprising: a determining device (203) which is set up to determine that an event has taken place, an environmental sensor system (205) which is configured to detect the environment of the motor vehicle (901) in order to determine environmental data based on the detection, which represent the environment of the motor vehicle (901), in response to the determination that an event has taken place, a position determination device (207) which is configured to determine an instantaneous position of the motor vehicle (901) in response to the determination that an event has taken place, a communication device (209) which is set up to send the environment data and the current position via a communication network to a communication network address. [8] Procedure for editing a digital road map, comprising the following steps: Receiving (301) from a multitude of motor vehicles (901) of respective environment data, which represent a respective environment of the motor vehicles (901), and of a respective position of the motor vehicles (901) assigned to the respective environment, wherein the positions are within a geographic area of ​​the digital road map, Determine (303) the reference data representing the geographic area without mobile objects based on the environment data and the positions, Adding (305) the reference data to the digital road map. [9] System (401) for editing a digital road map, comprising: a communication device (403) which is set up to receive from a plurality of motor vehicles (901) of respective environment data representing a respective environment of the motor vehicles (901) and of a respective position of the motor vehicles (901) assigned to the respective environment, wherein the positions are within a geographic area of ​​the digital road map, a computing unit (405) which is set up to determine reference data representing the geographic area without mobile objects based on the environment data and the positions and to add the reference data to the digital street map. [10] Method for at least partially automated driving of a motor vehicle (901), comprising the following steps: Motor vehicle-side reception (501) via a communication network from a communication network address of reference data representing a geographic area without mobile objects of a digital road map, Motor vehicle-side at least partially automated control (503) of a lateral and / or longitudinal guidance of the motor vehicle (901) based on the reference data. [11] System (601) for at least partially automated driving of a motor vehicle (901), comprising: a communication device (603) which is set up to receive, via a communication network from a communication network address, reference data representing a geographic area without mobile objects of a digital street map, a control device (605) which is configured to control the lateral and / or longitudinal guidance of the motor vehicle (901) at least semi-automatically based on the reference data. [12] Method for infrastructure-based assistance of a motor vehicle (901), comprising the following steps: Receiving (701) a current position of the motor vehicle (901) via a communication network, Determine (703) based on the current position and a digital road map covering a geographical area that the motor vehicle (901) is approaching the geographical area, wherein the digital road map includes the geographical area without reference data representing mobile objects, Sending (705) the reference data to the motor vehicle (901) via the communication network. [13] System (801) for infrastructure-based assistance of a motor vehicle (901), comprising: a communication device (803) which is configured to receive an instantaneous position of the motor vehicle (901) via a communication network, a determining device (805) which is set up to determine, based on the current position and a digital road map covering a geographical area, that the motor vehicle (901) is approaching the geographical area, wherein the digital road map includes the geographical area without reference data representing mobile objects, wherein the communication device is set up to send the reference data to the motor vehicle (901) via the communication network. [14] Motor vehicle (901) comprising the system (201) according to claim 7 and / or the system (601) according to claim 11. [15] Cloud infrastructure (1001) comprising the system according to claim 9 and / or the system according to claim 13. [16] Computer program (1103) comprising instructions which, when the computer program (1103) is executed by a computer, cause it to execute a method according to any one of claims 1 to 6, 8, 10 and / or 12. [17] Machine-readable storage medium (1101) on which the computer program (1103) according to claim 16 is stored.

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