Method for mapping environmental markers
Patent Information
- Application Number
- EP2024701916
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2023-02-22
- Filing Date
- 2024-01-24
- Publication Date
- 2025-12-31
Smart Images
Figure EP2024051627_29082024_PF_FP_ABST
Abstract
Description
[0001] Description
[0002] Method for mapping environmental markers
[0003] The invention relates to a method for mapping environmental markers, a method based on such a method for at least partially autonomously controlling a motor vehicle, and a mapping system with such a method.
[0004] According to the abstract, US 20220214186 A1 describes an automated map creation and map positioning solution for vehicles. The solution comprises a map creation method based on sensory perception of the environment. Furthermore, the presented map creation method leverages the inherent advantages of trained self-learning models (e.g., trained artificial networks) to efficiently collect and sort sensor data to create a high-resolution (HD) map of a vehicle's surroundings "on the go."
[0005] Furthermore, according to the abstract, US 2019 / 0301873 A1 discloses a georeferenced trajectory estimation system for vehicles that receives trajectory data generated by a plurality of vehicle sensors and matches fixed reference points from previously created maps and geometry data for a geographic region with trajectory data from the received data from various map builds. The trajectory data from the respective map images is matched with fixed reference points from previously created maps to create a map of the geographic region. The received map data may include partial maps or spatially indexed data used to estimate where a vehicle is located in an unmapped area by generating a series of pose estimates relative to a fixed reference point in a previously mapped area.The resulting map extends the coverage area of the existing map so that old and new map data are in a common, consistent frame of reference, allowing the map to be built incrementally while ensuring global consistency.
[0006] The invention is based on the object of mapping environmental markers precisely, compared to previously known methods for mapping environmental markers. In particular, environmental markers recorded in multiple journeys should be able to be mapped precisely relative to one another. According to claim 1, the object described above is achieved in that the method has the following steps: a. by means of a storage device, holding a reference environmental marker in a comparison reference system; b. by means of a geographical position detection system, detecting a position of a motor vehicle; c. by means of a sensor unit of a motor vehicle, detecting environmental data; d. by means of a computing device, based on a comparison of the environmental data recorded in step c. with the held reference environmental marker, calibrating a vehicle reference system for an update-based position detection system; e.by means of an update-based position detection system, determining the position of the motor vehicle in the vehicle reference system calibrated in step d.; f. by means of the sensor unit of the motor vehicle, detecting further environmental data with at least one further environmental marker; g. by means of the computing device, based on the further environmental data with the at least one further environmental marker, the reference system calibrated in step d., and the position of the motor vehicle determined in step e. by means of the update-based position detection system, mapping the at least one further environmental marker.
[0007] According to claim 1, this object is achieved with the following features:
[0008] Furthermore, according to claim 11, the object of a particularly precise control of a motor vehicle on the basis of the precisely mapped environmental features is achieved by a method for at least partially autonomous control of a motor vehicle.
[0009] Furthermore, according to claim 13, the object is achieved by a mapping system for carrying out the method.
[0010] Advantageous further developments of the invention are characterized in the subclaims.
[0011] According to a first embodiment of the invention, it is proposed that the method for mapping environmental markers comprises at least the following steps: a. by means of a storage device, maintaining a reference environmental marker in a comparison reference system; b. by means of a geographical position detection system, detecting a position of a motor vehicle; c. by means of a sensor unit of a motor vehicle, detecting environmental data; d. by means of a computing device, based on a comparison of the environmental data detected in step e, with the maintained reference environmental marker, calibrating a vehicle reference system for an update-based position detection system; e. by means of an update-based position detection system, determining the position of the motor vehicle in the vehicle reference system calibrated in step d.by means of the sensor unit of the motor vehicle, capturing further environmental data with at least one further environmental marker; g. by means of the computing device, based on the further environmental data with the at least one further environmental marker, the reference system calibrated in step d., and the position of the motor vehicle determined in step e. by means of the update-based position detection system, mapping the at least one further environmental marker.
[0012] Position detection using a geographic positioning system, such as GPS, often has an accuracy of only a few meters. This inaccuracy continues when defining the reference system or determining the vehicle's position using an update-based positioning system, such as a dead reckoning system (DRS). For example, if another vehicle enters the same area and the map of the area is to be completed or improved using the data from this second trip, this is often not satisfactorily implemented.Due to deviations in position detection using GPS, differently defined reference systems arise. Accordingly, recorded environmental markers, or the point clouds used to represent such environmental markers, cannot be superimposed, or their relative positions cannot be clearly determined. However, for the semi-autonomous control of a motor vehicle, even small deviations of just a few meters can be crucial for cartography.
[0013] The proposed method for mapping environmental markers offers the advantage that data from multiple trips through a specific area can be combined to create a precise map of the environmental markers. Errors or inaccuracies in the geographic positioning system can be compensated for by calibrating the reference systems and correctly positioning environmental markers recorded during different trips relative to each other.
[0014] In one embodiment, the reference system is suitable for relating an object or a detected environmental marker to a map. For example, such a map is a local map or a geographical or global map. According to another embodiment of the invention, the geographical positioning system is a positioning system based on a communicating connection with external landmarks.
[0015] Preferably, the geographical positioning system is a satellite-based positioning system, for example GPS, GLONASS, Galileo or Beidou.
[0016] According to a further embodiment of the invention, the reference environmental marker, which is stored on the storage device in step a., is determined in the comparison reference system on the basis of one or more acquisitions of environmental data with this reference environmental marker in a vehicle reference system of a motor vehicle which has previously passed the reference environmental marker.
[0017] According to a further embodiment of the invention, the environmental data comprises at least one snapshot.
[0018] According to a further embodiment of the invention, the environmental data comprise at least one point cloud.
[0019] According to a further embodiment of the invention, in order to compare the environmental data in step d., a point cloud is first generated on the basis of the environmental data.
[0020] Preferably, the point cloud is generated using an algorithm from the following list:
[0021] - Oriented FAST (features form accelerated segment test) and Rotated BRIEF (binary robust independent elementary features) algorithm (ORB);
[0022] - Scale Invariant Feature Transform Algorithm (SIFT); and
[0023] - Binary Robust Invariant Scalable Keypoints Algorithm (BRISK).
[0024] Preferably, such environmental data were generated using at least one camera recording.
[0025] According to a further embodiment of the invention, the comparison in step d. is carried out on the basis of point cloud matching.
[0026] Preferably, point cloud matching is performed using one of the following algorithms:
[0027] - Iterative Closest Point Algorithm (ICP); and
[0028] - Normal Distribution Transform Matching (NDT). According to another embodiment of the invention, the environmental data comprises several temporally spaced snapshots.
[0029] The capture of another snapshot follows the travel of a predetermined distance by the motor vehicle, a change in the direction of travel and / or a change in the vehicle inclination.
[0030] According to a further embodiment of the invention, the method is carried out when the motor vehicle passes through a defined special area.
[0031] The method is preferably carried out when the motor vehicle travels through a special area in which an exact determination of the position of the motor vehicle is required and / or there is a poor or no connection to external landmarks.
[0032] According to a further embodiment of the invention, the vehicle reference system is adapted to the comparison reference system for calibration.
[0033] Preferably, the comparison reference system is defined by the vehicle reference system of a first motor vehicle, which detects the reference environment marker and transmits it to the computing device.
[0034] According to a further embodiment of the invention, a method for at least partially autonomously controlling a motor vehicle is proposed, which comprises at least the following steps in the order mentioned: h. by means of a sensor unit, capturing environmental data with at least one environmental marker that was mapped by means of the method according to an embodiment as described above; i. by means of a control device, controlling the motor vehicle based on the environmental markers that were mapped by means of the method according to an embodiment as described above and the environmental data that was captured in step h.
[0035] According to a further embodiment of the invention, the method is carried out exclusively in a special area with poor connection to external landmarks of a geographical position detection system or a high requirement for the accuracy of the position detection of the motor vehicle, for example with a maximum deviation of less than 300 mm, preferably less than 150 mm, particularly preferably less than 50 mm.
[0036] According to a further embodiment of the invention, a mapping system is proposed which is designed to carry out the method according to an embodiment as described above. Such a mapping system comprises at least the following components: at least one motor vehicle with a sensor unit; a computing device; and a storage device.
[0037] According to a further embodiment of the invention, the sensor unit comprises a radar sensor, a lidar sensor, an ultrasonic sensor, and / or a camera, preferably an optical camera.
[0038] According to a further embodiment of the invention, the mapping system comprises a plurality of motor vehicles, preferably a motor vehicle fleet.
[0039] In one embodiment, the camera images are photos or video segments captured using an optical camera. In one embodiment, the point clouds are 3D point clouds composed of multiple snapshots.
[0040] In one embodiment, the special area is an area in which there is no satellite reception for the motor vehicle, for example a tunnel or a building, for example a parking garage.
[0041] Embodiments of the invention are explained in more detail below with reference to the drawings. They show:
[0042] Fig. 1: a schematic representation of a mapping system,
[0043] Fig. 2: a flowchart of a method for mapping environmental markers, and
[0044] Fig. 3: a flowchart of a method for at least partially autonomously controlling a motor vehicle.
[0045] Fig. 1 shows a schematic representation of a mapping system 100. The
[0046] Mapping system 100 comprises, as shown, a motor vehicle 30, a geographical position detection system 20, a storage device 12, and a computing device 11. Furthermore, a parking garage 41 is shown as an exemplary special area 40 which can be mapped by means of the mapping system 100.
[0047] In the illustrated, preferred embodiment, at least a portion of the computing device 11 and the storage device 12 is arranged in a backend 10. However, at least a portion of the storage device 12 and / or computing device 11 is also arranged, for example, in the motor vehicle 30.
[0048] The mapping system 100 preferably comprises a plurality of motor vehicles 30, for example, a vehicle fleet. For the sake of clarity, only one motor vehicle 30 is shown here.
[0049] As shown, the geographical positioning system 20 is a satellite navigation system 21, for example, GPS [Global Positioning System], GLONASS [Global Navigation Satellite System], Galileo, or Beidou. In other embodiments, other geographical positioning systems 20 can also be used, in which the motor vehicle 30 is in communicative connection with multiple landmarks 22, for example, transmission towers or hotspots.
[0050] The motor vehicle 30 comprises a sensor unit 31, for example a radar sensor, a lidar sensor, an ultrasonic sensor, and / or a camera, preferably an optical camera. The motor vehicle 30 preferably comprises several of these sensor units 31, wherein one or more of the sensor units 31 can be implemented as part of the mapping system 100 and can be used for the method described below (see Fig. 2).
[0051] When the motor vehicle 30 travels outside a special area 40, such as the parking garage 41, the position of the motor vehicle 30 is recorded by the geographical positioning system 20. However, the accuracy of the positioning system 20 does not meet the accuracy requirements for mapping the special area 40 or the parking garage 41.
[0052] Within the parking garage 41, the position of the motor vehicle 30 is determined using an update-based position detection system (not shown here). One such update-based position detection system is, for example, a dead reckoning system (DRS). The dead reckoning system determines the position of the motor vehicle 30, for example, based on movement values of the motor vehicle 30, whose position is tracked in a reference system. For this purpose, the speed, acceleration, inclination, and / or cornering of the motor vehicle 30 are recorded, thus retracing the distance traveled. For this purpose, the motor vehicle 30 includes DRS detectors, such as wheel speed sensors.
[0053] The reference system of the update-based position detection system is based on the last position of the motor vehicle 30 determined by the geographical position detection system 20. If environmental markers 43 in the special area 40 are recorded by the motor vehicle 30 for mapping purposes, their location with respect to further journeys through the special area 40 or to a classification in a context map or a global map is subject to the error of the geographical position detection system 20.
[0054] To correct these inaccuracies, it is proposed here to calibrate the reference system of the motor vehicle 30. For this purpose, a comparison reference system is used for the special area 40. The comparison reference system corresponds, for example, to the vehicle reference system used during a previous journey of a motor vehicle 30 through the special area 40.
[0055] To calibrate the reference system of the motor vehicle 30 with the comparison reference system, environmental data with a reference environmental marker 42 having a fixed, unchanging position is acquired by the sensor unit 31 of the motor vehicle 30. Sensor data is thus acquired by the sensor unit 31, and when the motor vehicle 30 is in a suitable geographical position, the computing device 11 checks whether the reference environmental marker 42 has been acquired, i.e., whether it is included in the environmental data. Environmental data associated with the reference environmental marker 42 are stored in the memory and map the environmental marker 43 in the comparison reference system. Thus, based on the reference environmental marker 42, the reference system of the motor vehicle 30 can be adapted or calibrated to the comparison reference system.
[0056] Such a reference environmental marker 42 is preferably arranged such that the position of the motor vehicle 30 can be detected by the geographic position detection system 20 when the reference environmental marker 42 is detected by the sensor unit 31. Preferably, when the reference environmental marker 42 is detected, the motor vehicle 30 is located at a position at which a connection to the orientation points 22 of the geographic position detection system 20 still just exists, for example, shortly before entering the parking garage 41. For example, a parking garage sign, preferably attached externally, a parking garage entrance, and / or a parking garage barrier forms such a reference environmental marker 42.
[0057] Within the special area 40, for example, the parking garage 41, the position of the motor vehicle 30 is now determined using the update-based position detection system, using the calibrated reference system. The sensor unit 31 of the motor vehicle 30 detects additional environmental markers 43 within the parking garage 41. The additional environmental markers 43 are also stationary objects, i.e., immobile. For example, the additional environmental markers 43 include floor signs, parking space signs, parking space markings, walls, or other structural elements.
[0058] Due to the calibrated reference systems, the further environmental markers 43 can be precisely mapped in relation to environmental markers 43 which are arranged within the special area 40 and were determined in previous journeys.
[0059] Fig. 2 shows a flowchart of a method for mapping environmental markers 43. Preferably, the method is carried out by means of the mapping system 100 according to Fig. 1.
[0060] In a step a, the reference environment marker 42 is stored in the comparison reference system using the storage device 12. Preferably, the reference environment marker 42 was recorded during a previous trip of a motor vehicle 30 of the vehicle fleet and located, i.e., mapped, in the vehicle reference system of this previous trip as a comparison reference system. This data was stored on the storage device 12 for calibrating the reference systems during subsequent trips. Preferably, the reference environment marker 42 is stored with the comparison reference system in a backend 10.
[0061] In a step b., a position of a motor vehicle 30 is determined by means of the geographical position detection system 20, preferably at the position at which the motor vehicle 30 detects environmental data in the step c. explained below. This position is also transmitted to the computing device 11, preferably to the backend 10. A corresponding reference environmental marker 42, with which the detected reference environmental marker 42 is comparable, can thus be efficiently located by means of the computing device 11. This position detection takes place shortly before the motor vehicle 30 enters the special area 40. In a step c., environmental data is detected by means of the sensor unit 31 of the motor vehicle 30. For example, the sensor unit 31 is a lidar sensor, a radar sensor, a camera, and / or an ultrasonic sensor.The determined environmental data comprise, for example, a point cloud and are preferably transmitted to the computing device 11 in the backend 10. The computing device 11 compares the environmental data with the reference environmental marker 42 stored in the storage device 12. Thus, the computing device 11 can determine whether the reference environmental marker 42 is included in the environmental data and where the motor vehicle 30 is located relative to the reference environmental marker 42, i.e., the exact position of the motor vehicle 30 relative to the environmental marker 43.
[0062] For example, the comparison used to check the reference environmental marker 42 in the newly acquired environmental data or to determine the position of the motor vehicle 30 relative to the reference environmental marker 42 is carried out on the basis of point cloud matching, preferably using an Iterative Closest Point Algorithm [ICP] and / or Normal Distribution Transform Matching [NDT]. If the acquired environmental data does not comprise a point cloud, it can first be transformed into a point cloud, for example. For example, the environmental data of the reference environmental marker 42 is transformed into a point cloud using an algorithm, such as the Oriented FAST [features form accelerated segment test] and Rotated BRIEF [binary robust independent elementary features] algorithm [ORB]; the Scale Invariant Feature Transform Algorithm [SIFT]; and / or the Binary Robust Invariant Scalable Keypoints Algorithm [BRISK].This occurs, for example, when the environmental data is first captured as optical images.
[0063] The environmental data is preferably captured in so-called snapshots. For example, multiple snapshots of an environmental marker 43, for step c. of the reference environmental marker 42, are recorded or captured and combined into a 3D point cloud. The capture of multiple or a series of snapshots is controlled, for example, based on a distance traveled by the motor vehicle 30 between two snapshots and / or a different angle to the environmental marker 43, for example due to cornering or a changed inclination of the motor vehicle 30.
[0064] In a subsequent step d., the vehicle reference system is calibrated for an update-based position detection system using the computing device 11 based on a comparison of the environmental data acquired in step c. with the provided reference environmental marker 42. Calibrated here means that an existing reference system is adjusted or the vehicle reference system can be redefined. This step d. preferably takes place on the backend 10. The comparison reference system is preferably adopted as the vehicle reference system and used for further position determination using an update-based position detection system.
[0065] In step e., the position of the motor vehicle 30 in the vehicle reference system calibrated in step d. is determined using the update-based position detection system. As already explained, a DRS is preferably used for this purpose.
[0066] While the motor vehicle 30 is traveling through the special area 40, in a step f., further environmental data with at least one further environmental marker 43 is acquired by the sensor unit 31 of the motor vehicle 30. The further environmental data can be acquired and processed in the same way as the environmental data comprising the reference environmental marker 42 explained above.
[0067] In a step g., the at least one further environmental marker 43 is mapped by means of the computing device 11, based on the further environmental data with the at least one further environmental marker 43, the reference system calibrated in step d., and the position of the motor vehicle 30 determined in step e. using the update-based position detection system. In this way, for example, a map of the special area 40 already generated by previous journeys can be supplemented with further environmental markers 43 within the special area 40. Furthermore, the position of the already mapped further environmental markers 43 can be corrected, for example, and it can be determined, for example, which parts of the recorded environmental data or point clouds belong to stationary environmental markers 43 and which can be assigned to temporary or moving objects.
[0068] All of the steps described above, which are carried out by means of the computing device 11 and the storage device 12, are preferably carried out on the backend 10. These are preferably at least steps a., d., and g. Steps c. and f., in which environmental data are acquired by means of the sensor units 31, are carried out at least partially onboard, i.e., in the motor vehicle 30. The same preferably applies to step b. of position detection by means of a geographical position detection system 20. Step e. of determining the position of the motor vehicle 30 by means of the update-based position detection system can be divided between the backend 10 and the motor vehicle 30, or can be carried out entirely on the backend 10 or the motor vehicle 30. The steps do not necessarily have to be carried out in the order shown and specified. This merely serves to simplify understanding.
[0069] For example, in one embodiment, steps a., d., and g., which are at least partially executed on the backend 10, are only executed once the motor vehicle 30 has left the special area 40 again. For example, the motor vehicle 30 does not have a sufficient connection to the backend in the special area 40, for example no or inadequate internet reception in a parking garage 41. In such a case, for example, steps c., b., and f. are first executed on the vehicle side, before and while the motor vehicle 30 drives through the special area 40. Only then are the data transmitted to the backend 10. At least step g. is therefore only carried out subsequently. Step a. is preferably executed beforehand on the backend 10 anyway. Steps d. and e. can optionally be executed before step f., after step f., or during step f.
[0070] Step e. is preferably already performed on the vehicle side when driving through the special area 40 so that the motor vehicle 30 knows its position. However, if the environmental data for comparison with the environmental marker 43 has not yet been transmitted between the motor vehicle 30 and the backend 10 before entering the special area 40, the calibrated reference system is unknown on the vehicle side. In this case, step e. is initially performed with a non-calibrated vehicle reference system. The calibration of the reference system with the comparison reference system in step d. is then subsequently performed on the backend 10 and used for locating or mapping the additional environmental markers 43.
[0071] Fig. 3 shows a flowchart of a method for at least partially autonomously controlling a motor vehicle 30. The method is based on the method for mapping a special area 40 according to Fig. 2. For example, the map generated by the mapping method is stored on a backend 10 or on the vehicle. Preferably, the map is initially stored on the backend and is downloaded by the motor vehicle 30 before it enters the special area 40, for example, a parking garage 41. For example, it is known from the navigation destination that the motor vehicle 30 is likely to enter the special area 40, or this is determined based on the driving course, for example using artificial intelligence. For example, the reference environmental marker 42 is detected by the sensor unit 31 for this purpose.
[0072] In a step h., environmental data of the at least one environmental marker 43, which was mapped using the method according to Fig. 2, is then acquired by means of a sensor unit 31. In a step i., the motor vehicle 30 is controlled by means of a control device based on the environmental marker 43 mapped using the method according to Fig. 2 and the environmental data acquired in step h.
[0073] For this purpose, the motor vehicle 30 preferably determines environmental data, as already explained with reference to Fig. 2, and compares these, preferably onboard, with the mapped environmental markers 43. In this way, for example, the update-based position detection system of the motor vehicle 30 can be supported and its accuracy can be increased.
[0074] The method is preferably carried out exclusively in a special area 40 with poor connection to external landmarks 22 of a geographical position detection system 20 or a high requirement for the accuracy of the position detection of the motor vehicle 30, for example with a maximum deviation of less than 300 mm, preferably less than 150 mm, particularly preferably less than 50 mm.
[0075] For example, the method can be used for a parking assistance system, a parking guidance system and / or the control of a fully autonomous motor vehicle 30.
[0076] List of reference symbols
[0077] Mapping system
[0078] backend
[0079] computing device
[0080] Storage device
[0081] Position detection system
[0082] Satellite navigation system
[0083] landmark
[0084] motor vehicle
[0085] Sensor unit
[0086] Special area
[0087] Parking garage
[0088] Reference environment markers of other environment markers
Claims
Patent claims 1. A method for mapping environmental markers (43), the method comprising at least the following steps: a. by means of a storage device (12), maintaining a reference environmental marker (42) in a comparison reference system; b. by means of a geographical position detection system (20), detecting a position of a motor vehicle (30); c. by means of a sensor unit (31) of a motor vehicle (30), detecting environmental data; d. by means of a computing device (11), based on a comparison of the environmental data detected in step c. with the maintained reference environmental marker (42), calibrating a vehicle reference system for an update-based position detection system; e. by means of an update-based position detection system, determining the position of the motor vehicle (30) in the vehicle reference system calibrated in step d.by means of the sensor unit (31) of the motor vehicle (30), capturing further environmental data with at least one further environmental marker (43); g. by means of the computing device (11), based on the further environmental data with the at least one further environmental marker (43), the reference system calibrated in step d., and the position of the motor vehicle (30) determined in step e. by means of the update-based position detection system, mapping the at least one further environmental marker (43).
2. The method according to claim 1, wherein the geographical position detection system (20) is a position detection system based on a communicating connection with external landmarks (22), preferably a satellite-based position detection system, for example GPS, GLONASS, Galileo or Beidou.
3. The method according to claim 1 or claim 2, wherein the reference environmental marker (42) stored in step a. on the storage device (12) is determined in the comparison reference system on the basis of one or more acquisitions of environmental data with this reference environmental marker (42) in a vehicle reference system of a motor vehicle (30) which has previously passed the reference environmental marker (42).
4. Method according to one of the preceding claims, wherein the environmental data comprises at least one snapshot.
5. Method according to one of the preceding claims, wherein the environmental data comprise at least one point cloud.
6. Method according to one of the preceding claims, wherein for the comparison of the environmental data in step d., a point cloud is first generated on the basis of the environmental data, preferably generated by means of camera recordings, preferably by means of an algorithm from the following list: - Oriented FAST (features form accelerated segment test) and Rotated BRIEF (binary robust independent elementary features) algorithm (ORB); - Scale Invariant Feature Transform Algorithm (SIFT); and - Binary Robust Invariant Scalable Keypoints Algorithm (BRISK).
7. Method according to one of the preceding claims, wherein the comparison in step d. is carried out on the basis of a point cloud matching, preferably by means of one of the following algorithms: - Iterative Closest Point Algorithm (ICP); and - Normal Distribution Transform Matching (NDT).
8. Method according to one of the preceding claims, wherein the environmental data comprise a plurality of temporally spaced snapshots, wherein the acquisition of a further snapshot preferably occurs upon the travel of a predetermined distance with the motor vehicle (30), a change in the direction of travel and / or a change in the vehicle inclination.
9. Method according to one of the preceding claims, wherein the method is carried out when the motor vehicle (30) travels through a defined special area (40), preferably such a special area (40) in which an exact determination of the position of the motor vehicle (30) is required and / or there is a poor or no connection to external landmarks (22).
10. Method according to one of the preceding claims, wherein the vehicle reference system is adapted to the comparison reference system for calibration, wherein the comparison reference system is preferably determined by the vehicle reference system of a first motor vehicle (30), which detects the reference environment marker (42) and transmits it to the computing device (11).
11. A method for at least partially autonomously controlling a motor vehicle, comprising at least the following steps in the order stated: h. by means of a sensor unit (31), detecting environmental data with at least one environmental marker (43) mapped by means of the method according to one of the preceding claims; i. by means of a control device, controlling the motor vehicle (30) based on the at least one environmental marker (43) mapped by means of the method according to one of the preceding claims and the environmental data detected in step h.
12. The method according to claim 11, wherein the method is carried out exclusively in a special area (40) with poor connection to external landmarks (22) of a geographical position detection system (20) or a high requirement for the accuracy of the position detection of the motor vehicle (30), for example with a maximum deviation of less than 300 mm, preferably less than 150 mm, particularly preferably less than 50 mm.
13. A mapping system for carrying out the method according to any one of claims 1 to 12, comprising at least the following components: at least one motor vehicle (30) with a sensor unit (31); a computing device (11); and a storage device (12).
14. Mapping system (100) according to claim 13, wherein the sensor unit (31) comprises a radar sensor, a lidar sensor, an ultrasonic sensor, and / or a camera, preferably an optical camera.
15. Mapping system (100) according to claim 13 or claim 14, wherein the mapping system (100) comprises a plurality of motor vehicles (30).