Method for producing an environment card and for determining a position in the environment by an automotive unit

摘要

One initial position of the mobile unit (E) is known. The first self-position of the unit is determined relative to the initial position with a position uncertainty. A first distance from the first position to a landmark (L) is determined with a bearing uncertainty. The first position and the landmark serve as the starting map. A second distance from a second self-position to the landmark is determined, so that, using the standing map, a predicted second distance to the landmark is computed. At least one difference between the computed predicted second distance and the determined second distance is determined as a system fault.