DE102017215708A1 - Method and system for determining a quality mark for road markings - Google Patents

Abstract

Method for determining a quality map (23) to be used in the fully automatic guidance of a motor vehicle (5) in each motor vehicle (5) of a motor vehicle fleet (6) having a plurality of motor vehicles by evaluation of sensor data at least one of the quality of the lane markings and / or the quality of the detection of the lane markings quality information is determined and the quality information and an associated, whose location recording descriptive position information to at least one environment sensor (10) comprehensive environment data lane markings in the environment of the motor vehicle (5) detected an off-vehicle, fixed backend device (2) are sent, wherein the transmitted, spatially resolved quality information of the motor vehicle fleet (6) from the backend device (2) for creating un d) or updating the quality card (23).

Description

The invention relates to a method for determining a quality map describing the quality of lane markings along passable sections, to be used in the fully automatic guidance of a motor vehicle, and to a corresponding system.

A major object of current research is vehicle systems designed to fully automatically guide automobiles to enable autonomous operation of the motor vehicles. Correct functioning of such vehicle systems depends on a high degree of marking on the roadway (lane markings), which are detected and interpreted by means of vehicle-side surroundings sensors, in particular cameras. In particular, for a stable transverse guidance within the lane or a safe passing of intersection areas lane markings are important. Missing, inadequate or poorly detectable markings lead to the degradation of the fully automatic vehicle guidance function and in extreme cases to their complete failure. For example, without adequate lane markings, driving on the corresponding route section is possible, for example, only at very low speed, since a few meaningful environmental data would have to be used to detect the area to be traveled.

DE 10 2015 209 186 A1 relates to a method for determining a description of a lane lying in an environment of a vehicle, environment data being determined which contain information about a lane marking and / or about one or more objects in the vicinity of the vehicle. It ultimately creates a kind of environment map that can be used for an autonomous driving function of the vehicle.

DE 20 2014 006 923 U1 relates to a driver assistance system for autonomously holding a motor vehicle on a lane. In this case, the degree of autonomous driving of the motor vehicle can be adjusted as a function of the traffic situation, in which the quality of the road marking can also be taken into account. In this case, if the lane markings are too poor, the lane boundary can not be detected with sufficient accuracy, so that autonomous driving can be ruled out.

DE 10 2015 223 823 A1 relates to a navigation system for automated vehicles, wherein a digital map in which roads are listed is provided. At least some road sections each have a property assigned. A route from a start to a destination is determined by evaluating the properties associated with the road sections as to whether the respective road section is passable by an automatically driving vehicle. The properties may include the presence and quality of pavement markings. No information is provided to determine these properties.

The invention is therefore based on the object of specifying a reliable possibility for generating a quality as possible topical, the quality of road markings along passable sections descriptive quality map.

To achieve this object, a method having the features of claim 1 and a system having the features of claim 10 are provided according to the invention. Advantageous embodiments emerge from the subclaims.

• - durch Auswertung von Sensordaten wenigstens eines Umfeldsensors umfassenden Umfelddaten Fahrbahnmarkierungen im Umfeld des Kraftfahrzeugs detektiert werden,
• - wenigstens eine die Qualität der Fahrbahnmarkierungen und/oder die Qualität der Detektion der Fahrbahnmarkierungen beschreibende Qualitätsinformation ermittelt wird und
• - die Qualitätsinformation und eine zugeordnete, deren Aufnahmeort beschreibende Positionsinformation an eine kraftfahrzeugexterne, ortsfeste Backendeinrichtung übersendet werden,

wobei die übersandten, ortsaufgelösten Qualitätsinformationen der Kraftfahrzeugflotte seitens der Backendeinrichtung zur Erstellung und/oder Aktualisierung der Qualitätskarte verwendet werden.In a method according to the invention for determining a quality map, it is provided according to the invention that in each motor vehicle a motor vehicle fleet having a plurality of motor vehicles

• - road markings in the environment of the motor vehicle are detected by evaluation of sensor data of at least one environment sensor comprehensive environment data,
• at least one quality information describing the quality of the road markings and / or the quality of the detection of the road markings is determined, and
• the quality information and an associated position information describing the location of the recording are transmitted to a stationary, external backend device,

wherein the transmitted, spatially resolved quality information of the motor vehicle fleet is used by the backend device for creating and / or updating the quality map.

In a corresponding system, the steps to be carried out on the motor vehicle are carried out by means of a control device of the motor vehicle, which may comprise at least one control device and / or a communication device, the backend device being designed to generate and / or update the quality map on the basis of the transmitted, spatially resolved quality information of the motor vehicle fleet , The communication connection to the backend device, which may be an internet device, may in particular comprise a mobile network and / or an internet connection. In this case, quality information does not necessarily have to be cyclic or immediate when it is determined together with the position information but it is conceivable to temporarily store them in a memory device of the motor vehicle until a transmission condition occurs. Such a transmission condition may for example be the end of a current operating phase of the motor vehicle. The communication connection can be at least partially wireless, but this also does not have to be the case. By way of example, in the case of a motor vehicle having a battery which can be charged via a charging device and transmission when the motor vehicle is being charged, the communication connection can be made at least partially by the charging device by means of a wire.

It is therefore proposed to implement the mapping of the lane marking qualities by using a particularly autonomous motor vehicle fleet, which determines the quality information with spatial resolution and sends it to a backend device. The motor vehicle fleet can consist of any motor vehicles, so that does not necessarily have to be used special test or mapping vehicles and / or motor vehicles must not necessarily be equipped with a completely automatic guidance of the motor vehicle trained vehicle system. The motor vehicles of the motor vehicle fleet may expediently have, in particular, at least one camera as an environment sensor. However, other suitable environmental sensors are conceivable that allow perception of lane markings. Appropriately, lane lines and / or directional arrows and / or traffic signs and / or stop and / or stop lines can be detected as lane markings. By means of environment data, in particular at least the sensor data of the at least one environment sensor, road markings can be detected by evaluation, in particular under other lines in different forms, directional arrows, traffic signs, as well as stop and stop lines. Possibilities for the corresponding evaluation of sensor data or environmental data in general have already been proposed in the prior art.

In an expedient embodiment, the current quality map can be provided to at least one motor vehicle of a useful fleet, wherein the useful fleet can correspond to the motor vehicle fleet or can comprise at least part of the motor vehicle fleet. The current quality map can thus be used in motor vehicles, which do not necessarily have to belong to the motor vehicle fleet, and thus, for example, also be provided to other motor vehicles of a manufacturer, regardless of whether these motor vehicles actually have also recorded quality information.

With particular advantage, the quality card can be used by at least one vehicle system designed by completely automatic guidance of a motor vehicle, in particular for planning a route along lane markings of higher quality than along alternative routes. After the lane markings and their quality have a fairly large influence on a smooth autonomous driving, the mapping of the qualities of the lane markings is provided on the one hand, but also the planning of a route suitable for fully automatic driving according to these mapped lane marking qualities. Result of the accumulation of quality information in the backend device is thus a detailed quality map that maps the quality of the lane markings for each section of the route. This quality map is again provided to the (autonomous) utility fleet for further use. There, the quality map can be used particularly advantageously for planning a route from a starting place to a destination. Since, as mentioned above, the fully automatic vehicle guidance very much depends on good road markings, a route with high road marking quality is planned using the quality map. In this case, known methods from today's navigation solutions can be used, wherein in particular the accumulated quality information associated with the route sections, ie the road marking qualities. The quality map is used as a weight to evaluate possible candidate routes.

The quality map can be used in addition to the route planning but otherwise useful for improving automatic driving functions. Thus, a particularly preferred embodiment of the invention provides that the quality card is used for adapting functional limits of the automatic driving function, in particular for gradual degradation in with decreasing road marking quality of a respective traveled route section. It is not always possible to guarantee his (sensible) route, along which the lane marking quality allows the use of the automatic driving function within the desired limits. Unlike other approaches, the automatic driving function is not completely switched off in the context of the invention, but adapted to the given lower road marking quality. For example, different sets of operating parameters can be assigned to different lane mark quality intervals. This makes it possible, then, if the road marking quality is too low to use the automatic driving function still in an adapted form, especially in a slightly degraded form, so that the Motor vehicle so to speak through areas of lesser road marking quality "touch" can.

In concrete terms, it can be provided that the maximum speed that can be used by the automatic driving function is selected to be lower with decreasing road marking quality of a particular section of the route in accordance with the quality map. If the quality of the lane marking quality is low, for example, additional sensors or their sensor data must be used, which, however, may in some cases have to be accumulated over a longer period in order to generate meaningful features. This can be achieved by slower operation of the motor vehicle. Of course, however, other functional limits are adaptable, for example, with greater involvement of a driver of the motor vehicle.

It should be noted that, beyond this, further applications of the quality card are conceivable. Thus, it is possible to offer the quality mark of pavement marking qualities as a service to road authorities and / or comparable agencies who can use the quality map as the basis for renewal of pavement markings. Road sections with poor road marking quality are predestined for corresponding conservation measures.

To determine the position information, position data of a GNSS sensor can be used expediently. After the recording location is to be determined as accurately as possible in order to allow a correct assignment to respective sections, it is also expedient if at least one further position datum enters the position information and / or a refinement algorithm is used to determine the position information more precisely. Thus, for example, a global navigation satellite system (GNSS) or a corresponding GNSS sensor can be provided with additional logic in order to further improve the position determination. For example, dGPS procedures can be used and / or further information can be included in the position determination, for example, self-motion data of the respective motor vehicle (dead reckoning). Various, generally known in the prior art possibilities for high-precision position determination for motor vehicles can also be used in the context of the present invention.

A particularly preferred development of the present invention provides that, in addition to a position information describing the recording location, a time information describing the recording time and / or the weather information describing the quality information is also associated with the quality information and transmitted to the backend device. Consequently, a point in time to which the quality information relates can also be communicated to the backend device for further use. The same applies to a weather information describing the current weather conditions, after lane markings are less recognizable, for example, in a wet road, so the weather can have an impact on the quality information. The time information is used in particular to keep the quality card on the part of the backend device as up to date, in particular changes to the condition of the lane markings (for example, by destruction and / or by the appearance of construction sites) to be able to pass as quickly as possible to motor vehicles of the fleet and / or otherwise.

Specifically, it can be provided that, in the creation and / or updating of the quality map, older quality information of a route section is weighted less by the backend device and / or quality information exceeding a predetermined age threshold is discarded and / or the weather information for subsequent correction of the quality information and / or the weighting the quality information is used by the backend device. The quality of lane markings is living information, so that preferably an aging mechanism is provided by the backend device. That is, quality information accumulated in the backend device, that is, the road mark quality, and future quality information of the vehicle fleet are to be adequately weighted so that changes in the road marking quality are propagated with sufficient speed. Thus, specifically outdated quality information can be discarded, for example, in the manner of a sliding statistical value, whereby it may be preferable to weight quality information with increasing age ever smaller and into the roadway marking quality currently assigned to a route section in the quality map. Accordingly, incoming quality information to be considered, which has been determined in adverse weather conditions, may be weighted less, or even discarded, to avoid any distortion of the road marking qualities provided in the quality map.

For the concrete determination of the quality information within the motor vehicles of the motor vehicle fleet, a large number of preferred embodiments are conceivable for different, possibly occurring, losses Cover road mark quality as comprehensively as possible.

Thus, a preferred development of the present invention provides that as the at least one quality information a fundamental detectability of lane markings and / or reliability of the existence of a detected lane marking and / or completeness of the detected lane markings and / or a contrast of a lane marking to the ground and / or deviations occurring in a detected lane marking when fitting a lane marking model and / or deviations occurring in lane markings when fitting a lane pattern and / or the occurrence of overlaps of detected lines as lane markings and / or the distinguishability of construction site markings from normal lane markings and / or the consistency detected Road markings with each other and / or the completeness of detected road markings is determined.

Basically, to determine the quality information, it can therefore first be checked whether roadway markings are detectable at all. If lane markings can be detected, a reliability value can be determined, for example, which indicates how certain the detection module of the motor vehicle performing the detection of the lane markings is with regard to the existence of the lane marker detected in each case. For this purpose, for example, corresponding detection algorithms can be extended in a fundamentally known manner such that they also output the reliability value.

Detected markers may also be further analyzed to determine the quality information. For example, it can be checked how complete the lane markings are or how regularly they occur. For example, if breaks occur due to partially detached lane markings that do not match the regular pattern of a dashed line or other lane markings, the quality information may indicate a lower quality. The contrast of a detected road marking to the ground can also be examined and collected and transmitted as quality information, for example after paved markings are, for example, harder to detect than white markings on gray ground, for example asphalt.

An excellent means for analyzing the quality of detected lane markings is also the fitting of different models, which may correspond, for example, to ideal conditions. In this case, different models for different types of road markings can be used, such as line models or the like, which are then fitted into the corresponding detected and possibly classified road markings, wherein deviations are detected. The size of these deviations is a measure of the quality of the road markings and thus a useful quality information. A similar procedure can be used if lane markings have been detected which describe the course of a traffic lane. Then lane models can be used and fitted into the lane markers, mostly lane lines. Again, the deviations in fitting represent important and relevant quality information.

In the context of the determination of the quality information, it is also possible to check whether overlaps of different perceived road markings, in particular of lines, occur. Such may occur in particular when there are different types of lane markings, for example normal lane markings and construction site markings, which incidentally must also be sufficiently distinguishable, which in turn can be described by quality information.

It is also preferred if, in the case of a plurality of detected lane markings, the consistency of the lane markings with respect to one another is checked, for example within the scope of a consistency criterion. For example, it can be monitored whether there are lanes with directional arrows that point straight ahead, also lanes with turning directional arrows or whether at intersections all directions are covered by appropriate directional arrows. Also, the consistency with respect to lanes of bounding lines can be monitored. With regard to intersections, it is possible to check whether stop and stop lines are completely present.

As already mentioned, different types of lane markings, such as construction site markings and normal markings, represent a special challenge, so that it is particularly useful here to check whether the lane markings in construction areas are altogether clear or, if appropriate, old lane markings visible for a completely automatic guidance of a motor vehicle trained vehicle system can lead to ambiguity. Disturbances due to insufficiently applied markings, for example detaching construction site markings, can also be detected by analyzing detected road markings.

Of course, in addition to these particularly preferred quality criteria, further evaluations can take place in order to determine quality information.

For the assignment of quality information to sections of track, a comparison can be made with a digital map describing a route network. Such digital maps, which allow a division of a route network in sections or possibly already included, are already known in the art. The position information may be, where, as described, accurate position information is preferred to serve to locate the recording locations in the digital map, so that the assignment can be made to a section of the route. It should be noted at this point that it is of course also conceivable to integrate the quality card into other cards, for example in the digital card mentioned here, which, for example, can basically be provided to a navigation system of a motor vehicle. In this case, the road mark quality of the quality map can be deposited, for example, as a further property of a route section.

In the backend device, the quality information of the individual motor vehicles of the motor vehicle fleet is collected and, after an optional registration to the route network of the digital map, jointly evaluated and skilfully accumulated to the road marking quality. In this case, it can be concretely provided that methods for statistical data merging and / or at least one artificial intelligence algorithm are used to create and / or update the quality map and / or a plausibility check of quality information of different motor vehicles is performed against each other. For the accumulation of quality information by the backend device, therefore, known methods can be preferably used, such as, for example, probability-based methods of statistical data processing and / or methods based on artificial intelligence. If necessary, further consistency checks must be carried out and the qualities reported by the motor vehicle fleet must be adjusted. By way of example, a plausibility check can identify outlier quality information that does not match other transmitted quality information of the same or later priority, whereby cases of changing quality information must be taken into account accordingly.

In addition to the method, the invention also relates, as already mentioned, to a system for determining such a quality card which has a motor vehicle fleet having a plurality of motor vehicles and a back end device which communicates with the motor vehicles. The system is designed for carrying out the method according to the invention, so that all statements relating to the method according to the invention can be analogously transferred to the system according to the invention.

The motor vehicles therefore have control devices that can implement the steps to be performed on the motor vehicle side and can also include a corresponding communication connection for communication with the backend device. For example, the control devices may concretely have a recognition module for detecting lane markings in the environment data and an assessment module for determining the quality information. By means of a communication module or a communication device, the transmission can then take place upon the occurrence of a transmission criterion.

• 1 ein erfindungsgemäßes System, und
• 2 ein funktionales Diagramm zum Ablauf des erfindungsgemäßen Verfahrens.

Further advantages and details of the present invention will become apparent from the embodiments described below and with reference to the drawing. Showing:

• 1 a system according to the invention, and
• 2 a functional diagram for the course of the method according to the invention.

1 shows an embodiment of a system according to the invention 1 in a schematic diagram. The system 1 has a backend device 2 on, which can be implemented as an Internet device, for example as a cloud or other server.

By means of a communication device 3 can the backend device 2 by establishing communication links 4 with motor vehicles 5 a motor vehicle fleet 6 communicate, in particular receive and send data. For this purpose, the motor vehicles 5 as part of a control device 7 even suitable communication facilities 8th on. Another part of the control device 7 forms a control unit 9 , The present case also a control device for fully automatic guidance of the motor vehicle 5 trained vehicle system and is designed to carry out the motor vehicle side steps of the method according to the invention. The car 5 has as components further shown an environmental sensor 10 , here a camera 11 , and a GNSS sensor 12 , in this case a GPS sensor on. From position data of the GNSS sensor it is possible, especially with the additional use of refinement algorithms and / or further position data, to obtain highly accurate position information of the motor vehicle 5 determine.

By means of the camera 11 and possibly other environment sensors 10 Sensor data can be recorded as environmental data, including information about lane markings in the environment of the motor vehicle 5 contain. By means of a recognition module which, in addition to the sensor data as environmental data, also contains further environmental data, for example from other motor vehicles via the communication device 8th received environment data and / or digital map material of a navigation system of the motor vehicle 5 , can evaluate, these lane markings can be detected and used for example in the fully automatic guidance of the motor vehicle. For this purpose, a certain quality of the lane markings is required or at least useful, so that it is intended to create a quality map with respect to the lane markings or keep current and the motor vehicles 5 provide.

For this purpose, quality information by means of an evaluation module of the control unit can be detected or also no detected lane markings 9 determined and provided with an associated position information, via the communication link 4 to the backend device 2 be transferred where the collected quality information of motor vehicles 5 the motor vehicle fleet 6 by means of an evaluation device 13 be evaluated to those in a storage device 14 the backend device 2 a quality map containing lane markings associated with itineraries and to update and update it.

The sequence of the method according to the invention is explained in the schematic diagram of 2 more precisely, in which a functional diagram in the domains of the motor vehicle 5 and the backend device 2 is shown.

The starting point is the environment data, for which the camera is representative 11 is shown. The environment data are in one step 15 used to detect lane markings therein, in particular so different lines, directional arrows and traffic signs that are applied to the roadway. The step 15 is therefore performed by the recognition module.

The results of the step 15 be in one step 16 evaluated to determine the quality information. In this case, different quality criteria are used, the result of which is quality information or contribution information contributing to the quality information. It is present within the step 16 the evaluation module checks whether road markings are recognizable at all, how the recognition module has recognized the road markings, how complete or regular the road markings are, how strongly the road markings stand out from the ground, how large are the deviations when fitting models for traffic lanes and / or or lane markings are, whether there are overlaps, whether the lane markings are consistent with each other, whether, for example, at intersections, all required lane markings are present and construction site markings, whether they are sufficiently distinct from normal lane markings and / or completely present. Additional, further quality criteria are conceivable in order to determine the at least one quality information.

The quality information then becomes additional data 17 assigned here, a position information that describes the location, a time information that reflects the time to which the environmental data related, and a weather information that indicates the weather conditions in the recording of the environment data. Optionally, also the motor vehicle 5 descriptive vehicle data 18 to be added. The resulting data record, that is to say at least the quality information with associated time information, position information and weather information, can be stored in a memory device 19 of the motor vehicle 5 be held until a transmission condition occurs, for example, the beginning or end of a trip of the motor vehicle 5 ,

At the latest with the occurrence of the transmission condition, the stored data sets are then according to the arrow 20 over the communication connection 4 to the backend device 2 transfer where then a large amount of records 21 from the different motor vehicles 5 the motor vehicle fleet 6 which each contain quality information associated with specific locations and times.

These records 21 be in one step 2 evaluated the quality card 23 to create or to update at later times. In other words, the records are 21 accumulated and summarized. For this purpose, first of all the position information is used in order to enable an assignment to route sections which can be defined in a digital map. Methods of statistical data processing and / or artificial intelligence algorithms can then be used for the respective route sections in order to determine a road mark quality from the quality information for this route section. In any case, the time information is used to quickly detect changes in the road marking quality for sections by old data is discarded and older quality information is weighted less. The weather information also has an influence on the merger of the quality information since it ultimately contains information about how difficult the conditions for recognizing the lane markings by means of the recognition module were. Again, a lower weighting in adverse weather conditions or even a rejection in extremely adverse weather conditions can be made.

The current quality card 23 will the motor vehicles 5 the motor vehicle fleet 6 , which in the present case also belong to a useful fleet, again via the communication link 4 provided, see arrow 24 , Together with other cards 25 , whereby of course also the digital map 25 and the quality card 23 can be combined to form an overall map, in a navigation system of the motor vehicle 5 in one step 26 the planning of a route for a fully automatic operation take place. Here, track sections with a higher roadway quality according to the quality card 23 rated higher or weighted as sections of lesser road marking quality, which can be easily integrated into a conventional, optimizing method for determining a route. Further, the quality card 23 also used during the use of the automatic driving function along the route to adjust the operation of a corresponding vehicle system depending on the lane marking quality of a currently traveling section of track. Function limits or system limits are set in such a way that the automatic driving function can continue to be safely used despite low road mark quality. Specifically, in this embodiment, the maximum speed allowed in the automatic driving function is set lower with decreasing lane marking quality, for example, to increase the time slots available for accumulating and evaluating data.

at 27 Further functions are indicated, which are the result of route planning or the quality map 23 generally within the motor vehicle 5 to be able to use. The quality card 23 may also be provided to public bodies involved in road construction to encourage appropriate improvement actions.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102015209186 A1 [0003]
• DE 202014006923 U1 [0004]
• DE 102015223823 A1 [0005]

Claims (12)

Method for determining a quality map (23) to be used in the fully automatic guidance of a motor vehicle (5) for describing the quality of road markings along passable road sections, wherein in each motor vehicle (5) a motor vehicle fleet (6) having a plurality of motor vehicles - road markings in the environment of the motor vehicle (5) are detected by evaluation of sensor data of at least one environment sensor (10), at least one quality information describing the quality of the road markings and / or the quality of the detection of the road markings is determined, and the quality information and an associated position information describing the location of the recording are transmitted to a stationary external backend device (2), wherein the transmitted, spatially resolved quality information of the motor vehicle fleet (6) from the backend device (2) for creating and / or updating the quality map (23 ) be used. Method according to Claim 1 , characterized in that the current quality map (23) at least one motor vehicle (5) is provided a Nutzflotte. Method according to Claim 2 , characterized in that the quality card (23) is used by at least one vehicle system designed for completely automatic guidance of a motor vehicle (5), in particular for planning a route along lane markings of higher quality than along alternative routes. Method according to Claim 3 , characterized in that the quality card (23) is used for adapting functional limits of the automatic driving function, in particular for the gradual degradation in with decreasing road marking quality of a respective traveled route section. Method according to Claim 4 , characterized in that the maximum speed that can be used by the automatic driving function is selected to be lower with decreasing road marking quality of a respective section of the route according to the quality map (23). Method according to one of the preceding claims, characterized in that position data of a GNSS sensor (12) are used to determine the position information. Method according to one of the preceding claims, characterized in that in addition to a position information describing the location and a time information describing the recording time and / or a weather information describing the quality information descriptive weather information of the quality information assigned and transmitted to the backend device (2). Method according to Claim 7 , characterized in that in the creation and / or updating of the quality map (23) temporally older quality information of a section on the part of the backend device (2) are weighted less and / or a predetermined Altersschwellwert exceeding quality information is discarded and / or the weather information for post-correction of quality information and / or used for weighting the quality information by the backend device (2). Method according to one of the preceding claims, characterized in that as the at least one quality information a fundamental detectability of lane markings and / or reliability of the existence of a detected lane marking and / or completeness of detected lane markings and / or a contrast of a lane marking to the ground and / or deviations occurring in a detected lane marking when fitting a lane marking model and / or deviations occurring in lane markings when fitting a lane pattern and / or the occurrence of overlaps of detected lines as lane markings and / or the distinguishability of construction site markings from normal lane markings and / or the consistency of detected lane markings with each other and / or the completeness of detected road markings is determined. Method according to one of the preceding claims, characterized in that for the allocation of quality information to sections an adjustment with a digital, a route network descriptive card is carried out. Method according to one of the preceding claims, characterized in that for the creation and / or updating of the quality map (23) methods statistical data merge and / or at least one algorithm of artificial intelligence is used and / or a plausibility check of quality information of different motor vehicles (5) against each other , System (1) for determining the quality of lane markings passable along Comprising a motor vehicle fleet (6) having a plurality of motor vehicles and a back end device (2) communicating with the motor vehicles, the motor vehicles (5) each having a control device (7), which is designed to: - detect road markings in the environment of the motor vehicle (5) by evaluating sensor data of at least one environmental sensor (10), - at least one of the quality of the road markings and / or the quality of the detection of the road markings to ascertain descriptive quality information, - to transmit the quality information and an associated position information describing its location to a stationary, stationary backend device (2), wherein the backend device (2) is designed to transmit the spatially resolved quality ätinformationen the motor vehicle fleet (6) on the part of the backend device (2) to create and / or update the quality card (23) to use.

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