IDENTIFICATION OF UNKNOWN TRAFFIC OBJECTS

A method for generating training data for a machine learning (ML) algorithm configured for identification of an unknown traffic object present on a road is disclosed. The method includes obtaining sensor data from a sensor system of an ego vehicle travelling on the road, the sensor data including one or more images of a surrounding environment of the vehicle and speed information of the ego vehicle and/or speed of at least one external vehicle. The method further includes determining a presence of the unknown traffic object in the surrounding environment of the ego vehicle and determining a change of speed of the ego vehicle and/or of the at least one external vehicle. In an instance of a co-occurrence of the determined change of speed and the determined presence of the unknown traffic object, the method includes selecting one or more images of the at least one unknown traffic object.