Method and Device for Multi-Sensor Data Fusion For Automated and Autonomous Vehicles

A computer-implemented method estimates a course of a roadway in a surrounding area of a vehicle on the basis of a state function describing the course of a roadway. The state function includes a clothoid spline. The method includes providing surrounding-area measurement data describing the course of a roadway at a current position of the vehicle, the surrounding-area measurement data having at least one polynomial function. The method also includes transforming the state function and the surrounding-area measurement data into a common coordinate system. The method further includes adapting the state function on the basis of the surrounding-area measurement data in the common coordinate system.