METHOD FOR ESTIMATING THE QUALITY OF LOCALISATION IN THE SELF-LOCALISATION OF A VEHICLE, DEVICE FOR CARRYING OUT THE STEPS OF THE METHOD, VEHICLE, AND COMPUTER PROGRAM

The invention relates to a method for estimating the quality of localisation, which can include the following steps: Using sensor detection, the vehicle (10) detects dynamic objects on the road and inthe direct surroundings of the road, for example other vehicles, and estimates their dimensions. The movement of these dynamic objects (12) in the near future is estimated. The outer casings of theseobjects (12) are entered into a map of the surroundings (UK). From the perspective of the sensors (150, 186) used to detect the features in the surroundings, the limitations of the fields of view andthe predicted temporal development thereof as the result of the movement of the vehicle (10) itself and the predicted movements of the dynamic objects (12) are entered into the map of the surroundings (UK). The surrounding features that have been entered into the map of the surroundings (UK) and which may at best be visible in the near future are determined. An upper limit for a measure of the quality of localisation is es