METHOD AND SYSTEM FOR ASSOCIATING ENVIRONMENT PERCEPTION DATA WITH DATA INDICATIVE OF A FRICTION CONDITION, COMPUTER PROGRAM, COMPUTER-READABLE STORAGE MEDIUM, DATA PROCESSING APPARATUS, VEHICLE, ENVIRONMENT PERCEPTION DATA AND USE THEREOF

The disclosure relates to a method for associating environment perception data (R) of a first vehicle (10) with data indicative of a friction condition (F). The method comprises receiving the environment perception data (R), position data, and data indicative of a friction condition (F) from a second sensor (20) being associated with the first vehicle (10). A first position (22) is transformed in a coordinate system being centered on the first sensor (14) using coordinate transformation based on the position data. Moreover, the first position (22) is mapped onto at least one corresponding element of the environment perception data (R) and the at least one element is associated with the data indicative of a friction condition (F). Furthermore, a computer program (32), a computer-readable storage medium (30), and data processing apparatus (24) are explained. Additionally, a system (12) for associating environment perception data (R) of a first vehicle (10) with data indicative of a friction condition (F), a vehicle (10), associated environment perception data (R) and a use of associated environment perception data (R) are described.