Method for fusing environment-related parameters

1 . A method for fusing environment-related parameters which were each determined using data from different sensor systems to determine a representation of an environment of the sensor systems, the method comprising:

providing at least one environment-related parameter of a first sensor system;

providing at least one environment-related parameter of a second sensor system;

providing at least one respective boundary condition that existed when the respective at least one environment-related parameter of the respective first or second sensor system was determined;

assigning the at least one respective boundary condition to the respective at least one environment-related parameter of the respective first or second sensor system;

providing an evaluation scheme which assigns weighting factors to the respective at least one environment-related parameter of the respective first or second sensor system depending on the at least one respective boundary condition when the respective environment-related parameter was determined; and

fusing the at least one environment-related parameter of the first sensor system with the at least one environment-related parameter of the second sensor system according to the assigned weighting factors to determine the representation of the environment of the sensor systems,

wherein an at least partially automated vehicle is configured to navigate the environment of the sensor systems based on a control signal corresponding to the representation of the environment of the sensor systems, and

wherein the at least one boundary condition for the first sensor system is provided by a third sensor system having a different modality from modalities of the first and second sensor systems.

2 . The method according to claim 1 , wherein the at least one boundary condition includes at least one of a sensor-specific boundary condition, an environment-related boundary condition, and an object-related boundary condition.

3 . The method according to claim 2 , wherein the sensor-specific boundary condition relates to spatial coordinates of the at least one environment-related parameter of the respective first or second sensor system.

4 . The method according to claim 2 , wherein the sensor-specific boundary condition relates to a modality of the respective first or second sensor system that generated the at least one environment-related parameter.

5 . The method according to claim 2 , wherein the environment-related boundary condition includes at least one of a weather-related boundary condition and a boundary condition related to a surface of the environment.

6 . The method according to claim 1 , wherein the evaluation scheme is generated by at least one of expert knowledge and a neural network.

7 . The method according to claim 1 , wherein the boundary condition of the determined environment-related parameter of the first sensor system is provided by the first sensor system and/or the second sensor system and/or an external data source, and the provided boundary condition includes: a weather condition and/or a position of an object to which the environment-related parameter relates and/or at least one object of the environment and/or a speed of an object to which the environment-related parameter relates and/or lighting conditions in the environment of the first sensor system.

8 . The method according to claim 1 , wherein the weighting factors include at least one of a standard weight for the respective first or second sensor system, a model weight for the respective first or second sensor system, and a scene-specific weight.

9 . The method according to claim 1 , wherein the fusing of the at least one environment-related parameter of the first sensor system with the at least one environment-related parameter of the second sensor system includes weighting the respective environment-related parameter with the respective weighting factor resulting from the respective boundary conditions according to the evaluation scheme.

10 . The method according to claim 1 , further comprising:

based on the determined representation of the environment, providing a warning signal for warning an occupant of the at least partially automated vehicle.

11 . A fusion device configured to carry out the method according to claim 1 .

12 . Use of the method according to claim 1 for fusing environment-related parameters of different and/or similar sensor systems.

13 . A computer program comprising instructions that, when the computer program is executed by a computer, prompt said computer to carry out the method according to claim 1 .

14 . A non-transitory machine-readable storage medium on which the computer program according to claim 13 is stored.

15 . The method according to claim 1 , wherein the at least one boundary condition is a temperature of the first sensor system as determined by the third sensor system.

16 . The method according to claim 1 , wherein the at least one boundary condition is a traffic density as determined by the third sensor system.

17 . The method according to claim 1 , wherein:

the first, second, and third sensor systems are included on a vehicle, and

the at least one boundary condition is a surface condition of a road on which the vehicle is currently located as determined by the third sensor system.