Computer-implemented method for expansion of swarm data, data processing device, computer-readable storage medium, driver assist system and motor vehicle

1 . A computer-implemented method of expanding swarm data for controlling a motor vehicle by way of a driver assist system, wherein the swarm data for a route section of a road include corresponding indicator swarm data regarding a course of at least two roadway or lane indicators on the route section, and wherein the swarm data are provided by registered roadway or lane indicator data, the method comprising:

calculating, from the indicator swarm data, a minimum indicator swarm distance between the at least two roadway or lane indicators at one or more route section positions of the route section;

obtaining expanded indicator swarm data by adding to the indicator swarm data a lane width value corresponding to the minimum indicator swarm distance at the one or more route section positions of the route section, wherein, for each route section position of the one or more route section positions of the route section, the expanded indicator swarm data includes an identifier of the route section position and the lane width value corresponding to the minimum indicator swarm distance between the at least two roadway or lane indicators calculated for the route section position;

providing the expanded indicator swarm data to the driver assist system; and

controlling the motor vehicle by the driver assist system based on the lane width value corresponding to the minimum indicator swarm distance between the at least two roadway or lane indicators calculated for at least one of the one or more route section positions included in the expanded indicator swarm data.

2 . The method according to claim 1 , wherein the minimum indicator swarm distance at the one or more route section positions relates to adjacent roadway or lane indicators or an outermost roadway or lane indicator and the roadway or lane indicator located closest to the adjacent roadway or lane indicators or the outermost roadway.

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

comparing a first indicator swarm distance at a first route section position to a second indicator swarm distance at a second route section position; and

expanding the indicator swarm data based on the comparing.

4 . The method according to claim 1 , wherein the indicator swarm data pertain to lane markings, edge fortifications, or guardrails as the roadway or lane indicators.

5 . A data processing device that expands swarm data for controlling a motor vehicle by way of a driver assist system, wherein the swarm data for a route section of a road include corresponding indicator swarm data regarding a course of at least two roadway or lane indicators on the route section, and wherein the swarm data are provided by registered roadway or lane indicator data, the data processing device comprising:

at least one processor; and

at least one memory storing commands that, when executed by the at least one processor, cause the data processing device to:

calculate, from the indicator swarm data, a minimum indicator swarm distance between the at least two roadway or lane indicators at one or more route section positions of the route section;

obtain expanded indicator swarm data by adding to the indicator swarm data a lane width value corresponding to the minimum indicator swarm distance at the one or more route section positions of the route section, wherein, for each route section position of the one or more route section positions of the route section, the expanded indicator swarm data includes an identifier of the route section position and the lane width value corresponding to the minimum indicator swarm distance between the at least two roadway or lane indicators calculated for the route section position; and

provide the expanded indicator swarm data to the driver assist system of the motor vehicle, wherein the driver assist system controls the motor vehicle based on the lane width value corresponding to the minimum indicator swarm distance between the at least two roadway or lane indicators calculated for at least one of the one or more route section positions included in the expanded indicator swarm data.

6 . A driver assist system including the data processing device according to claim 5 .

7 . A motor vehicle including the data processing device according to claim 5 , wherein the commands, when executed by the at least one processor, cause the data processing device to register roadway or lane indicator data.

8 . A non-transitory computer-readable storage medium storing commands that, when executed by at least one processor, cause a data processing device, to:

obtain swarm data for controlling a motor vehicle by way of a driver assist system, wherein the swarm data for a route section of a road include corresponding indicator swarm data regarding a course of at least two roadway or lane indicators on the route section, and wherein the swarm data are provided by registered roadway or lane indicator data,

calculate, from the indicator swarm data, a minimum indicator swarm distance between the at least two roadway or lane indicators at one or more route section positions of the route section;

obtain expanded indicator swarm data by adding to the indicator swarm data a lane width value corresponding to the minimum indicator swarm distance at the one or more route section positions of the route section, wherein, for each route section position of the one or more route section positions of the route section, the expanded indicator swarm data includes an identifier of the route section position and the lane width value corresponding to the minimum indicator swarm distance between the at least two roadway or lane indicators calculated for the route section position; and

provide the expanded indicator swarm data to the driver assist system of the motor vehicle, wherein the driver assist system controls the motor vehicle based on the lane width value corresponding to the minimum indicator swarm distance between the at least two roadway or lane indicators calculated for at least one of the one or more route section positions included in the expanded indicator swarm data.

9 . The data processing device according to claim 5 , wherein the minimum indicator swarm distance at the one or more route section positions relates to adjacent roadway or lane indicators or an outermost roadway or lane indicator and the roadway or lane indicator located closest to the adjacent roadway or lane indicators or the outermost roadway.