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 # localization  VROB
-This projects deals with the localization of a race car on the race trace.
-This is a students project from the Bochum University of Applied Sciences.
-Author:
+This project deals with the localization of a vehicle on a race track. 
+This is a student project from Bochum University of Applied Sciences.
+Authors:
 Jessica Dreyer, Sebastian Böttger
 
 
 ## Getting started
 
-The main branch contains 
+The main branch contains the following files:
+> localization.py:      localization algorithm
+> driving.py:           detection of section type, calculation of odometry, calculation driven distance in section
+> grafic.py:            graphical output
+> race_management.py:   main program
+> Lokalisierung_LEGO (folder), main.py: programming of the robot LEGO EV3
 
 ## Name
-localization of a race car on the race trace
+localization of a vehicle on a race track
 
 ## Description
-This projects deals with the localization of a race car on the race trace.
-This is a students project from the Bochum University of Applied Sciences.
-Currently the project is in development.
-Till the development is finished, the branch and the readme will be updatet.
+The following adjustments might be necessary, before the algorithm is executable:
+    > change ip-address in main.py
+    > entering the route in localization.py (get_set_of_section_*())
 
-## Installation
 
-## Usage
+Important notes regarding the robot:
+    The sensors / motors are connected to the following ports of the robot:
+    > Motor: OUTPUT A & OUTPUT B
+    > ColorSensor: INPUT 4
+    > GyroSensor: INPUT 1
 
-## Support
+    The following measured values are stored and must be adjusted if necessary (in main.py):
+    > wheel circumference (radumfang)
+    > wheel spacing (d)
 
-## Roadmap
-Development of a solution
+Notes on constant values (in race_management.py):
+    > CHAR_RECIVING: number of chars in one UDP-message
+    This value should only be changed if the sent string changes.    
 
-## Contributing
+    > THRESHOLD_LEFT, THRESHOLD_RIGHT: value to detect a left or right turn
+    This value can be changed to possibly improve the algorithm.
+
+    > BLOCK_SIZE_DA: number of iterations to analyse the section type
+    This value can be changed to possibly improve the algorithm.
+
+    > S = 0: value for a straight part of the track
+    > R = 1: value for a right turn
+    > L = 2: value for a left turn
+    This values should not be changed in order to maintain the algorithm. 
 
 ## Authors and acknowledgment
 Jessica Dreyer, Sebastian Böttger
 
 ## License
-Projekt is licenend with MIT.
+Projekt is licensed with MIT.
 See at LICENSE
 
 ## Project status