Method for improving a detection of at least one object in surroundings of a motor vehicle by way of an indirect measurement by sensors, controller, driver assistance system, and motor vehicle

摘要

The invention relates to a method for detecting at least one object (3) in surroundings (4) of a motor vehicle (1), in which a first sensor (6) is actuated to emit a sensor signal, sensor data are received from a second sensor (6), which describe the sensor signal reflected from the at least one object (3), a fuzzy feature (x_U) is determined from the sensor data as an object feature (x_P, x_L, x_U) for describing the at least one object (3), wherein the fuzzy feature (x_U) describes a distance between the at least one object (3) and the first sensor (6) and a distance between the at least one object and the second sensor (6), wherein the fuzzy feature (x_U) is described as an ellipse (x_E), a further object feature (x_P, x_L), which describes the at least one object (3), is determined on the basis of sensor data of at least one further measurement of the first and/or the second sensor (6), the further object feature (x_P, x_L) and the fuzzy feature (x_U) are transferred using an innovation function (h) into a common state space, wherein the innovation function (h) describes a similarity between the fuzzy feature (x_U) and the further object feature (x_P, x_L), and a merged object feature is determined from the further object feature (x_P, x_L) on the basis of the innovation function (h).