Method for detecting an obstacle in an environmental region of a motor vehicle, evaluation device, driver assistance system and motor vehicle

摘要

The invention relates to a method for detecting an obstacle (4) in an environmental region (3) of a motor vehicle (1), in which the following steps are carried out by an evaluation device (12) of the motor vehicle (1): Receiving at least one ultrasonic sensor (6) of the motor vehicle (1) and at least one camera image of at least one camera (7) of the motor vehicle (1), Detecting the obstacle (4) and determining a position of the obstacle (4) based on the ultrasound sensor data, Verifying the detected by the ultrasonic sensor data obstacle (4) based on the at least one camera image, Determining a first free space (18) by evaluating the at least one camera image with respect to a first criterion and determining a second free space (19) by evaluating the at least one camera image with respect to a second criterion, wherein a free obstacle-free partial area (18, 19) is determined by the free spaces (18, 19) 13) in the surrounding area (3) is described, Determining a first spatial boundary (23) of the first free space (18) and a second spatial boundary (24) of the second free space (19), - verifying the obstacle (4), if the first spatial boundary (23), the second spatial boundary (24) and the position differ from each other by a predetermined threshold at most. The invention also relates to an evaluation device (12), a driver assistance system (2) and a motor vehicle (1).