Method for detecting at least one object in an environment of a motor vehicle by merging object features, control device, driver assistance system and motor vehicle

摘要

The invention relates to a method for detecting at least one object (3) in an environment (4) of a motor vehicle (1), in which at least one sensor (6, 7) of the motor vehicle (1) has sensor data of a first measurement and sensor data of a second measurement from the sensor data of the first measurement a first object feature (O1) and from the sensor data of the second measurement a second object feature (O2) are determined, and from the first object feature (O1) on the basis of the second object feature (O2) a merged object feature Description of the at least one object (3) is determined, wherein the first object feature (O1) and the second object feature (O2) are converted into a common state space, in the state space an innovation function (h) is determined which a similarity between the first object feature (O1) and the second object feature (O2), and the merged object feature from the first object feature (O1) with reference to r Innovation function (h) is determined.