Method for detecting a possible collision between a motor vehicle and an object taking into account a spatial uncertainty, control device, driver assistance system and motor vehicle

摘要

The invention relates to a method for detecting a possible collision between a motor vehicle (1) and an object (8), in which a driving tube (10) is determined, wherein the driving tube (10) describes an area in which the motor vehicle (1) is moved in a future movement, sensor data from a sensor (4) are received, which describe the object (8), based on the received sensor data, an object area (9) is determined, which describes a position of the object (8) including a spatial uncertainty , and if the object region (9) is arranged partially inside the driving tube (10), the possible collision is detected by a relative position of the driving tube (10) to the object region (9), wherein a distance (d) between the driving tube (10 ) and a point (P) of the object region (9), which is arranged outside the driving tube (10), is determined and the possible collision based on the determined distance ng (d) is detected.