MAP OF THE SURROUNDINGS FOR DRIVING AREAS WITH RANDOM ALTITUDE PROFILE

摘要

A method is disclosed for making available a map of obstacles in the surroundings for a vehicle, specifically a map of the surroundings which is divided into cells, each of which is assigned an occupation probability and a corrected obstacle altitude, comprising: making available an initial map of the surroundings, specifically a map of the surroundings which is divided into cells, each of which is assigned an occupation probability and an obstacle altitude; determining a ground altitude for each cell of the initial map of the surroundings on the basis of the altitudes of the obstacles in the initial map of the surroundings, wherein the ground altitude is determined by smoothing the altitudes of obstacles in the initial map of the surroundings; determining the corrected altitude of the obstacles for each cell of the map of obstacles in the surroundings on the basis of the ground altitude determined for the corresponding cell of the initial map of the surroundings and the altitude of the obstacles assigned to the corresponding cell of the initial map of the surroundings; determining the respective occupation probability on the basis of the occupancy probability assigned to the corresponding cell of the initial map of the surroundings; making available the map of obstacles in the surroundings.