Method for determining existence and e.g. position of objects for operating driver assistance device of motor car, involves performing retrodiction of existence probabilities of objects during supply of unactual sensor data to fusion system

摘要

The method involves asynchronously timely detecting an environment by sensors e.g. image sensors. Sensor data, which is asynchronously timely detected by the sensors, is supplied to a fusion system. The sensor data is timely synchronized and fusioned by the fusion system. Retrodiction of existence probabilities of objects is performed during supply of the unactual sensor data, which relates to the existence probabilities and states of objects, to the fusion system. A quality of an object tracking is estimated based on values of the existence probabilities of the objects.