Method and system for recognizing dynamic properties of objects in the vicinity of a vehicle

摘要

The invention relates to a method for recognizing dynamic properties of objects (20, 22, 24, 26) in the vicinity of a vehicle (12) based on a semantic grid map (28) and sensor data of the environment determined by sensor (14) or sensors of an environment recognition system of the vehicle (12). The following steps are provided: continuous recording of the determined sensor data (30), evaluation of the sensor data (30) by generating a temporary occupancy raster map of the sensor measurement (34), with one for each cell of this temporary occupancy raster map of the sensor measurement (34) Degree of credibility of three possible occupancy states, namely "free", "occupied" and "unknown" is stored, using this temporary occupancy raster map of the sensor measurement (34) to update the semantic grid map (28) in which each cell has one Degree of credibility of five possible states, namely “free”, “dynamic”, “static”, “occupied” and “unknown” using a so-called transferable belief model, and providing an estimate of the state of each cell of the semantic Grid map (28), with the temporary occupancy grid map of the sensor measurement (34) and / or the semantic grid map (28) additionally the er Waited spatial distribution of the occupancy of the respective states within the cells of this card / cards is estimated by means of a distribution.