Environment detection with compensation of self-movement for safety-critical applications

摘要

A method for detecting the surroundings of a vehicle (30) in current driving situations in traffic, in which objects (31, 33, 34, 36) already detected from the surroundings are tracked, and the tracking of these objects (31, 33, 34, 36) by a Corrected coordinate transformation of these objects is simplified, with the steps: a) Acquisition of inertia measured variables with inertia sensors (3) attached to the vehicle (30), which allow the determination of at least one of the following current movement variables of the vehicle's own movement: a1) pitching movement, a2) yawing movement , a3) rolling movement, b) including (23) correction data resulting from an evaluation of the inertia measurement variables in calculations when tracking the objects (31, 33, 34, 36) that have already been detected, and c) continuing the control of objects that have already been detected (31, 33, 34, 36), which have disappeared from the detection range of at least one sensor during a predetermined period of time, whereby safety function nen are triggered due to the approach of the vehicle (30) to an object (34, 31) that is currently not in the detection range of a sensor if a prediction (38, 35) of the corresponding object state, taking into account the vehicle's own movement (30), is likely to result in a collision makes appear.