The present invention is related to a method of and to a system configured for determining visibility distances based on a dynamic Field of View (FoV) of an ego vehicle as well as to a vehicle comprising the system. Map polygons are created, each of which determines edges of a road in a map of the surrounding of the ego vehicle. Further, visible areas are determined in the map by intersecting the map polygons with the dynamic FoV. Based on the visible areas a visibility distance for the road is determined.
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