Method and surroundings detection device for determining the presence and/or properties of one or multiple objects in the surroundings of a motor vehicle

摘要

A method is described for determining the presence and/or properties of one or multiple objects in the surroundings of a motor vehicle, the method including the following steps: —determining and/or receiving a driving speed of the motor vehicle; —emitting measuring beams by a measuring device of the motor vehicle; —receiving reflected and/or scattered back measuring beams by the measuring device; —determining a Euclidean distance of the one object or of the multiple objects from the measuring device based on the reflected and/or scattered back measuring beams; —determining the relative velocity of the one or of the multiple objects in relation to the motor vehicle based on the reflected and/or scattered back measuring beams; —calculating a sum of squares D2, the sum of squares D2 being the sum of the square of the distance of the respective object from the measuring device in a first direction perpendicular to a driving direction of the motor vehicle and of the square of the distance of the respective object from the measuring device in a second direction perpendicular to the first direction and to the driving direction of the motor vehicle, from the speed of the motor vehicle, the Euclidean distance of the one object or of the multiple objects from the measuring device and the relative velocity of the one or of the multiple objects in relation to the motor vehicle under the approximations that the yaw rate of the motor vehicle is zero, that the pitch rate of the motor vehicle is zero and that the speed of the motor vehicle is essentially constant; and —analyzing a frequency distribution of the sum of squares D2 within a time period for determining a number of the objects, an object type of the objects, positions of the objects and/or a geometric expansion of the objects in the surroundings of the motor vehicle.