| 摘要 |
2D image data is retrieved from a 2D camera and 3D image data is retrieved from a time-of-flight camera. The field of view (361) of the time-of-flight camera is at least partially overlapping with a field of view (362) of the 2D camera. Based on the 3D image data, a position of at least one object (300a, 350, 351, 352) and the surroundings of the vehicle (300) is determined. For each determined position, a type of the respective object (300a, 350, 351, 352) is identified based on at least the 2D image data. Based on the determined type and position of the at least one object (300a, 350, 351, 352), dimensions of a narrow driveway (311) are estimated and driver assistance in passing the narrow driveway (311) is selectively provided. |
