| 摘要 |
The invention relates to a method for recognizing and classifying objects detected by means of a sensor device that actively emits radiation, such as a sensor device that operates according to the laser principle or the radar principle, with regard to their relevance to a specific driving situation of a moving vehicle, wherein radiation is emitted by the sensor device and the echo radiation reflected at objects is received as measurement values, comprising the following steps: a) detecting measurement values in relation to the driving situation of the moving vehicle, b) carrying out an analysis of the driving situation represented by the measurement values and identifying at least one possible object, c) classifying the at least one identified object into an object class from a plurality of object classes. The invention provides for d) carrying out the analysis of the measurement values to comprise the following: d1) a transformation of the detected measurement values from a vehicle-fixed coordinate system into a spatially fixed coordinate system for generating spatial-coordinate-fixed measurement values, wherein said transformation is effected on the basis of the vehicle speed and the yaw rate of the vehicle in the specific driving situation, d2) subdividing at least one total area which is situated in the detection region of the radiation-emitting sensor device and is coplanar with or parallel to the roadway surface into a plurality of partial areas, wherein mutually adjacent partial areas at least partly overlap, d3) determining the number and/or the variance of the detected spatial-coordinate-fixed measurement values for each of said partial areas, and for e) carrying out the analysis of the driving situation represented by the measurement values and identifying at least one possible object to comprise the following: e1) comparing the number and/or the variance of the detected spatial-coordinate-fixed measurement values for each of said partial areas in each case with characteristic patterns, and e2) identifying at least one object possibly present in a partial area and classifying the at least one identified object into an object class from a plurality of object classes depending on said comparison. |
