Verfahren zur Bestimmung einer Durchfahrbarkeit eines Objekts für ein Fahrzeug mittels einer 3D-Kamera

摘要

The invention relates to a method and to a device for determining whether a vehicle can pass through an object by means of a (spatially resolving) 3-D camera. At least one image of the surroundings of the vehicle is recorded by a 3-D camera. At least one trajectory is ascertained on which the vehicle is likely to move. From the image data of the 3-D camera it is determined whether an object located above the trajectory is recognized and whether said object has one or more connections to the ground. For a corresponding object the dimensions and shape of the area or space between said object and the roadway through which the vehicle is to pass according to the trajectory are determined from the image data. By comparing the dimensions and shape of the entry area or the space which can be passed through with the dimensions and shape of the vehicle, it is determined whether and how the vehicle can pass through the object, and further suitable actions can be taken.