Method for detecting object e.g. vehicle in surrounding area, involves transforming segments with classification surfaces into two-dimensional representation of environment, and searching and classifying segments in representation

摘要

The method involves identifying an obstruction-free space (F) of environment of a vehicle in a disparity image. Classification surfaces are generated with defined dimensions for multiple segments (S1-Sm). A middle point of a lower edge of the classification surfaces is arranged in a base point of the associated segments. Each segment with the associated classification surfaces is transformed into a two-dimensional representation of environment. The segments within the classification surfaces in the two-dimensional representation are searched and classified according to objects (01-03).