Method for generating a surroundings map of a surrounding area of a motor vehicle, driver assistance system and motor vehicle
First Claim
1. A method for generating a surroundings map of a surrounding area of a motor vehicle comprising:
- detecting an object in the surrounding area using a sensor device of the motor vehicle;
determining a position value that describes a position of the object on the basis of sensor data of the sensor device, using by means of a control device of the motor vehicle;
transferring the determined position value into the surroundings map; and
determining a vector between the object and a predetermined reference point of the motor vehicle that forms an origin of a vehicle coordinate system, the determined vector being transformed from the vehicle coordinate system into a global coordinate system of the surroundings map,wherein the position value in the surroundings map is determined on the basis of the transformed vector,wherein the origin of the vehicle coordinate system is transformed into the global coordinate system and the transformed origin of the vehicle coordinate system is indicated in the surroundings map, andwherein on the basis of the transformed origin of the vehicle coordinate system, an area for indicating the position value in the global coordinate system is predetermined.
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Accused Products
Abstract
The invention relates to a method for generating a surroundings map (14) of a surrounding area (7) of a motor vehicle (1) in which an object in the surrounding area (7) is detected by means of a sensor device (9) of the motor vehicle (1), a position value (P) that describes a position of the object is determined on the basis of sensor data of the sensor device (9) by means of a control device (3) of the motor vehicle (1) and the determined position value (P) is transferred into the surroundings map (14), wherein a vector (v′) between the object and a predetermined reference point (11) of the motor vehicle (1) that forms an origin (0′) of a vehicle coordinate system (12) is determined, the determined vector (v′) is transformed from the vehicle coordinate system (12) into a global coordinate system (13) of the surroundings map (14) and the position value (P) in the surroundings map (14) is determined on the basis of the transformed vector (v).
34 Citations
12 Claims
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1. A method for generating a surroundings map of a surrounding area of a motor vehicle comprising:
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detecting an object in the surrounding area using a sensor device of the motor vehicle; determining a position value that describes a position of the object on the basis of sensor data of the sensor device, using by means of a control device of the motor vehicle; transferring the determined position value into the surroundings map; and determining a vector between the object and a predetermined reference point of the motor vehicle that forms an origin of a vehicle coordinate system, the determined vector being transformed from the vehicle coordinate system into a global coordinate system of the surroundings map, wherein the position value in the surroundings map is determined on the basis of the transformed vector, wherein the origin of the vehicle coordinate system is transformed into the global coordinate system and the transformed origin of the vehicle coordinate system is indicated in the surroundings map, and wherein on the basis of the transformed origin of the vehicle coordinate system, an area for indicating the position value in the global coordinate system is predetermined. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A driver assistance system for a motor vehicle with a control device, configured to:
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detect an object in the surrounding area using a sensor device of the motor vehicle; determine a position value that describes a position of the object on the basis of sensor data of the sensor device, using by means of the control device of the motor vehicle; transfer the determined position value into a surroundings map; and determine a vector between the object and a predetermined reference point of the motor vehicle that forms an origin of a vehicle coordinate system, the determined vector being transformed from the vehicle coordinate system into a global coordinate system of the surroundings map, wherein the position value in the surroundings map is determined on the basis of the transformed vector, wherein the origin of the vehicle coordinate system is transformed into the global coordinate system and the transformed origin of the vehicle coordinate system is indicated in the surroundings map, and wherein on the basis of the transformed origin of the vehicle coordinate system, an area for indicating the position value in the global coordinate system is predetermined. - View Dependent Claims (11)
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12. A motor vehicle comprising a driver assistance system configured to:
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detect an object in the surrounding area using a sensor device of the motor vehicle; determine a position value that describes a position of the object on the basis of sensor data of the sensor device, using by means of a control device of the motor vehicle; transfer the determined position value into a surroundings map; and determine a vector between the object and a predetermined reference point of the motor vehicle that forms an origin of a vehicle coordinate system, the determined vector being transformed from the vehicle coordinate system into a global coordinate system of the surroundings map, wherein the position value in the surroundings map is determined on the basis of the transformed vector, wherein the origin of the vehicle coordinate system is transformed into the global coordinate system and the transformed origin of the vehicle coordinate system is indicated in the surroundings map, and wherein on the basis of the transformed origin of the vehicle coordinate system, an area for indicating the position value in the global coordinate system is predetermined.
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Specification