Detection method for detecting static objects
A detection method for detecting static objects in surroundings of a vehicle, and a vehicle.
1 . A detection method to detect static objects in surroundings of a vehicle to assist execution of receiving functions on a control device of the vehicle, the detection method comprising:
a determination step, in which environment data are determined by at least one sensor of the vehicle and provided as a determination data set, the at least one sensor capturing the surroundings of the vehicle to determine the environment data;
a cluster step, in which a multiplicity of items of the environment data are combined, via the control device, into multiple clusters, based on geometric characteristics of the environment data, and provided as a cluster data set;
a segmentation step, in which at least a portion of the multiple clusters is combined, via the control device, into at least one geometric segment having a contour specified by the multiple clusters, and provided as a segment data set;
an abstraction step, in which a geometric enveloping structure having a predefined contour is assigned, via the control device, to a particular geometric segment and surrounds the particular geometric segment and data of particular enveloping structures are provided as an enveloping structure data set; and
a provision step, wherein depending on a resolution request provided by a particular one of the receiving functions executed on the control device of the vehicle, either the determination data set, the cluster data set, the segment data set or the enveloping structure data set is provided to the particular one of the receiving functions for further processing to execute a vehicle function associated with the particular one of the receiving functions.
2 . The detection method according to claim 1 , wherein the determination step, the cluster step, the segmentation step, and the abstraction step are successively carried out one after the other, and wherein a resolution of the environment data is successively reduced from the determination data set, to the cluster data set, to the segment data set and to the enveloping structure data set.
3 . The detection method according to claim 1 , wherein, in the determination step, multiple determination data sets are determined in multiple measurement cycles, and in the cluster step, each point cloud measurement of a particular determination data set is assigned to a particular cluster, which corresponds to a center of the point cloud measurements of the determination data set; and particular clusters of particular determination data sets are combined into a composite cluster when a distance of the particular clusters is less than a predefined distance threshold value between two consecutive measurements.
4 . The detection method according to claim 1 , wherein the cluster data set determined in the cluster step is provided to at least one high-resolution receiving function of the control device, when the resolution request requires environment data having a resolution dependent on a velocity of the vehicle and a range of the at least one sensor.
5 . The detection method according to claim 1 , wherein, in the segmentation step, a real object is assigned to each segment, and wherein clusters are assigned to a particular segment based on predetermined geometric criteria.
6 . The detection method according to claim 1 , wherein, in the segmentation step, particular clusters are assigned to a segment which are situated at a distance from a line by no more than a predefined distance threshold value, the line being formed by subsequent clusters in each case.
7 . The detection method according to claim 1 , wherein, in the abstraction step, parameters assigned to a particular enveloping structure include: position in a coordinate system, width, length, height, and/or orientation.
8 . The detection method according to claim 1 , wherein a geometric shape selected as the enveloping structure include: a quadrangle, a triangle, or a polygon.
9 . A vehicle comprising:
a control device, the control device being configured to carry out the detection method according to claim 1 .
10 . The vehicle according to claim 9 , wherein the vehicle comprises at least one sensor including a LIDAR sensor, a radar sensor, an ultrasonic sensor, a laser sensor, and/or a camera sensor.
11 . The detection method according to claim 1 , wherein the receiving functions of the vehicle include driver assistance functions and warning functions, wherein the driver assistance functions include parking distance control, automated parking and autonomous driving.
12 . The detection method according to claim 1 , wherein the resolution request indicates a minimum resolution of a representation of the surroundings of the vehicle that is required in a data set to be provided to the respective receiving functions.
13 . The detection method according to claim 1 , wherein the control device is a processor.