| CPC B60W 40/08 (2013.01) [G06V 20/58 (2022.01); B60W 2040/0881 (2013.01); B60W 2420/403 (2013.01); B60W 2554/4049 (2020.02)] | 15 Claims |
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1. A controller for a vehicle, comprising:
a microprocessor;
a memory in communication with the microprocessor, the memory storing a plurality of instructions executable by the microprocessor to cause the controller to:
ascertain image data from a camera of the vehicle, wherein
the image data indicate surroundings of the vehicle proceeding from a reference point;
detect at least one camera object in the surroundings of the vehicle based on the image data;
ascertain sensor data from a distance-sensing surround sensor of the vehicle, wherein the sensor data indicate a multiplicity of detected points in the surroundings of the vehicle;
superposition the image data and the sensor data, wherein, during superpositioning, the camera object is displaced to a multiplicity of different distances from the reference point and scaled at each of the different distances;
ascertain for the multiplicity of different distances a corresponding multiplicity of values of an amount of overlap of the respective camera object with detected points of the sensor data; and
ascertain an object distance of the camera object from the reference point based the multiplicity of values of the amount of overlap;
ascertain an azimuth angle range and/or height angle range, around the reference point for the camera object;
wherein displacement of the camera object is peerformed within a portion of the surroundings of the vehicle defined by the angle range along a ray emanating from the reference point; and
ascertain a value of the amount of overlap of the respective camera object exclusively with detected points of the sensor data from the portion of the surroundings of the vehicle;
wherein scaling is performed during the superpositioning at each of the different distances such that the camera object always remains within the rays delimiting the angle range.
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