DE102010033207A1 - Method and device for environmental monitoring for a vehicle - Google Patents

Abstract

The invention relates to a method for environmental monitoring for a vehicle (1), wherein at predetermined measuring times of at least one ultrasonic sensor (12) emits a transmission signal and at least one echo signal is received in response to the transmission signal, wherein for each received echo signal by evaluating a corresponding time a distance information to a possible object (3, 5) is determined, and a corresponding device for environmental monitoring in a vehicle and a data processing program and a computer program product for performing the method. In order to enable an analysis of the received echo signals for the detection of real objects (5) and / or interference sources (2) as possible objects, a distance pattern of the received echo signals for the corresponding measurement time is determined from the distance information determined at a measurement time, wherein for detection a real object (5) and / or an interference source (3) as a possible object parameters of distance patterns are compared with each other, which are detected at least two consecutive measurement times.

Description

The invention relates to a method for monitoring the surroundings of a vehicle referred to in the preamble of claim 1, an associated device for detecting surroundings in a vehicle and a data processing program and a computer program product for performing the method.

So-called blind spot detection systems based on ultrasound technology use the echosounding method to monitor the surroundings or measure the distance to an object. In this case, a sensor membrane of an ultrasonic sensor is excited into resonance frequency, which then emits ultrasonic waves. These emitted ultrasonic waves are reflected by a possible object and in turn stimulate the sensor membrane. This excitation is transmitted, for example, to a piezo element, which converts this mechanical oscillation into an electrical signal. The electrical signal is then in conjunction with a time origin the sound transit time and thus the object distance.

According to the current state of the art, many background noises such as tire rolling noise, spray water noise, etc. influence the ultrasonic sensor system. These background noises can lead to false warnings. The consequence would be either a non-recognition of a foreign vehicle in the blind spot of the own vehicle or a display of noise sources as possible third-party vehicles.

In the published patent application DE 103 23 639 A1 For example, a method and an apparatus for detecting an object by adaptively adapting detection characteristics of a detection means will be described. In the described method, first predetermined detection parameters of the detection means are set at the beginning of a detection operation. In the case of stochastically occurring detection signals, the detection parameters of the detection device are adjusted until the stochastically occurring detection signals are no longer detected or second predetermined detection parameters are set. The detection process is carried out with the detection parameters of the detection device, which may have been adapted. The described method is based on a change in sensitivity, for example to hide ground reflections, an analysis of the detection signals is not performed.

The object of the invention is to further develop a method for monitoring the surroundings of a vehicle referred to in the preamble of claim 1 and a corresponding device for monitoring the environment for a vehicle referred to in the preamble of claim 8 and a data processing program and a computer program product for performing the method specify for environment monitoring for a vehicle that an analysis of the received echo signals to detect real objects and / or sources of interference as possible objects is possible.

This object is achieved by a method for monitoring the environment for a vehicle with the features of claim 1, by a device for monitoring the environment for a vehicle with the features of claim 8 and by a data processing program with the features of claim 12 and a computer program product with the features of Claim 13 solved. Other embodiments of the invention advantageously embodying features include the dependent claims.

The advantage achieved by the invention is that a distinction between real objects and other sources of interference such as ground reflections, Reifenabroll, splash water, etc. is made possible by an analysis of received echo signals. According to the invention, a distance pattern of the received echo signals for the corresponding measuring time is determined from the distance information determined at a time of measurement, whereby parameters of distance patterns are compared with one another for detecting a real object and / or an interference source as a possible object Measuring times are detected. For the purposes of the present invention, a measurement time represents a distance measurement which begins with the transmission of a transmission signal at the predetermined measurement time and ends with the reception of a last echo signal in response to the transmitted transmission signal.

For a distinction between a real object and a secondary or noise source, for example, a distance between the individual received echo signals over time can be taken into account. In a real object, the fluctuations between the echo signals of two successive measurement times are small. For incidental or noise sources, these are significantly larger. In addition, the number of echo values from two consecutive measurement times over time can be taken into account. In real objects, this number is approximately constant, while this fluctuates significantly at noise and noise sources. Furthermore, the maximum number of echo values for a measurement time taken into account. For a real object, this is much lower than for secondary or noise sources.

An inventive device for environmental monitoring in a vehicle comprises at least one evaluation and control unit and at least one ultrasonic sensor, wherein the at least one ultrasonic sensor emits a transmission signal at predetermined measuring times and receives and evaluates at least one echo signal in response to the transmission signal, wherein the at least one ultrasonic sensor during the evaluation for each received echo signal generates echo information and transmits to the evaluation and control unit, wherein the evaluation and control unit determines a distance information to a possible object for each received echo signal by evaluating a corresponding runtime. According to the invention, the evaluation and control unit determines a distance pattern of the received echo signals for the corresponding measurement time from the distance information determined at a time of measurement and compares parameters of distance patterns with one another for detecting a real object and / or an interference source as a possible object, which results in at least two consecutive measurement times be recorded.

Embodiments of the present invention advantageously allow discrimination between a real object and a source of noise. As a result, embodiments of the present invention advantageously do not generate false alarms due to noise and / or noise. Moreover, due to the accurate analysis of the echo signals, embodiments of the present invention also do not interpret noise and / or noise as an approaching or removing real object, and thus can also correctly determine the relative velocity between the vehicle and a recognized real object.

Embodiments of the present invention or individual components described can be realized as a circuit, device, method, data processing program with program code means and / or as a computer program product. Accordingly, the present invention may be implemented entirely in hardware and / or software and / or a combination of hardware and / or software components. In addition, the present invention may be embodied as a computer program product on a computer usable storage medium having computer readable program code, whereby various computer readable storage media such as hard disks, CD-ROMs, optical or magnetic storage elements, etc. may be used. The computer program product can be processed, for example, on a processor of an electronic evaluation and control unit.

The data processing program with program code means can be executed by an electronic evaluation and control unit having at least one processor for carrying out the method for monitoring the surroundings of a vehicle.

In an advantageous embodiment of the method according to the invention, the comparison parameters comprise, for example, the distance information of at least one echo signal received at a measurement time and / or the number of echo signals received at a measurement time and / or information about time differences between the individual distance information of the echo signals received at a measurement time. Thus, for example, an associated distance range of the specific measurement time point can be determined in a simple manner from the distance information of a first echo signal received at a specific measurement time and an echo signal last received at the specific measurement time. Additionally or alternatively, from the distance information of the first received echo signal of a first measurement time and the first received echo signal of a second measurement time, an associated difference of the first echo signals can be determined. Analogously, from the distance information of the last received echo signal of the first measurement time and the last received echo signal of the second measurement time, an associated difference of the last echo signals can be determined.

In a further advantageous embodiment of the method according to the invention, a possible object is recognized as a real object when a predetermined number of conditions are met, a first condition being fulfilled if the number of echo signals received at a measurement time is less than a predetermined first threshold value and / or a second condition is satisfied if the information about time differences between the individual distance information of the echo signals received at a measurement time is less than a predetermined second threshold and / or a third condition is satisfied if the distance range of the measurement time is less than a predetermined third threshold is and / or a fourth condition is met if a difference between the numbers of the echo signals received for at least two consecutive measurement instants is less than a predetermined fourth threshold value and / or a fifth one Condition is satisfied if the difference of the first echo signals is less than a fifth threshold and / or a sixth condition is met if the difference of the last echo signals is less than a sixth threshold.

Similarly, a possible object may be recognized as a source of interference if a predetermined number of conditions are met, satisfying a seventh condition if the number of echo signals received at a time of measurement is greater than a predetermined seventh threshold and / or an eighth condition is met if the information about time differences between the individual distance information of the echo signals received at a measurement time is greater than a predetermined eighth threshold and / or a ninth condition is satisfied, if the distance range of the measurement time is greater than a predetermined ninth threshold and / or a tenth Condition is met if the difference between the numbers of the echo signals received at least two consecutive measurement times is greater than a predetermined tenth threshold and / or an eleventh condition is met if the difference of the first echo signals grö it is, and as an eleventh threshold value / or a twelfth condition is satisfied if the difference of the last echo signals is larger than a twelfth threshold value.

Thus, the number of echo signals of a real object is less than the number of echo signals of a source of interference. The difference of the first echo signals and / or the difference of the last echo signals are significantly lower in a real object than in a source of interference. Furthermore, the distance range between the first echo signal and the last echo signal at a measurement time in a real object is significantly lower than in the case of an interference source.

Further advantageous developments emerge from the further subclaims and from the description.

Hereinafter, an embodiment of the invention will be explained in more detail with reference to a drawing.

In the illustration shows:

1 a block diagram of a vehicle with an embodiment of a device according to the invention for environmental monitoring.

2 a representation of distance patterns of a real object, which were determined at two consecutive measurement times.

3 a representation of distance patterns of a source of interference, which were determined at two consecutive measurement times.

How out 1 can be seen, includes an embodiment of a device according to the invention for detecting the surroundings in a vehicle 1 several ultrasonic sensors 12 with an associated monitoring area 14 and an evaluation and control unit 10 ,

How out 1 to 3 can be seen, sends the at least one ultrasonic sensor 12 at predetermined measurement times T1, T2 from a transmission signal and receives in response to the transmission signal a plurality of echo signals E1 _T1 to En _T1 , E1 _T2 to En _T2 and evaluates them. During the evaluation, the at least one ultrasonic sensor generates 12 for each received echo signal E1 _T1 to En _T1 , E1 _T2 to En _T2 echo information and transmits it to the evaluation and control unit 10 , The evaluation and control unit 10 determines for each received echo signal E1 _T1 to En _T1 , E1 _T2 to En _T2 by evaluating a corresponding runtime distance information to a possible object 3 . 5 ,

According to the invention determines the evaluation and control unit 10 a distance pattern P _T1 , P _{T2 of} the received echo signals E1 _T1 to En _T1 , E1 _T2 to En _T2 for the corresponding measurement time T1, T2 and compares for detecting a real object from the distance information determined at a measurement time T1, T2 5 and / or a source of interference 3 as a possible object parameters A _T1 , A _T2 , ΔA1, ΔAn of distance patterns P _T1 , P _T2 with each other, which are detected at least two consecutive measurement times T1, T2.

As a comparison parameter A _T1 , A _T2 , ΔA1, ΔAn evaluates the evaluation and control unit 10 the distance information from at least one received at a measurement time T1, T2 echo signal E1 _T1 to En _T1 , E1 _T2 to En _T2 and / or the number of received at a measurement time T1, T2 echo signals E1 _T1 to En _T1 , E1 _T2 to En _T2 and / or information about temporal differences between the individual distance information of the received at a measurement time T1, T2 echo signals E1 _T1 to En _T1 , E1 _T2 to En _T2 off. The evaluation and control unit 10 recognizes a possible object as a real object 5 or as a source of interference 3 when a predetermined number of corresponding predetermined conditions is met.

According to the inventive method for environmental monitoring for a vehicle 1 , Be at predetermined measuring times T1, T2 of at least one ultrasonic sensor 12 transmitting a transmission signal and in response to the transmission signal at least one echo signal E1 _T1 to En _T1 , E1 _T2 to En _T2 received, wherein for each received echo signal E1 _T1 to En _T1 , E1 _T2 to En _T2 by evaluating a corresponding runtime a Distance information about a possible object 5 . 3 is determined.

According to the invention, a distance pattern PT1, PT2 of the received echo signals E1 _T1 to En _T1 , E1 _T2 to En _T2 for the corresponding measuring time T1, T2 is determined from the distance information determined at a measurement time T1, T2, wherein for detecting a real object 5 and / or a source of interference 3 as a possible object parameters A _T1 , A _T2 , .DELTA.A1, .DELTA.An of distance patterns P _T1 , P _T2 are compared with each other, which are detected at least two consecutive measurement times T1, T2.

As already explained above, the comparison parameters A _T1 , A _T2 , ΔA1, ΔAn comprise the distance information from at least one echo signal E1 _T1 to En _T1 , E1 _T2 to En _T2 received at a measurement time T1, _T2 and / or the number of times to one Measuring time T1, T2 received echo signals E1 _T1 to En _T1 , E1 _T2 to En _T2 and / or information about temporal differences between the individual distance information received at a measurement time T1, T2 echo signals E1 _T1 to En _T1 , E1 _T2 to En _T2 . How out 2 and 3 is apparent from the distance information of a first at a certain measurement time T1, T2 received echo signal E1 _T1 , E1 _T2 and a last time to the particular measurement time received echo signal En _T1 , En _T2 an associated distance range A _T1 , A _{T2 of} the particular measurement time T1, T2 determined. An associated difference ΔA1 of the first echo signals E1 _T1 , E1 _{T2 is} determined from the distance information of the first received echo signal E1 _{T1 of} a first measuring time T1 and of the first received echo signal E1 _{T2 of} a second measuring time T2. Similarly, an associated difference ΔAn of the last echo signals En _T1 , En _{T2 is} determined from the distance information of the last received echo signal En _{T1 of} the first measurement time T1 and the last received echo signal En _{T2 of} the second measurement time T2.

To distinguish a real object 5 and a source of interference 3 as a possible object, a predetermined number of conditions can be checked and evaluated. As possible conditions may thereby the number of received at a measurement point in time T1, T2 echo signals E1 _T1, En _T1, E1 _T2, En _T2 and / or the information about timing differences between the distance information received at a measurement point in time T1, T2 echo signals E1 _T1 , En _T1 , E1 _T2 , En _T2 and / or the distance range A _T1 , A _{T2 of} the measurement time T1, T2 and / or a difference between the numbers of received at least two consecutive measurement times T1, T2 echo signals E1 _T1 , En _T1 , E1 _T2 , En _T2 and / or the difference ΔA1 of the first echo signals E1 _T1 , E1 _T2 and / or the difference ΔAn of the last echo signals En _T1 , En _{T2 are} determined and evaluated or compared with corresponding threshold values.

The evaluation and control unit 10 distinguishes a real object 5 for example, using a simplified form of particulate filter of noise sources 3 , The evaluation and control unit determines with the particle filter 10 the distance pattern P _T1 , P _{T2 of} the received echo signals at a measurement time T1, T2 and compares this with at least one at a different measurement time T1, T2 determined distance pattern.

For a distinction between a real object 5 and a source of noise 3 a determined distance pattern P _T1 , P _{T2 is considered} over a temporal course with a previously determined distance pattern P _T1 , PT2. A distinction over only one measurement is not possible. In addition, the distance between the individual echo signals E1 _T1 , En _T1 , E1 _T2 , En _{T2 is} taken into account over time. For a real object 5 the fluctuations in the time intervals between the individual echo signals E1 _T1 , En _T1 , E1 _T2 , En _T2 of two consecutively determined distance patterns P _T1 , P _{T2 are} small, as out 2 is apparent. For incidental or noise sources 3 These are significantly larger, like out 3 is apparent. Furthermore, the number of echo signals E1 _T1 , En _T1 , E1 _T2 , En _{T2 of} the distance pattern P _T1 , P _{T2 is} taken into account over time. For real objects 5 If this number is approximately constant, here each four echo signals as off 2 can be seen, while this varies significantly with background noise, here 14 echo signals in the pitch pattern P _T1 and 10 echo signals in the pitch pattern P _T2 . In addition, the maximum number of echo signals E1 _T1 , En _T1 , E1 _T2 , En _T2 for a measurement time T1, T2 are taken into account. For a real object 5 This is much lower, here, for example, 4 echo signals, as in the side or noise sources 3 , here for example 14 echo signals.

How out 2 and 3 is further apparent, the difference .DELTA.A1 of the first echo signals E1 _T1 , E1 _{T2 of} a first measurement time T1 to the next measurement time T2 in a real object 5 clear less than with a side or noise source 3 as by a comparison of 2 With 3 is apparent. The same also applies to the difference ΔAn of the last echo signals En _T1 , En _{T2 of} the first measurement time T1 to the next measurement time T2. In addition, the distance range A _T1 , A _T2 between the first echo signal E1 _T1 , E1 _T2 and the last echo signal En _T1 , En _T2 a corresponding distance pattern P _T1 , P _T2 at a measurement time T1, T2 in a real object 5 significantly lower than with a side or noise source, as also by the comparison of 2 With 3 is apparent.

Embodiments of the present invention can be realized as a circuit, device, method, data processing program with program code means and / or as a computer program product. Accordingly, the present invention may be implemented entirely in hardware and / or software and / or a combination of hardware and / or software components. In addition, the present invention may be embodied as a computer program product on a computer usable storage medium having computer readable program code, whereby various computer readable storage media such as hard disks, CD-ROMs, optical or magnetic storage elements, etc. may be used.

The computer usable or computer readable media may include, for example, electronic, magnetic, optical, electromagnetic infrared or semiconductor systems, devices, devices or distribution media. In addition, the computer-readable media may include an electrical connection to one or more lines, a portable computer disk, a random access memory (RAM), a read only memory (ROM), an erasable and programmable read only memory (EPROM or flash memory) The computer usable or computer readable medium may even be paper or other suitable medium on which the program is written and of which it is, for example by optical scanning of the paper or the other Medium is electrically detectable, then compiled, interpreted or if necessary processed in other ways and then stored in the computer memory.

Embodiments of the present invention advantageously allow for discrimination between real objects and noise sources, so that the risk of false warnings issued due to noise can be significantly reduced.

Embodiments of the present invention can be used, for example, in systems for blind spot detection, in order to recognize a foreign vehicle in the blind spot of the own vehicle and to indicate it to the driver when the lane changes, when turning, etc.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10323639 A1 [0004]

Claims (13)

Method for environmental monitoring for a vehicle, wherein at predetermined measuring times (T1, T2) of at least one ultrasonic sensor ( 12 ) is emitted a transmission signal and in response to the transmission signal at least one echo signal (E1 _T1 , En _T1 , E1 _T2 , En _T2 ) is received, wherein for each received echo signal (E1 _T1 , En _T1 , E1 _T2 , En _T2 ) by evaluating a corresponding distance a distance information to a possible object ( 3 . 5 ), characterized in that a distance pattern (P _T1 , P _T2 ) of the received echo signals (E1 _T1 , En _T1 , E1 _T2 , En _T2 ) from the distance information determined at a measurement time (T1, _T2 ) for the corresponding measurement time ( T1, T2) is determined, wherein for the detection of a real object ( 5 ) and / or a source of interference ( 3 ) as a possible object parameter · (A _T1 , A _T2 , ΔA1, ΔAn) of distance patterns (P _T1 , P _T2 ) are compared, which are detected at least two consecutive measurement times (T1, T2). Method according to Claim 1, characterized in that the comparison parameters (A _T1 , A _T2 , ΔA1, ΔAn) are the distance information of at least one echo signal (E1 _T1 , E1 _T2 , En _T1 , En _T2 ) received at a measurement time (T1, _T2 ) and / or the number of a measuring point in time (T1, T2) received echo signals (E1 _T1, En _T1, E1 _T2, En _T2) and / or information about timing differences between the distance information of a measuring point in time (T1, T2) received Echo signals (E1 _T1 , En _T1 , E1 _T2 , En _T2 ) include. A method according to claim 2, characterized in that from the distance information of a first at a certain measurement time received echo signal (E1 _T1 , E1 _T2 ) and the last measurement time at the particular received echo signal (En _T1 , En _T2 ) an associated distance range (A _T1 , A _T2 ) of the determined measuring time (T1, T2) is determined. Method according to claim 2 or 3, characterized in that from the distance information of the first received echo signal (E1 _T1 ) of a first measuring time (T1) and of the first received echo signal (E1 _T2 ) of a second measuring time (T2) an associated difference (ΔA1) of first echo signals (E1 _T1 , E1 _T2 ) is determined. Method according to one of the preceding claims 2 to 4, characterized in that from the distance information of the last received echo signal (En _T1 ) of the first measurement time (T1) and the last received echo signal (En _T2 ) of the second measurement time (T2) an associated difference ( ΔAn) of the last echo signals (En _T1 , En _T2 ) is determined. Method according to one of the preceding claims 2 to 5, characterized in that a possible object as a real object ( 5 ) is detected when a predetermined number of conditions are met, a first condition being met when the number of echo signals (E1 _T1 , En _T1 , E1 _T2 , En _T2 ) received at a measurement time (T1, _T2 ) is less than one is predetermined first threshold value and / or a second condition is met, if the information about time differences between the individual distance information of the received at a measurement time (T1, T2) echo signals (E1 _T1 , En _T1 , E1 _T2 , En _T2 ) is smaller than a are predetermined second threshold value and / or a third condition is met if the distance range (A _T1 , A _T2 ) of the measurement time (T1, T2) is less than a predetermined third threshold and / or a fourth condition is met, if a difference between the numbers of the echo signals (E1 _T1 , En _T1 , E1 _T2 , En _T2 ) received for at least two consecutive measurement times (T1, _T2 ) are less than a predetermined fourth threshold value is and / or a fifth condition is met if the difference (ΔA1) of the first echo signals (E1 _T1 , E1 _T2 ) is less than a fifth threshold and / or a sixth condition is met, if the difference (ΔAn) of the last echo signals (En _T1 , En _T2 ) is less than a sixth threshold. Method according to one of the preceding claims 2 to 6, characterized in that a possible object as a source of interference ( 3 ) is detected when a predetermined number of conditions are met, satisfying a seventh condition when the number of echo signals (E1 _T1 , En _T1 , E1 _T2 , En _T2 ) received at a measurement time (T1, _T2 ) is greater than one is predetermined seventh threshold and / or an eighth condition is met, if the information about temporal differences between the individual distance information of the received at a measurement time (T1, T2) echo signals (E1 _T1 , En _T1 , E1 _T2 , En _T2 ) greater than are predetermined eighth threshold and / or a ninth condition is met if the distance range (A _T1 , A _T2 ) of the measurement time (T1, T2) is greater than a predetermined ninth threshold and / or a tenth condition is met if the difference between the numbers of echo signals (E1 _T1 , En _T1 , E1 _T2 , En _T2 ) received at least two consecutive measurement times (T1, _T2 ) are greater than a predetermined tenth threshold ert and / or an eleventh condition is met if the difference (ΔA1) of the first echo signals (E1 _T1 , E1 _T2 ) is greater than an eleventh threshold and / or a twelfth condition is met if the difference (ΔAn) of the last Echo signals (E1 _T1 , E1 _T2 ) is greater than a twelfth threshold. Device for environmental monitoring in a vehicle, in particular for carrying out the Method according to one of claims 1 to 7, with at least one evaluation and control unit ( 10 ) and at least one ultrasonic sensor ( 12 ), wherein the at least one ultrasonic sensor ( 12 ) emits a transmission signal at predetermined measuring times (T1, T2) and receives and evaluates at least one echo signal (E1 _T1 , En _T1 , E1 _T2 , En _T2 ) in response to the transmission signal, wherein the at least one ultrasonic sensor ( 12 ) generates echo information during the evaluation for each received echo signal (E1 _T1 , En _T1 , E1 _T2 , En _T2 ) and to the evaluation and control unit ( 10 ), whereby the evaluation and control unit ( 10 ) for each received echo signal (E1 _T1 , En _T1 , E1 _T2 , En _T2 ) by evaluating a corresponding runtime distance information to a possible object ( 3 . 5 ), characterized in that the evaluation and control unit ( 10 ) from the at a measurement time (T1, T2) distance information determined a distance pattern (P _T1 , P _T2 ) of the received echo signals (E1 _T1 , En _T1 , E1 _T2 , En _T2 ) for the corresponding measurement time (T1, T2) and the Detection of a real object ( 5 ) and / or a source of interference ( 3 ) compares as possible object parameters (A _T1 , A _T2 , ΔA1, ΔAn) of distance patterns (P _T1 , P _T2 ), which are detected at least two consecutive measurement times (T1, T2). Apparatus according to claim 8, characterized in that the evaluation and control unit ( 10 ) as the comparison parameter (A _T1 , A _T2 , ΔA1, ΔAn) the distance information of at least one at a measurement time (T1, T2) echo signal received (E1 _T1 , E1 _T2 , En _T1 , En _T2 ) and / or the number of to one Measuring time (T1, T2) received echo signals (E1 _T1 , En _T1 , E1 _T2 , En _T2 ) and / or information about temporal differences between the individual distance information of the received at a measurement time (T1, T2) echo signals (E1 _T1 , En _T1 , E1 _T2 , En _T2 ). Apparatus according to claim 8 or 9, characterized in that the evaluation and control unit ( 10 ) a possible object as a real object ( 5 ) detects when a predetermined number of predetermined conditions is met. Device according to one of claims 8 to 10, characterized in that the evaluation and control unit ( 10 ) a possible object as a source of interference ( 3 ) detects when a predetermined number of predetermined conditions is met. Data processing program with program code means for carrying out the method for environment monitoring for a vehicle according to one of claims 1 to 7 by an electronic evaluation and control unit ( 10 ) with at least one processor, if the program by the electronic evaluation and control unit ( 10 ) is processed. Computer program product with program code means which are stored in a computer-readable medium for carrying out the method for monitoring the environment for a vehicle according to one of claims 1 to 7, when the computer program product is stored on a processor of an electronic evaluation and control unit ( 10 ) is processed.

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