DE102006061390A1 - Surroundings-sensing system for motor vehicle, is provided with sensor for detection of measuring signals for information about objects in surroundings of motor vehicle - Google Patents

Abstract

The surroundings-sensing system (31) is provided with a sensor (32) for detection of measuring signals for the information about objects in the surroundings (40) of the motor vehicle (30). A control unit (45) is provided for controlling the sensor. An independent claim is also included for a surroundings-sensing method for a motor vehicle.

Description

The The invention relates to an environment detection system of a motor vehicle with a sensor system for acquiring measuring signals that contain information about objects provide in the environment of the motor vehicle, an evaluation, the the information of the measurement signals using a probability method merged into a cell environment map, each cell at least one probability value is assigned, which is a measure of a presence of an object in the one corresponding to the cell Spaces area of the environment of the motor vehicle indicates, as well as a corresponding Environment detection method.

A Knowledge about the environment, especially about Open spaces and obstacles, in an environment of a motor vehicle, is for example when parking the motor vehicle in a parking space of special meaning. Often it is difficult for a driver estimate whether a parking space on the roadside is big enough to park your own vehicle. During a parking process in a tight parking space It is also advantageous if the driver additional help be provided that tell how far he is from the edge of the open space is removed, d. H. how big is his distance to an obstacle is. Further, it is advantageous by active engagement in Vehicle systems to assist the driver, for example, when parking. Modern motor vehicles include besides parking assistance functions and systems today a variety of systems that the driver too to assist in driving. These include, for example Lane change assistants, adaptive cruise control systems, collision avoidance systems etc. Many of these driver assistance systems are u. a. on information about instructed the environment of the motor vehicle. To the needed Knowledge of the environment is crucial Be aware of which room areas are free of obstacles are and in which room areas obstacles are present.

Out the prior art, different measuring methods are known using those open spaces and obstacles in an environment a motor vehicle can be determined.

The Most methods are based on a signal transit time measurement, with which is determined on the basis of the signal propagation time a distance to an obstacle. Widely used are measuring methods based on ultrasound signals.

Furthermore, methods are known with which an environment map of a vehicle is created. From the pamphlets DE 44 08 328 A1 and DE 44 08 329 A1 For example, methods and an arrangement for constructing a cellular-structured environment map of a self-propelled mobile unit are known which are oriented by means of wave-reflection-based sensors. Here, a signal propagation time measurement is used for determining a distance from an obstacle in the environment of the mobile unit. The determined distance is used to increase an occupancy value in each case in cells, in a cellular environment map of the vehicle, which are located in the measuring environment area at the determined distance from the vehicle. Occupancy values of cells in the measured environmental area whose distance from the vehicle is less than the determined obstacle distance are reduced. The occupancy value of a cell is thus a measure of the probability that there is an obstacle in the space area corresponding to the cell.

From the publication US 5,006,988 A system is known for guiding an autonomous or semi-autonomous vehicle through a working area with obstacles to avoid. Individual areas of the work area are assigned cells of a map. The cells each include a value indicating a likelihood of an obstacle in the corresponding area. The individual cell values are used to calculate rejection vectors that are dependent on the corresponding probability of an obstacle. The sum of the repulsion vectors and an attraction vector affected by a target yields a resultant vector that defines a direction of travel of the vehicle.

From the publication DE 103 10 214 A1 For example, a method for acquiring environmental information and a method for determining the location of a parking space are known. The method uses pulsed signals of certain frequencies that are sent out. The reflected signals from an object are received in a receiver. In a control unit, the distance of the object from the sensor is determined on the basis of the transit time of the reflected signals. Due to the superimposition of a plurality of measurements, a diagram is created which corresponds to an overlay of the plurality of measurements and, as a result, the position of the objects reflecting the rays with respect to the position of the sensor is closed. According to the invention, a source and a receiver form a sensor. In this case, the at least one sensor executes a movement of known speeds with respect to an observation area. Here, the frequency of the reflected signal is detected. From the frequency shift between the emitted and the received reflected signals, a direction angle for the reflecting object with respect to the direction of movement of the sensor is determined. From distance and the direction of the reflected object is then closed at its position.

The known systems are capable of at least rudimentary to capture the environment of the vehicle. With a rising requirement to an extent of the area to be monitored, in particular to provide information for driver assistance systems, the be used at high speeds, for example adaptive cruise control systems and / or lane change assistants etc., it is often not possible to use the whole Environment of the vehicle completely with an arbitrarily high Capture resolution. In particular, the problem arises that the sensors used for the measurement are often either can capture only a specific section of the vehicle environment or have to be controlled so that they only a certain Capture a section or other sensors not at the same time a sensor can be used as for the measurement used signals can interfere with each other. This is for example the case with many ultrasonic sensors, the each working in the same frequency range or the frequency information do not use to discriminate signals from other sensor units can. This would be fundamental possible, however, would be the cost of drastically increase the individual sensors. Therefore, it is common in many motor vehicles that these over several arranged at different locations of the motor vehicle Ultrasonic sensors have, but not at the same time can be operated, as this unclear or Implausible results would be feared.

Of the The invention is therefore based on the problem, the Umweisfassung to optimize a motor vehicle so that one for the corresponding driver assistance function for which the environmental data be detected, executed an optimal and improved environment detection can be.

The technical problem is achieved by an environment detecting device having the features of the claim 1 and an environment detection method with the features of the claim 9 solved. Advantageous embodiments of the invention result from the dependent claims.

Therefor is provided in an aforementioned device that the Environment detection system comprises a selection unit that a selected Spatial region of the environment can determine, over the preferred Information needed, and a control unit provided is that is able to control the sensors so that by means of Sensor system at least one measurement signal can be determined, the information about includes the selected space area. It will thus become one selected room area of the environment selected, via the preferred information is needed, and by means of a Control unit the sensors are controlled so that by means of sensors at least one measurement signal is determined, the information about includes the selected space area. It is thus a adapted to the respective information needs carried out. This can be achieved, that too with limited available measurement resources, by limiting the coverage of an alignable Sensors, a resource shortage due to interference in the Measurement of several sensors or a limitation in the evaluation options of acquired measurement information, for example in the evaluation of consecutively captured camera images and / or stereo camera images, may be evoked information about the room area covered by a corresponding driver assistance system. Information needed. This overall security of the vehicle increases, since it ensures that for the driver assistance functions each the required information preferably be provided. This will be for the areas covered by a driver assistance system preferred information needed to ensure that these are actually available. subordinated Required information is also recorded subordinated. hereby is a more accurate and precise statement about obstacles and open spaces in the room areas possible over the driver assistance systems need information in turn Functions with a high reliability, accuracy and to provide precision. Likewise, an error prone be reduced, which stems from that over a certain room area is not sufficiently good information Are available to give a reliable statement about to be able to encounter the presence of an obstacle. Especially safety-related features, such as an adaptive one Cruise control, can only be used when performing Information about the environment are known. Otherwise poses the assistance function their service.

Since, especially at high speeds, the spatial area over which information is required rises sharply and information is therefore required at high speeds in larger distances of the motor vehicle, in a preferred embodiment of the invention it is provided that a prediction unit is provided for predicting a driving tube and the selected space range is selectable in dependence on the predicted driving route. The selection unit is thus coupled to the prediction unit in such a way that it can take into account the predicted travel path in order to ascertain which area prefers information about obstacles and open spaces. In this way, it can be ensured that, in the event of a shortage of resources, the surfaces in the driving tube are first monitored for the presence of objects and not an ambient area which is needed, for example, only for parking, but which is at a high speed in the immediate vicinity when the vehicle is moving Environment of the vehicle is unlikely. Thus, information for a driver assistance system, which will be executed only with a low probability or whose functions are executed only with a subordinate probability, also detected subordinate. For example, it is not necessary in a fast highway driving to detect the objects located on the side of the lane with a high resolution in order to detect possible parking spaces.

A preferred embodiment of the invention provides that the sensors at least one alignable via an actuator element Sensor includes, which is aligned by means of the control unit so that a detected by the sensor measuring signal information about delivers the selected area. Such an embodiment thus comprises at least one sensor whose range is relatively is adjustable to the vehicle via the actuator element. at the actuator element can be a mechanical actuator, which aligns a measuring sensor or a part of the measuring sensor. It is also possible that it is the actuator element to an active optical and / or electromagnetic and / or acoustic Element is, according to an optical signal, an electromagnetic signal in a broader sense and / or an acoustic signal in terms of a Aussenderichtung and / or a receiving direction selectively influenced. In the case of an optically acting sensor, for example one in the infrared range, in the visible range and / or in the ultraviolet range emitting Laser, for example, via a controllable mirror a scanning direction can be set and set. Likewise are other optical elements are known which have a transmission and / or reception direction make the sensors adjustable. There are also such elements acoustic sensors and / or electromagnetic, for example working in the radar, sensors known. For example, one another spaced receiver arranged so jointly operated be that they reflect reflected signals from a predetermined direction preferably received. Such a control can be a targeted Data collection over the selected area easy will be realized.

When a particularly advantageous embodiment of the Invention found in the environment map stored in a memory and from this is retrievable, where the environment map information about includes a room area that has a larger extension has as the detectable by means of sensors space area. hereby it becomes possible for driver assistance systems to provide environmental information about To use room areas that are currently not directly from the sensors of the vehicle are detectable.

is assign an absolute position to the individual cells in the environment map, This information can also be collected at a later date. at the same space area again in the environment of the vehicle device, to be used. Therefore, it is preferably provided that the environment map data are added, about which assigns an absolute position to the cells in the environment map Spaces in a world coordinate system can be determined.

In order to be able to rely on environmental information that has already been acquired at an earlier point in time, it is advantageous if the environment map is configured such that at least one confidence value is associated with the cells, which indicates that the cell assigned to the cell, presence of an object in the corresponding space region indicating probability value is correct. Thus, for example, cells that have been detected at a greater time interval several times and / or, for example, with different sensors than occupied by an object can be provided with a high confidence value. Thus, for example, information in a frequently approached environment, for example in a living environment of a motor vehicle user, which characterize the stationary objects can be used in each case when starting a parking space in the living environment. For example, a coherent object, for example a wall, whose associated cells in the environment map have a high probability value and a high confidence value, since they are identified as occupied each time the living environment is approached, can be used as reliable information. Likewise, in order to be able to respond to changes in the living environment, it is also possible to detect one or more selected measurement signals which capture information about individual or several cells of such an object. If a high occupancy probability with an object is again determined for one or more of these cells, then it can be concluded that the room areas assigned to the remaining cells are still occupied and, for example, the wall is not torn off or cells that have a room area correspond, in which a tree grows, such a tree has not been felled. This ensures that the available can be meaningfully applied to the areas in the already previously recorded environment in which changes occur regularly. This part of the environment can thus be examined with a higher resolution or with a higher redundancy in order to increase the confidence for the determined probability values. By improving the resolution in these selected areas, for example, a driver assistance system is increased in terms of its capabilities. A parking assistance system can be used, for example, for parking and actively assisting parking even with smaller parking spaces. If the dimensions of the parking space or of a free space in the surroundings of the vehicle can only be determined inaccurately, these objects, which define the parking space, must comply with greater safety margins than those surrounding a parking space and their dimensions measured with a higher resolution, precision and confidence are. Thus, it becomes possible, for example, to use an active driving assistance system even for small parking spaces that can not be used for an automatic parking operation with the same driving assistance system if the contours of the parking space limiting objects could only be determined with a coarse resolution.

at A preferred embodiment provides that controlling the sensors selecting one of several Includes sensors. An environment of vehicles, for example several around an outer contour of the motor vehicle have distributed measuring sensors of the same type whose measurements disturbing each other, can make sense as planned The information requirements are oriented.

When a particularly advantageous embodiment of the Invention, which comprises a warning unit which provides a warning and / or control signal generated when an approximation of Vehicle or a vehicle part to a space area whose corresponding cell of the environment map a probability value for a presence of an object above a threshold has, is determined and / or such an approximation to such a space area is possible. This will it is possible, for example, determined prediction values already to be predicted in the surroundings detection system so far that a warning to the driver and / or control signals be provided for individual vehicle systems to a Avoid collision with an object in the environment.

For example may be opening doors and / or covers restricted and / or prevented by such a control signal become. This is for example an automatic convertible top advantageous, the storage space cover when opening over a contour of the vehicle protrudes in the closed state. As well can in case of imminent collision, a folding or folding a Exterior mirror be provided.

Generally The structure of an environment map offers the advantage that environment sensors can be saved. For example, you can Sensors that can capture the environment side of the vehicle, saved Be aware of these areas before or when passing sensors be detected, which capture the side-facing environment. Thus, before a collision with a side of the motor vehicle at Turn off or before opening a side door be warned if there is an obstacle on the side of the vehicle, on whose existence the environment map indicates. In particular accidents can also avoid when turning Information about a trailer involved become. This information can be used in the prediction of the travel tube and so have an impact on the selection of the selection unit for the person to be examined Have room areas. The signals generated by the warning unit a recognized or imminent approach to an obstacle Can be used to control a steering or a To propose or effect braking intervention and thereby a Avoid collision when turning.

The Features of the method according to the invention have the same advantages as the corresponding features of the invention Surround detection system on.

following the invention is based on a preferred embodiment explained in more detail. Hereby show:

1 a schematic representation for explaining the determination of an environment map;

2 a schematic representation of a sensor associated with a probability distribution;

3 a further schematic representation of a probability distribution, which is associated with another directional sensor; and

4 a schematic representation of a motor vehicle with an environment detection system.

In 1 is a section of a motor vehicle 1 by means of a contour 2 in his environment 3 shown. The surrounding 3 is in single square room areas 4 divided. The individual room areas 4 is one cell of an environment map ordered (not shown). In the environment 3 of the motor vehicle 1 there is an object 5 , In the environment surrounding those areas 4 to determine the open spaces, and those areas of space 4 to determine where there is an obstacle, such as the object 5 , located, will be the environment 2 measured. The car 2 For this purpose, a sensor system that can comprise one or more sensors is included. At the in 1 illustrated embodiment includes the motor vehicle 1 a sensor 6 , This sensor 6 sends in a space sector an undirected sound signal. Part of the sound signals will be on the object 5 reflects and thus gets back to the sensor 6 , The time that elapses between the transmission of the signal and the reception of the reflected signal is a measure of a distance of the sensor 6 from the object 5 ,

The sensor 6 is assigned a probability distribution that is in 2 is shown schematically. An X-axis of the graph in 2 is parallel to a section 9 the contour of the motor vehicle 1 aligned. To this end, perpendicular to the space, there is a Y-axis 10 , A Z axis 11 indicates probability values. The sensor 6 is located at an origin at position X, Y = 0, 0.

The exact design of the probability distribution 7 depends on the measured transit time (and the sensor). This means that every sensor 6 a predetermined probability distribution is assigned as a function of the measured transit time. This also becomes square subsections with respect to the XY plane 12 divided. Subsections in one area 15 that is a distance from the origin 13 have approximately the determined distance r 14 equals, is in the probability distribution 7 each assigned a probability value greater than ½. Subsections in another area 16 whose subsections are at a distance from the origin 13 which is smaller than the determined distance r 14 is, a probability value less than ½ is assigned. Those subsections in another area 17 , each a greater distance from the origin 13 as the determined distance r 14 each have a probability value of ½ assigned.

When setting up the environment map, the probability values of the individual cells, which originally have a predetermined value, for example 0.5, are incremented or decremented or left unchanged, if the corresponding subsection corresponding to the cell 12 the probability distribution 7 has a probability value greater than 0.5 or less than 0.5 or 0.5. The absolute probability values selected here can be set arbitrarily. The decisive factor is that the probability value is incremented for one part of the cells and the probability value is decremented for another part of the cells, provided that a finite transit time has been determined during the associated transit time measurement, which points to an object in the detection range of the sensor. Incrementing and decrementing can be done by a simple addition or subtraction. Preferably, however, complicated fusing methods are chosen for the probability distribution determined from the measurement and the obstacle probability distribution represented by the probability values in the environment map. It should also be noted that usually the subsections of the probability distribution 7 spatially incompatible with the cells of the environment map. The determination for the subsections 12 the probability distribution 7 has been chosen here to describe the procedure in general. Obviously, it is also possible to use the cell structuring given by the environment map, the probability distribution 7 to divide. The person skilled in the art is familiar with various probability-theoretical methods for fusing the probability distribution determined by the measurement signal and the cell-based obstacle probability distribution of the environment map. An application of Bayes's theorem has proven to be particularly advantageous.

In 3 another probability distribution for a strongly directed measuring sensor is shown. Such a measuring sensor provides information only in a very small area of space. Such a probability distribution corresponds, for example, to a laser sensor measuring in the infrared range. Only the subsections of the probability distribution lying on a laser beam axis provide information about open spaces and objects in the surroundings of the motor vehicle. In contrast to most ultrasonic sensors, however, information about objects at a greater distance from the motor vehicle can usually be determined. In the illustrated embodiment, the coordinate system of the probability distribution is selected vehicle-fixed.

The laser sensor is with respect to the x-axis 8th displaceable along the vehicle, that is aligned via an actuator element. Otherwise are in 3 technically identical features with identical reference numerals as in 2 Mistake.

In 4 is schematically a motor vehicle 30 with an environment detection system 31 shown. The environment detection system 31 includes a sensor system 32 that have different sensors 33 - 35 includes. With the sensors 33 - 35 they may be different or identically configured sensors, for example ultrasonic sensors, camera systems, radar systems and / or laser-based systems, etc. The sensors 32 is with an evaluation unit 36 connected. This evaluates measurement signals. Here are the individual sensors 33 - 35 assigned probability distributions used to create a cellular environment map, as already explained above. The environment map is preferably in a memory 37 stored.

The environment detection system 31 further comprises a selection unit 38 , which is designed, room areas 39 ' in the environment 40 select over which preferred environment information is needed. The selection unit 38 can use information provided by driver assistance systems 41 the selection unit 38 to provide. This is the selection unit 38 preferably via a vehicle bus system 42 with the driver assistance systems 41 connected. Furthermore, the selection unit 38 with a prediction unit 43 linked, over which a driving tube of the motor vehicle 30 is predicted. The prediction unit 43 also uses via the vehicle data bus system 42 provided data from other vehicle systems 44 , Furthermore, the selection unit 38 refer to the environment map itself, to check over which areas of space 39 of the environment 40 not enough information is available.

A selection of the room areas 39 ' can be done as follows. For every sensor 33 - 35 the sensor 32 is determined over which areas (which areas 39 ) of the environment 40 a measurement of these sensors 33 - 35 Could provide information. This can be done with a sensor 33 - 35 different measurements can be performed, which are to be considered separately, if they concern different spatial areas, a different resolution, etc. For each of the possible measurements or areas, a value is determined based on the environment map, how well the information about this area (or the areas covered thereby 39 ) are already leading measurements, how probable is a use of the information by a driver assistance system, etc .. Furthermore, for each area of the expected information gain is determined. From the expected information gain and the value over the already existing information, a score is determined about an expected information gain for each possible measurement. That measurement that receives the highest rating is executed. That is, the space (s) covered by this measurement 39 will / become the selected space (s) 39 ' ,

The selected room areas 39 ' become a control unit 45 provided, in turn, the sensors 32 or the individual sensors 33 - 35 the sensor 32 controls. In this case, the activation follows such that a measurement signal is supplied by the sensor system that surround information about the selected spatial region or the selected spatial regions 39 ' provides. The driving may be, for example, selecting one of a plurality of sensors 33 - 35 encompass the different spatial areas in the environment 40 of the motor vehicle 30 but can not be used at the same time as they interfere with their measurement, for example because they emit the same or similar measurement signals. The driving can also be done so that one of the sensors, such as the sensor 35 , which is designed as a laser sensor and comprises an actuator element, is aligned with respect to the selected space area. The actuator element may, for example, be any controllable optical element which is capable of influencing the laser radiation in its direction. In sensor systems that operate on other principles, the actuator element may be designed differently. In a laser system, the actuator element can also be designed as a mechanical element which aligns the entire laser sensor. In order to enable usability of the detected environment information also at a later time, in the illustrated embodiment is a position determination unit 47 provided, which is designed for example as a satellite navigation system. It is also possible that only the information of a satellite navigation system, which is otherwise separate from the surroundings detection system 31 is designed to be used. This information is added to the environment map in such a way that the individual cells of the environment map can be assigned an absolute position in a world coordinate system or a spatially fixed coordinate system. In addition, it may be provided that the evaluation unit 38 when merging the probability values of the measurement signals into the obstacle probability mapped in the environment map, information that enables a determination of a confidence value, ie a reliability, for the individual probability values in the individual cells is integrated. For example, one or more timing information may be associated with the individual cells indicating an increment or decrement time of the cell's probability value. It is also possible to provide counters for the cells indicating a frequency of incrementing and decrementing. A large difference in the number of increments against the decrements or vice versa is a measure of a high confidence of the corresponding probability value. In this case, many different configurations are possible to the individual probability values in the environment map to assign a confidence value. The confidence values can be determined by the evaluation unit 38 used to be considered when selecting the space areas.

A warning unit 48 is provided to evaluate information of the environment map and the motor vehicle. The warning unit 48 generates a warning and / or control signal when an approximation of at least a portion of the motor vehicle or an associated item, such as a trailer, to an obstacle is detected or possible. One possible approach is, for example, when the motor vehicle comes to a stop close to an obstacle and a collision with the obstacle could occur when a door is opened. In such a case, a warning can be generated via the warning signal or an opening of the door can be prevented by means of a control signal. It is also possible to restrict only one opening area (swivel area) of the door in order to prevent a collision.

The ones in the store 37 in the form of an environment map stored information about the environment 40 become the driver assistance systems 41 and or other vehicle systems 44 made accessible.

The individual units described, in particular the evaluation unit, the selection unit, the prediction unit, the warning unit and the control unit can work in hardware as well be executed in software in whole or in part. These executed In particular, units can be in a common control unit be formed with a central processing unit. It is the same possible, the individual units in a networked system in different control units of the motor vehicle to implement.

The described embodiment describes only an example an embodiment of a preferred Umfeldfassungssystems.

1

motor vehicle

2

contour

3

environment

4

space area

5

object

6

sensor

7

probability distribution

8th

X axis

9

section the contour of the motor vehicle

10

Y-axis

11

Z-axis

12

Subsections

13

origin

14

distance r

15

area

16

other area

17

additional area

30

motor vehicle

31

Environmental detection system

32

sensors

33-35

sensors

36

evaluation

37

Storage

38

selector

39

room areas

39 '

selected room areas

40

environment

41

Driving assistance systems

42

vehicle bus

43

prediction

44

vehicle systems

45

control unit

46

actuator

47

Position determining unit

48

warning unit

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 4408328 A1 [0005]
• - DE 4408329 A1 [0005]
• US 5006988 [0006]
• DE 10310214 A1 [0007]

Claims (16)

Environment detection system ( 31 ) of a motor vehicle ( 1 ; 30 ) with a sensor system ( 32 ) for acquiring measurement signals that contain information about objects ( 5 ; 49 ) in the environment ( 2 ; 40 ) of the motor vehicle ( 1 ; 30 ), an evaluation unit ( 36 ), which merges the information of the measurement signals into a cell-containing environment map by means of a probability method, wherein each cell is assigned at least one probability value which is a measure of the presence of one of the objects ( 5 ; 49 ) in the space area corresponding to the cell ( 4 ; 39 ) of the environment ( 2 ; 40 ), characterized by a selection unit ( 38 ) containing a selected room area ( 39 ' ) of the environment ( 2 ; 40 ), over which preferred information is required, and a control unit ( 45 ), which is able to use the sensors ( 32 ) so that by means of the sensor system ( 32 ) at least one measurement signal can be determined which contains information about the selected spatial area ( 4 ; 39 ). Environment detection system ( 31 ) according to claim 1, characterized in that a prediction unit ( 43 ) is provided for predicting a driving route, and the selected space area ( 39 ' ) is selected depending on the predicted driving route. Environment detection system ( 31 ) according to claim 1 or 2, characterized in that the sensors ( 32 ) at least one via an actuator element ( 46 ) Alignable sensor ( 35 ), which by means of the control unit ( 45 ) is alignable so that by means of the sensor ( 35 ) detected measurement signal information about the selected area ( 39 ' ). Environment detection system ( 31 ) according to one of the preceding claims, characterized in that the environment map in a memory ( 37 ) is storable and retrievable from this, wherein the environment map has a greater extent than that by means of the sensor ( 32 ) directly detectable spatial area ( 4 ; 39 ) having. Environment detection system ( 31 ) according to one of the preceding claims, characterized in that the environment map data are added, via which an absolute position of the cells in the environment map in a world coordinate system or a spatially fixed coordinate system can be determined. Environment detection system ( 31 ) according to one of the preceding claims, characterized in that the control of the sensor system ( 32 ) selecting one of several sensors ( 33 - 35 ). Environment detection system ( 31 ) according to one of the preceding claims, characterized in that the environment map is configured such that the cells are assigned at least one confidence value which indicates a measure that the presence of an object assigned to the cell ( 5 ; 49 ) in the corresponding room area ( 4 ; 39 ) indicating the probability value is correct. Environment detection system ( 31 ) according to one of the preceding claims, characterized in that a warning unit ( 48 ) generates a warning and / or control signal when an approach of the vehicle ( 1 ; 30 ) or a vehicle part to a room area ( 4 ; 39 ) whose corresponding cell of the environment map has a probability value for the presence of an object ( 5 ; 49 ) above a threshold, is determined and / or such an approach to such a space area ( 4 ; 39 ) is possible. Surrounding detection method of a motor vehicle ( 1 ; 30 ), comprising the following steps: acquiring measurement signals that contain information about objects ( 5 ; 49 ) in the environment ( 2 ; 40 ) of the motor vehicle ( 1 ; 30 ), by means of a sensor system ( 32 ), Evaluation of the measuring signals by means of an evaluation unit ( 36 ) in such a way that, using a probability method, information of the measurement signals is fused into a cell-comprising environment map, wherein each cell is assigned at least one probability value which is a measure of the presence of one of the objects ( 5 ; 49 ) in the space area corresponding to the cell ( 4 ; 39 ) of the environment ( 2 ; 40 ) of the motor vehicle, characterized in that that a selected space area ( 39 ' ) of the environment ( 2 ; 40 ) is selected over which preferred information is needed, and one by means of a control unit ( 45 ), the sensors ( 32 ) is controlled so that by means of the sensor ( 32 ) at least one measurement signal is determined which contains information about the selected spatial area ( 39 ' ). Umfeldfassungsverfahren according to claim 9, characterized in that by means of a prediction unit ( 43 ) a driving route is predicted and the selected area of space ( 39 ' ) is selected depending on the predicted driving route. Field detection method according to claim 9 or 10, characterized in that the sensors ( 32 ) comprises at least one alignable via an actuator element sensor by means of the control unit ( 45 ) is aligned so that by means of the sensor, a measurement signal is detected, the information about the selected area ( 39 ). Umfeldfassungsverfahren according to any one of claims 9 to 11, characterized in that the environment map into a memory ( 37 ) is stored and / or retrieved from this, wherein the environment map has a greater extent than that by means of the sensor ( 32 ) directly detectable spatial area ( 4 ; 39 ) having. Environment detection method according to one of the claims 9 to 12, characterized in that the environment map data added be about which an absolute position of the cells in the Environment map in a world coordinate system or a fixed space Coordinate system is determinable. Umfeldfassungsverfahren according to any one of claims 9 to 13, characterized in that when driving the sensor ( 32 ) one of several sensors ( 33 - 35 ) is selected. Umfeldfassungsverfahren according to any one of claims 9 to 14, characterized in that the environment map is configured so that the cells at least one confidence value is assigned, which indicates a measure that the cell associated with a presence of an object ( 5 ; 49 ) in the corresponding room area ( 4 ; 39 ) indicating the probability value is correct. Umfeldfassungsverfahren according to any one of claims 9 to 15, characterized in that by means of a warning unit ( 48 ) a warning and / or control signal is generated when an approach of the vehicle or a vehicle part to a spatial area ( 4 ; 39 ) whose corresponding cell of the environment map has a probability value for the presence of an object ( 5 ; 49 ) above a threshold value, is determined and / or determined that such an approach to such a spatial area ( 4 ; 39 ) is possible.