DE102018124638A1 - Method for providing object information from static objects in an environment of a vehicle - Google Patents

Abstract

Method for providing object information of static objects (7) in an environment (2) of a vehicle (1), the following steps being carried out: - Providing a grid (210) which is connected to a detection field (14) of a detection system (10) , in particular radar system (10), of the vehicle (1) correlates in a detection situation, - providing a number of cells (220) of the grating (210), the number and / or an expansion of the cells (220) correlating with the detection situation, - Detection of at least one piece of detection information (240) and a respective detection position (241) by the detection system (10), - Determination of at least one cluster (230) for the at least one piece of detection information (240) based on the respective detection position (241), the at least one Cluster (230) each has position information (231), - assigning the at least one cluster (230) to the cells (220) depending on the j positional information (231), - providing object information (250) about at least one detected object (5) on the basis of the cells (220) in combination with the at least one cluster (230).

Description

The present invention relates to a method for providing object information of static objects in the surroundings of a vehicle. Furthermore, the invention relates to a detection system for providing object information of static objects in the surroundings of a vehicle.

Various methods for detecting a static environment of a vehicle by means of a detection system such as a radar system are known from the prior art. Thus, a position of the detected reflections is conventionally detected during the signal processing of a detection signal of the radar system. The detected positions can be used to reconstruct the surroundings of the vehicle in a grid with fixed cells. The grid is used, for example, to determine object information such as a shape of objects in the environment.

The use of clusters is also known, in which detections can be combined at any position in order to digitally reconstruct the environment.

The methods mentioned either have a lower reliability or a high memory requirement for determining the static environment, or are very computationally intensive and therefore require an increased technical outlay for implementation.

It is therefore an object of the present invention to at least partially remedy the disadvantages described above. In particular, it is an object of the present invention to enable improved and / or more reliable provision of the object information, in which in particular the technical outlay for the computing power and the memory consumption can be reduced.

The above object is achieved by a method with the features of claim 1 and by a detection system with the features of claim 10. Further features and details of the invention result from the respective subclaims, the description and the drawings. Features and details that are described in connection with the method according to the invention, of course also apply in connection with the detection system according to the invention, and vice versa, so that with respect to the disclosure of the individual aspects of the invention, reference is or can always be made to one another.

• - Bereitstellen eines Gitters, welches mit einem Erfassungsfeld eines Erfassungssystems, insbesondere Radarsystems des Fahrzeuges bei einer Detektionssituation korreliert,
• - Bereitstellen einer Anzahl von Zellen des Gitters, wobei die Anzahl und/oder eine Ausdehnung der Zellen mit der Detektionssituation korreliert, und insbesondere die Detektionssituation repräsentiert,
• - Erfassen wenigstens einer Detektionsinformation und einer jeweiligen Detektionsposition durch das Erfassungssystem,
• - Bestimmen wenigstens einer Zielinformation, insbesondere wenigstens eines Clusters für die wenigstens eine Detektionsinformation anhand der jeweiligen Detektionsposition, wobei der wenigstens eine Cluster bzw. die Zielinformation jeweils eine Positionsinformation aufweist,
• - Zuordnen der wenigstens einen Zielinformation und insbesondere des wenigstens einen Clusters zu den Zellen in Abhängigkeit von der jeweiligen Positionsinformation, insbesondere um wenigstens ein Objekt zu detektieren,
• - Bereitstellen einer Objektinformation über wenigstens ein detektiertes Objekt anhand der Zellen, insbesondere anhand der Nachbarschaftsbeziehungen der Zellen und/oder anhand der Zellen und des wenigstens einen Clusters bzw. der Zielinformation, insbesondere in Kombination mit dem wenigstens einen Cluster bzw. mit der wenigstens einen Zielinformation.

The object is achieved in particular by a method for providing object information, in particular static objects, in the surroundings of a vehicle. In particular, it is provided that the following steps are carried out, preferably one after the other in the order specified or in any order, individual steps also being able to be carried out repeatedly:

• Provision of a grating which correlates with a detection field of a detection system, in particular the vehicle's radar system, in a detection situation,
• Providing a number of cells of the grid, the number and / or an expansion of the cells correlating with the detection situation, and in particular representing the detection situation,
• Detection by the detection system of at least one piece of detection information and a respective detection position,
• Determining at least one target information, in particular at least one cluster for the at least one detection information on the basis of the respective detection position, the at least one cluster or the target information each having position information,
• Assigning the at least one target information and in particular the at least one cluster to the cells as a function of the respective position information, in particular in order to detect at least one object,
• - Providing object information about at least one detected object using the cells, in particular using the neighborhood relationships of the cells and / or using the cells and the at least one cluster or the target information, in particular in combination with the at least one cluster or with the at least one target information .

This has the advantage that a very reliable provision of the object information (in particular while maintaining the positional accuracy of the clusters) and thus reconstruction of the surroundings of the vehicle can take place, and yet the technical outlay for this, for example in terms of computing power, can be reduced. A special feature here is that the target information or clusters are each assigned to cells, so that in particular certain cells have one or more clusters and other cells are designed to be cluster-free. In particular, the cluster-free cells make it possible to initially limit an evaluation and in particular a chaining process for providing the object information to neighboring cells which have at least one cluster exhibit. By using the combination of the clusters with the cells for the provision of the object information, the combination of a cluster approach with a grid approach is possible. This can significantly reduce the technical outlay for signal processing and object detection.

In a method according to the invention, it is possible for the method steps to be repeated iteratively, preferably after each acquisition of acquisition information and / or an acquisition signal in the acquisition system or radar system (that is to say, for example, every cycle of acquisition of the acquisition signal). The detection information and in particular the detection position can advantageously be obtained by processing the detection information and / or the detection signal. At least one possible processing step of this processing is e.g. B. a Fourier transform and / or object detection and / or the like.

The detection information is e.g. B. as a raw target of the detection system, in particular radar system and / or as a detected object in the environment and / or as a reflection received by the detection system or radar system.

The grid can be designed as digitally and / or non-volatilely stored information which defines several cells depending on the detection field. The clusters can also be stored as digital information, in particular in a non-volatile manner and / or stored temporarily. By means of a parameterization, the cells can e.g. B. initially created and / or dynamically adjusted during operation of the detection system or radar system.

Advantageously, the clusters are each designed as a bundle, which can thus be viewed as a uniform whole of a number of individual parts (such as the detection information or raw targets). A cluster is preferably defined by the parameters radius and position (that is to say by the position information), the radius possibly being fixed and the position variable. Both parameters can relate to positions and / or a location in the detection field of the detection system. The position information of the clusters thus also correlates with the grid and / or the detection field. A resolution of the detection field can determine the resolution with which the object information can be determined. In contrast, the formation of the cells can influence the ability of the objects to separate, for example the resolution with which objects can be distinguished from one another. Alternatively or additionally, the formation of the cells can influence the computing power which is required to provide the object information.

• - Wenn bereits ein Cluster für die Detektionsposition der Detektionsinformation vorgesehen ist, diese insbesondere repräsentiert: Zuordnen der Detektionsinformation zu diesem Cluster, wobei ansonsten ein neues Cluster für die Detektionsinformation gebildet wird,
• - Bestimmen der Positionsinformation des Clusters anhand der wenigstens einen Detektionsposition sämtlicher Detektionsinformationen des Clusters, vorzugsweise als ein (insbesondere gewichteter) Mittelwert anhand der wenigstens einen Detektionsposition, vorzugsweise sämtlicher Detektionsinformationen mit (von) der wenigstens einen Detektionsposition.

It may also be possible for the determination of the at least one cluster to include the following steps, which are carried out for each of the at least one detected detection information item:

• If a cluster is already provided for the detection position of the detection information, it represents in particular: assigning the detection information to this cluster, a new cluster being otherwise formed for the detection information,
• - Determining the position information of the cluster on the basis of the at least one detection position of all the detection information of the cluster, preferably as an (in particular weighted) mean value on the basis of the at least one detection position, preferably all of the detection information with (of) the at least one detection position.

This has the advantage that the clusters are positioned on the basis of the detection positions of the detection information, and thus several neighboring detection information can be bundled in the cluster. The detection position is, for example, the spatial position at which a reflection has been detected by the detection system. The detection information includes, for example, information about an intensity or amplitude and / or a speed and / or a distance of this reflection.

Furthermore, it is conceivable that the object information is provided at least by carrying out a chaining process for those of the at least one cluster which neighboring cells, i. H. in particular cells in defined neighborhood relationships are assigned in order to determine a geometric shape and in particular a contour of the at least one detected object, preferably while maintaining the positional accuracy of the clusters. The chaining process can be, for example, a complex processing process in which neighboring clusters are examined in order to determine a contour of an object. This object correlates, for example, with the clusters or with the detection information of the cluster. This makes it possible to offer a very high resolution and / or accuracy for the provision of the contour within several adjacent cells with clusters.

Furthermore, it is conceivable for the at least one piece of position information (position) per cell to be associated with the assignment and / or cluster is assigned, wherein the position information is preferably formed in the form of a weighted average. Alternatively or additionally, it is conceivable that a maximum of one cluster is assigned to an individual cell during the assignment, so that a maximum of one cluster per cell is provided. In this way, a lower position resolution for the long range can be provided. Alternatively (e.g. in the close range) the positional accuracy of the object contour can be maintained by assigning several clusters per cell.

Advantageously, it can be provided in the invention that after the assignment, cluster-free cells are distinguished from cells which have at least one cluster in order to define a limit for a chaining process. B. can be detected as the limit. In other words, the chaining process itself can localize such cluster-free cells in order to stop further processing at these limits. In this way, the computing power required can be reduced, for example.

• - Anpassen der Anzahl und/oder der Ausdehnung der Zellen in Abhängigkeit von der Detektionssituation.

It can preferably be provided in the context of the invention that the following step is provided:

• - Adjusting the number and / or the expansion of the cells depending on the detection situation.

The detection situation relates, for example, to the requirements for the detection of the detection system and / or the operation of the vehicle. For example, the cells can be adapted to a resolution and / or to restrictions in the detection of the detection system. Since these conditions can change during operation, for example depending on the speed of the vehicle, the repeated adjustment during operation can always allow the grid to be optimally parameterized.

Furthermore, it is conceivable within the scope of the invention that the expansion of the cells is dynamically adapted as a function of at least one detection parameter to the detection situation while the vehicle is in operation. This detection parameter is, for example, a speed or a direction of movement of the vehicle. It may also be possible that the detection parameter is dependent on the detected objects and / or the distance and / or on disturbances in the detection system. The adaptation of the cells can thus influence the reconstruction of the environment and can always be optimally adapted to the detection situation.

Furthermore, it can be provided within the scope of the invention that the detection situation includes as a detection parameter at least one of the vehicle's own speed and / or direction of movement. It is conceivable that the dimension of the grating is expanded for higher speeds, since a greater range can be provided in this way. The resolution can also be adapted to the direction of travel of the vehicle, for example.

It may optionally be possible for the detection situation to include, as a detection parameter, a measurement accuracy and / or a resolution and / or at least one object separation requirement for the detection. The object separation requirement is, for example, a requirement for the object separation. This indicates, for example, the maximum distance objects can have in the environment in order to be able to be separated by a method according to the invention.

• - Bereitstellen eines Gitters, welches mit einem Erfassungsfeld des Erfassungssystems des Fahrzeuges bei einer Detektionssituation korreliert,
• - Bereitstellen einer Anzahl von Zellen des Gitters, wobei die Anzahl und/oder eine Ausdehnung der Zellen mit der Detektionssituation korreliert,
• - Erfassen wenigstens einer Detektionsinformation und einer jeweiligen Detektionsposition durch das Erfassungssystem,
• - Bestimmen wenigstens einer Zielinformation, insbesondere wenigstens eines Clusters für die wenigstens eine Detektionsinformation anhand der jeweiligen Detektionsposition, wobei der wenigstens eine Cluster jeweils eine Positionsinformation aufweist,
• - Zuordnen der wenigstens einen Zielinformation und insbesondere des wenigstens einen Clusters zu den Zellen in Abhängigkeit von der jeweiligen Positionsinformation,
• - Bereitstellen einer Objektinformation über wenigstens ein detektiertes Objekt anhand der Zellen und der Zielinformation bzw. des wenigstens einen Clusters und vorzugsweise anhand der Zellen in Kombination mit dem wenigstens einen Cluster bzw. der wenigstens einen Zielinformation.

The invention also relates to a detection system and, in particular, a radar system (or a laser scanner or the like as a detection system) for providing object information of static objects in the surroundings of a vehicle, comprising a processing device which is adapted in such a way that the processing device carries out the following steps:

• Providing a grid which correlates with a detection field of the detection system of the vehicle in a detection situation,
• Provision of a number of cells of the grid, the number and / or an expansion of the cells correlating with the detection situation,
• Detection by the detection system of at least one piece of detection information and a respective detection position,
• Determining at least one target information, in particular at least one cluster for the at least one detection information on the basis of the respective detection position, the at least one cluster each having position information,
• Assigning the at least one target information and in particular the at least one cluster to the cells as a function of the respective position information,
• - Providing object information about at least one detected object based on the cells and the target information or the at least one a cluster and preferably based on the cells in combination with the at least one cluster or the at least one target information.

The detection system according to the invention thus brings with it the same advantages as have been described in detail with reference to a method according to the invention. In addition, the detection system can be suitable for carrying out a method according to the invention. The processing device is designed, for example, as a processor or as a computer or control device of the vehicle or the like.

The detection system is designed, for example, as a 24 GHz or as a 77 GHz radar system. Alternatively or additionally, the detection system is designed as a continuous wave radar, in particular as an FMCW (frequency modulated continuous wave radar), which can carry out a distance and / or speed measurement.

Furthermore, the vehicle can be a motor vehicle and / or passenger vehicle and / or autonomous vehicle and / or electric vehicle and / or the like. The object information is used, for example, by an assistance system and / or by a control device of the vehicle, which provides at least partially autonomous driving and / or automatic parking of the vehicle.

It can preferably be provided within the scope of the invention that a processing means such as a computer program, in particular a computer program product, is provided which, when executed by the processing device, causes the processing device to carry out the steps of a method according to the invention. Furthermore, such a computer program is protected as the subject of this invention. A computer-readable medium, in particular a data carrier, with the computer program according to the invention is also protected.

• 1 eine schematische Ansicht eines Fahrzeugs mit einem erfindungsgemäßen Erfassungssystem in der Form eines Radarsystem sowie eines weiteren vorausfahrenden Fahrzeuges jeweils in einer Seitenansicht,
• 2 ein schematisches Schaltbild von Komponenten eines erfindungsgemäßen Radarsystems,
• 3 eine schematische Darstellung einer Detektion eines erfindungsgemäßen Radarsystems,
• 4 eine schematische Darstellung verschiedener Gitter,
• 5 eine schematische Darstellung zur Visualisierung eines erfindungsgemäßen Verfahrens,
• 6 eine weitere schematische Darstellung zur Visualisierung eines erfindungsgemäßen Verfahrens,
• 7 eine schematische Darstellung von Verfahrensschritten.

Further advantages, features and details of the invention emerge from the following description, in which exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can each be essential to the invention individually or in any combination. Each shows schematically:

• 1 2 shows a schematic view of a vehicle with a detection system according to the invention in the form of a radar system and a further vehicle in front, each in a side view,
• 2nd 1 shows a schematic circuit diagram of components of a radar system according to the invention,
• 3rd 1 shows a schematic representation of a detection of a radar system according to the invention,
• 4th a schematic representation of different grids,
• 5 1 shows a schematic illustration for visualizing a method according to the invention,
• 6 another schematic representation for the visualization of a method according to the invention,
• 7 a schematic representation of process steps.

In the following figures, the same reference numerals are used for the same technical features of different exemplary embodiments.

In 1 is a schematic of a vehicle 1 with an inventive detection system in the form of a radar system 10th shown. An arrow symbolizes the direction of movement of the vehicle 1 . It is also a moving object 6 in the form of another vehicle in front as well as a static object 7 in an environment 2nd of the vehicle 1 shown. The moving and static object are each objects 5 which are in at least one detection field 14 of the radar system 10th lie. Examples are in 1 different fields of coverage 14 for different positions of at least one receiving antenna 30th shown, which can be provided alternatively or in combination. This is the arrangement of the radar system 10th at least partially possible in the outside mirror or in the bumper or the like. A radar sensor 11 can be used as a detector 11 depending on the position of the vehicle 1 Reflections from these objects 5 via the at least one receiving antenna 30th receive and based on these reflections the objects 5 detect and / or the environment 2nd reconstruct. This is done by a detection signal 101 detected and a signal processing of the detection signal 101 through a processing device 15 performed, the detection signal 101 from the at least one receiving antenna 30th can be received.

In 2nd is the described detection with further details using a schematic circuit diagram of a radar system according to the invention 10th shown in more detail. At least one transmitting antenna is exemplary 20th and at least a first 30a, second 30b and third 30c receiving antenna are provided. First of all, a transmission processing unit 21 a broadcast signal 103 generated, which via the at least one transmission antenna 20th in the nearby areas 2nd of the vehicle 1 is emitted. Such a broadcast signal 103 is exemplary in 3rd shown in more detail. The radar system is, for example, a continuous wave radar and / or an FMCW radar (English: frequency modulated continuous wave radar), which in particular provides a distance and / or speed measurement, preferably by means of the Doppler effect. It can be, for example, a 24 GHz or 77 GHz radar system. To parameters of objects 5 in the neighborhood 2nd of the vehicle 1 , such as distance or speed or the angle, can capture the broadcast signal 103 for example in terms of frequency f be modulated. Advantageously, N frequency chirps can be acquired sequentially within the time period T1 with a varying frequency f as a transmission signal 103 via the at least one transmission antenna 20th be issued. With such a chirp, the frequency can change f temporally in the range of bandwidth B change. The duration of each chirp is then T1 / N, as in 3rd is also shown schematically by a double arrow. A linear frequency modulation can be used, for example, in which the frequency of a respective chirp f become linear within the bandwidth B changed. After the period T1 can within the period T2-T1 an evaluation of a received signal 101 (or also: detection signal 101 ) respectively. The entire measuring cycle therefore has a duration T2 .

According to 2nd can receive at least one detection signal 101 the receiving antennas 30th be arranged equidistantly at a predetermined distance.

Through every object 5 in the detection field 14 can the transmitted signal 103 reflected and / or scattered back, and thus at least one of the receiving antennas 30th to reach. The detection signal received thereby 101 can then be demodulated and / or mixed down, in particular by the demodulator shown 33 or the down mixer 33 . Then the detection signal 101 by an analog-digital converter of a reception processing unit 31 into digital acquisition information 102 being transformed. Until the end of the period T1 the data determined in this way can be stored in an MxN matrix with M samples per chirp and N chirps. Using this matrix, a Fourier transformation of the matrix (ie the acquisition information 102 ) a spectrum 110 can be determined which for a relative speed and / or a distance of the objects 5 in the neighborhood 2nd in the detection field 14 is specific. It is particularly a two-dimensional spectrum 110 (corresponding to the two-dimensional matrix according to the acquisition information 102 ), so that the different coordinates represent the different parameters (such as distance and relative speed).

To include a phase of the detection signal during detection 101 To be able to determine, it may be possible that at least one of the down mixes by the down mixer 33 is duplicated. The reference frequency used for this can then be used for one of the downmixes 104 through a phase shifter 32 out of phase and thus in a out of phase reference frequency 105 being transformed. In this way, for example, an I&Q process (in-phase & quadrature process) can be provided.

According to 4th is shown that a grid according to the invention 210 with multiple cells 220 can be provided. This grid 210 exists especially as digital information and can be an environment 2nd of the vehicle 1 represent. As exemplified in 4th is represented here represents the grid 210 the complete environment 2nd around the vehicle 1 around with the vehicle 1 is shown in a plan view. In other words, the grid represents 210 a bird's eye view of the area 2nd of the vehicle 1 . The cells 220 of the grid 210 can be fixed, or depending on, for example, the speed of the vehicle 1 be adjusted. So the grid marked with A shows 210 an adjustment depending on the direction of travel of the vehicle 1 .

According to 5 A method according to the invention is schematically visualized with further details. In particular, it can be seen that according to a first step I, detection information is first 240 with an associated detection position 241 based on the registration information 102 is determined. If not a cluster yet 230 for this detection position 241 a new cluster can be created 230 with position information 231 be created with the position information 231 than the detection position 241 is set. In the case of a further acquisition, in particular measurement cycle of the radar system 10th can then further detected information according to a second step II 240 ' with the further detection position 241 ' also this cluster 230 be assigned if the further detection position 241 ' within the cluster 230 lies. In this case, the position information can then 231 of the cluster 230 based on both the detection position 241 as well as the further detection position 241 ' be recalculated.

According to 6 is shown that the clusters determined in this way 230 depending on the respective position information 231 the Cells 220 can be assigned, which for the recording of the corresponding position information 231 are provided. E.g. can provide certain location information 231 firmly determined cells 220 depending on the spatial assignment in the detection field 14 or in the area 2nd be assigned. In this way, even cluster-free cells 221 arise. This assignment can be used as at least part of the detection of an object 5 be considered. Then, as in 6 also shown is only the cluster 230 for a chaining process, which are taken into account within a cell 220 and in neighboring cells 220 lie. The cluster-free cell is responsible for this chaining process 221 thus represents a limit. The chaining process determines a contour, for example 250 from the detected static objects 7 .

According to 7 A method according to the invention is visualized schematically. The method is used to provide object information from static objects 7 in an environment 2nd of a vehicle 1 .

According to a first process step 501 a grid is provided 210 which has a detection field 14 a detection system and in particular radar system 10th of the vehicle 1 correlated in a detection situation. According to a second process step 502 a number of cells are provided 220 of the grid 210 , the number and / or an expansion of the cells 220 correlated with the detection situation. According to a third process step 503 at least one piece of detection information is acquired 240 and a respective detection position 241 through the detection system 10th . Then, according to a fourth method step 504 determining at least one cluster 230 for the at least one detection information 240 based on the respective detection position 241 be performed, the at least one cluster 230 each position information 231 having. This is followed by a fifth step 505 assigning the at least one cluster 230 to the cells 220 depending on the respective position information 231 . Furthermore, according to a sixth method step 506 providing object information 250 via at least one detected object 5 based on the cells 220 and the cluster 230 be performed.

The above explanation of the embodiments describes the present invention exclusively in the context of examples. Of course, individual features of the embodiments, if technically meaningful, can be freely combined with one another without departing from the scope of the present invention.

Reference list

1

vehicle

2nd

Surroundings

5

object

6

moving object

7

static object

10th

Detection system, radar system

11

Radar sensor, detector

14

Detection field, detection area

15

Processing device

20th

Transmitting antenna

21

Sending processing unit

30th

Receiving antenna

30a

first receiving antenna

30b

second receiving antenna

30c

third receiving antenna

31

Receive processing unit

32

Phase shifter, 90 °

33

Downmixer

101

Detection signal, reception signal

102

Acquisition information

103

Broadcast signal

104

Reference signal, in-phase reference frequency

105

phase shifted reference frequency

110

spectrum

210

Grid

220

cell

221

cluster-free cell

230

Cluster

231

Position information

240

Detection information

240`

Detection information

241

Detection position

241 '

Detection position

250

Object information

501

first process step

502

second process step

503

third step

504

fourth step

505

fifth step

506

sixth step

f

frequency

B

Transmission bandwidth

N

Number of frequency chirps

T1

first period

T2

second period

Claims (11)

Method for providing object information of static objects (7) in an environment (2) of a vehicle (1), the following steps being carried out: - Providing a grid (210) which correlates with a detection field (14) of a detection system (10), in particular radar system (10), of the vehicle (1) in a detection situation, Providing a number of cells (220) of the grid (210), the number and / or an expansion of the cells (220) correlating with the detection situation, - Detection of at least one piece of detection information (240) and a respective detection position (241) by the detection system (10), - determining at least one cluster (230) for the at least one detection information (240) on the basis of the respective detection position (241), the at least one cluster (230) each having position information (231), Assigning the at least one cluster (230) to the cells (220) as a function of the respective position information (231), - Providing object information (250) about at least one detected object (5) using the cells (220) in combination with the at least one cluster (230). Procedure according to Claim 1 , characterized in that the determination of the at least one cluster (230) comprises the following steps, which are carried out for each of the at least one detected detection information (240): - If a cluster (230) for the detection position (241) of the detection information ( 240) is provided: assigning the detection information (240) to this cluster (230), otherwise a new cluster (230) is formed for the detection information (240), - determining the position information (231) of the cluster (230) on the basis of the at least one a detection position (241) of all detection information (240) of the cluster (230), preferably as an, in particular weighted, mean value based on the at least one detection position (241). Procedure according to Claim 1 or 2nd , characterized in that the object information (250) is provided at least by carrying out a chaining process for those of the at least one cluster (230) which are assigned to neighboring cells (220) by a geometric shape and in particular a contour of the at least one to determine a detected object (5). Method according to one of the preceding claims, characterized in that during the assignment the at least one detection information (240) is assigned to a single position information (231) per cell (220), the position information (231) preferably being formed in the form of a weighted average. Method according to one of the preceding claims, characterized in that after the assignment, cluster-free cells (220) are distinguished from cells (220) which have at least one cluster (230) in order to define a boundary for a chaining process, in particular the cluster-free cells for this purpose Cells (220) from the chaining process are detected as the boundary. Method according to one of the preceding claims, characterized in that the following step is provided: - adapting the number and / or the expansion of the cells (220) as a function of the detection situation. Procedure according to Claim 6 , characterized in that the expansion of the cells (220) is dynamically adapted as a function of at least one detection parameter of the detection situation during driving operation of the vehicle (1). Method according to one of the preceding claims, characterized in that the detection situation comprises as a detection parameter at least one airspeed and / or one direction of movement of the vehicle (1). Method according to one of the preceding claims, characterized in that the detection situation comprises, as a detection parameter, a measurement accuracy and / or a resolution and / or at least one object separation requirement for the detection. Recording system (10) for providing object information of static objects (7) in an environment (2) of a vehicle (1), comprising a processing device (15) which is adapted such that the processing device (15) carries out the following steps: - providing a grating (210) which correlates with a detection field (14) of the detection system (10) of the vehicle (1) in a detection situation, - providing a number of Cells (220) of the grid (210), the number and / or extent of the cells (220) correlating with the detection situation, - detection by the detection system (10) of at least one piece of detection information (240) and a respective detection position (241), - Determining at least one cluster (230) for the at least one detection information (240) based on the respective detection position (241), the at least one cluster (230) each having position information (231), - Assigning the at least one cluster (230) the cells (220) as a function of the respective position information (231), - providing object information (250) about at least one is detected es object (5) based on the cells (220) in combination with the at least one cluster (230). Registration system (10) according to Claim 10 , characterized in that a processing means is provided which, when executed by the processing device (15), for carrying out the steps of a method according to one of the Claims 1 to 9 prompted.

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