Method for operating a sensor system of an Ego vehicle and assistance system

Abstract

The invention relates to a method for operating a sensor system (2) of an ego-vehicle (1), in which the sensor system (2) emits electromagnetic transmission radiation (4) and sensor data (7) are generated as a received signal (5, 6) by detecting the transmission radiation (4) reflected by environmental objects (9) and / or by the ego-vehicle (1). According to the invention, it is provided that during the movement of the ego-vehicle (1), the mirror objects (12, 13) appearing in the sensor data (7) due to multiple reflections of the transmission radiation (4) from environmental objects (9) and / or the ego-vehicle (1) are used to assign the environmental objects (9) to target objects (10).

Description

[0001] The invention relates to a method for operating a sensor system of an ego vehicle and an assistance system for such a vehicle.

[0002] Vehicles increasingly utilize driver assistance systems to control their operation, supporting or relieving the driver in specific driving situations. These systems are now used in a wide variety of forms, such as Electronic Stability Programs (ESP) or Electronic Stability Control (ESC), emergency braking systems, lane keeping assist, overtaking assist, turning assist, hill start assist, traffic jam assist, adaptive cruise control (ACC) for longitudinal control, and parking assist for maneuvering the vehicle, often referred to as an "ego vehicle." These systems are primarily used in assisted driving modes, automated driving modes, or autonomous driving modes.

[0003] Such assistance systems include sensor systems suitable for the specific application, designed to emit and detect electromagnetic radiation across different wavelength and frequency ranges. Ultrasound, lidar, and radar systems are particularly common sensor systems used for this purpose, emitting electromagnetic waves as transmitted radiation. The electromagnetic waves reflected from surrounding objects are detected by the sensors of the sensor system as received radiation, and subsequently evaluated by a processing unit within the sensor system.

[0004] In this context, US Patent 2022 / 0187063A1 discloses a measuring device for determining the shape of a wall-like object located along a road. The device determines the distance of the vehicle to the wall-like object and calculates the shape using a multitude of values ​​derived from the vehicle's path and the distance to the wall.

[0005] Furthermore, US patent 2022 / 0206134A1 discloses a measuring device for determining whether the measurement of a wall object was successful. If the measurement of a wall object is successful, the measuring device calculates an instantaneous wall distance value, which indicates the distance of the wall object to the device itself. If the measurement of a wall object is unsuccessful, an additional instantaneous wall distance value is extrapolated. Further steps of the procedure are determined depending on the deviation of the extrapolated additional wall distance value from threshold values ​​for a successful measurement and for an unsuccessful measurement.

[0006] The invention is based on the objective of providing a method for operating a sensor system of an ego vehicle, in which the sensor system identifies relevant objects as target objects among the environmental objects located in the vicinity of the ego vehicle in a simple and advantageous manner.

[0007] This problem is solved according to the invention by the subject matter of the independent claims. Advantageous embodiments of the method according to the invention are part of the further claims.

[0008] In the inventive method for operating a sensor system of an ego-vehicle, when the ego-vehicle travels a certain route, sensor data for determining and thus identifying and classifying relevant target objects is generated by at least one sensor system of the ego-vehicle, by detecting electromagnetic radiation emitted by the respective sensor system after its reflection from surrounding objects and / or the ego-vehicle, and thus by at least one sensor of the sensor system.The mirror objects appearing in the sensor data due to multiple reflections or multipath reflections of the transmitted radiation on surrounding objects, and thus on reference objects and target objects and / or on the ego vehicle, are used to assign surrounding objects to the target objects to be determined, or to identify and thus evaluate the presence of certain predetermined target objects among the surrounding objects appearing in the sensor data.

[0009] The mirror objects or "ghost objects" used for this purpose in the sensor data are caused by multiple reflections of the electromagnetic transmission radiation off surrounding objects, including reference objects in the vicinity of the ego-vehicle, the target objects to be determined in the vicinity of the ego-vehicle, and the ego-vehicle itself. These mirror objects, as reflections of the surrounding objects and / or the ego-vehicle, appear in the sensor data particularly when the surrounding objects are at a certain height above the level of the road surface on which the ego-vehicle is traveling.

[0010] In this process, the sensor data acquired at various times along the route during the Ego vehicle's journey are accumulated or aggregated, and the accumulated sensor data are evaluated and used to assign the sensor data to target objects or to assess the presence of target objects.

[0011] The sensor data from multiple sensors within a sensor system of the ego vehicle can also be linked or fused together, and / or the sensor data from different sensor systems of the ego vehicle can be linked or fused together. For example, in an ego vehicle's radar system with multiple radar sensors, the sensor data from these radar sensors can be fused together or fused with the sensor data from other sensor systems of the ego vehicle.

[0012] In particular, the presence of mirror-like objects in the sensor data, resulting from multiple reflections of the transmitted radiation off surrounding objects and / or the ego vehicle, is used to assign a specific probability value to the presence of a target object in the sensor data. This means that the sensor data and the data patterns within the sensor data are evaluated based on the appearance of mirror-like objects in the sensor data or in the data patterns within the sensor data, and a specific probability value is then assigned to these data patterns accordingly.

[0013] Thus, a hypothesis, validated by this probability value, is formulated as to whether such a target object is located at the position determined by the sensor data of the respective sensor system of the ego vehicle. Based on this probability value, the presence of such a target object is assessed to determine whether the hypothesis regarding its presence is likely to be correct. Therefore, the sensor data of the respective sensor system of the ego vehicle, used in particular as input data for at least one assistance system, are evaluated with regard to the presence of target objects relevant for controlling the assistance system.The stated probability value for assigning the data patterns that may appear in the sensor data of the respective sensor system of the Ego vehicle to target objects can, for example, be specified as an index value between 0 and 1 or as an equivalent percentage probability value between 0% and 100%.

[0014] Optionally, the probability values ​​of vehicles other than swarm vehicles can also be considered by transmitting their probability values ​​for the presence and location of corresponding target objects to a central unit, from which a weighted probability value is then determined. Consequently, to increase the accuracy of the assignment when determining the presence and location of target objects, sensor data generated by swarm vehicles is also used. This sensor data from multiple vehicles or a large number of vehicles acting as swarm vehicles, and the resulting probability value for each of these vehicles, is transmitted to the central unit, evaluated by the central unit, and then made available to an ego vehicle as needed.

[0015] Preferably, a target object is considered present if the probability value assigned to its presence, or the weighted probability value, exceeds a predefined threshold. This threshold for the probability value or the weighted probability value can be selected or specified according to the desired level of certainty. For example, this threshold for the probability value or weighted probability value, expressed as an index value between 0 and 1, can be set in the range of 0.7 to 0.8. Equivalently, this threshold for the probability value expressed as a percentage probability value between 0% and 100% can be set in the range of 70% to 80%.Of course, for certain applications where high accuracy in identifying and assigning target objects is important, this threshold for the probability value or the weighted probability value can also be set higher.

[0016] In a further preferred embodiment of the invention, a target object deemed to be present is entered into a location map. This location map can be located at a central location, where the target object deemed to be present is then entered into this location map. Additionally or alternatively, this location map can also be located in the ego-vehicle, where the target object deemed to be present is then entered into its location map. Alternatively, this location map can also be located in the ego-vehicle, where the target object deemed to be present, for example together with its probability value, is entered into this location map of the parking area, for example automatically during the ego-vehicle's journey or after a journey by a driver of the ego-vehicle.

[0017] During the journey of the ego vehicle, each individual target object is considered separately based on the sensor data of the respective sensor system of the ego vehicle and is also evaluated with a separate probability value for its presence.

[0018] Preferably, line-shaped data patterns or line structures appearing in the sensor data of the respective sensor system of the ego-vehicle, which are arranged, for example, parallel, orthogonal, or obliquely to the ego-vehicle's path, are assigned to stationary target objects with a specific minimum height and width or length based on the occurrence of mirror objects in the sensor data with a certain probability value. That is, the mirror objects appearing in the sensor data due to multiple reflections of the transmitted radiation from surrounding objects and / or the ego-vehicle are used to assign the sensor data to stationary target objects with a specific minimum height and width or length.

[0019] Accordingly, such immobile target objects are specifically defined as fixed, spatially located, and thus three-dimensional, environmental objects with a predetermined minimum width or length and a predetermined minimum height, and a specific probability value. Examples include boundary walls, walls, but also wider posts, pillars, or columns. This allows, for instance, the identification of boundary walls or pillars of individual parking spaces in a parking garage as parking spaces, or the separation of different parking areas in a parking lot or parking garage as parking spaces, with a specific probability value.Thus, certain data patterns in the sensor data are assigned, based on the occurrence of mirror objects appearing in the sensor data and resulting from multiple reflections, to vertical, stationary target objects such as walls or fences that have a certain minimum height. This is particularly advantageous given that height information can usually only be determined to a very limited extent with certain sensor systems, such as radar systems, so that, for example, the sensor data of a radar system can generate similar data patterns from curbs of a road edge as from walls or fences.

[0020] When certain characteristic data patterns of this kind, originating from multiple reflections or multipath reflections, are present in the sensor data, in particular in the case of line-shaped data patterns detected by radar sensors of the radar system, which occur with vertical, fixedly localized and three-dimensional environmental objects such as walls or walls having a certain minimum height, these are evaluated based on the occurrence of mirror objects in the data patterns of the sensor data and then assigned with a certain probability value, for example, to a vertical wall or a vertical wall as a vertical, fixedly localized and three-dimensional stationary target object having a certain minimum height.This plausible probability-based assumption regarding the presence of a vertical, immovable target object, such as a wall or fence, with a certain minimum height, can then be used for localizing or mapping this object. In particular, this can also increase a probability value for the presence of such an immovable target object that is already established based on other measurement data or information sources.

[0021] In a preferred embodiment of the method, the presence of stationary target objects with a specific minimum height and a specific minimum width or length is evaluated based on the occurrence of linear structures in the sensor data and, additionally, based on the occurrence of symmetrical reference objects as mirror objects in the sensor data. Thus, by considering the symmetry of the data patterns appearing in the sensor data, the occurrence of mirror objects generated by multiple reflections from reference objects located in the vicinity of the ego-vehicle, such as fire hydrants or traffic light poles, is used to evaluate the presence of stationary target objects with a specific minimum height and a specific minimum width or length.This means that if both criteria are met – the occurrence of linear structures as data patterns in the sensor data and the occurrence of mirror objects generated by reference objects in the sensor data – it can be concluded with a high probability that there are stationary target objects with a certain minimum height and a certain minimum width or length.

[0022] Additionally or alternatively, the presence of stationary target objects with a specific minimum height and width or length can be assessed based on the occurrence of linear structures in the sensor data and the occurrence of mirror objects in the sensor data that can be attributed to target objects. That is, in addition to or alternatively, the use and evaluation of mirror objects generated by reference objects in the sensor data, the occurrence of multiple parallel linear structures as mirror objects in the data patterns appearing in the sensor data can also be used to assess the presence of stationary target objects with a specific minimum height and width or length.This means that if both criteria are met—namely, the occurrence of linear structures as data patterns in the sensor data and the occurrence of at least one parallel linear structure as a mirror object in the sensor data—it can be concluded with a high degree of probability that stationary target objects with a certain minimum height and a certain minimum width or length are present. Likewise, this can also increase a probability value for the presence of such a stationary target object with a certain minimum width or length that is already established based on other measurement data or information sources, while the probability value for the presence of such a stationary target object with a certain minimum width or length is significantly reduced when parallel linear structures are present as mirror objects.

[0023] If the ego vehicle's path is not parallel to a target object, the emission angle of the electromagnetic transmission can also be considered when evaluating the sensor data to assign target objects. Thus, if the ego vehicle passes a target object at a non-parallel angle, and therefore at a specific yaw angle relative to the target object, even oblique linear structures in the sensor data will be assigned to a straight, stationary target object with a certain minimum width or length.

[0024] Preferably, the respective sensor systems of the ego vehicle used to generate sensor data are radar systems of the ego vehicle and / or LIDAR systems of the ego vehicle and / or ultrasound systems of the ego vehicle.

[0025] Preferably, in the method according to the invention, radar radiation is emitted as high-frequency transmission radiation from an antenna unit of the radar system, particularly or exclusively by means of a radar system as a sensor system. Sensor data is then generated by at least one radar sensor of the radar system by detecting the radar radiation reflected by surrounding objects and / or the ego-vehicle. During the ego-vehicle's journey, the mirror objects appearing in the sensor data generated by the at least one radar sensor of the radar system due to multiple reflections of the radar radiation from surrounding objects, and thus from reference objects and target objects and / or the ego-vehicle, are used to assign surrounding objects in the sensor data to specific predetermined target objects or to identify and thus evaluate the presence of specific predetermined target objects among the surrounding objects.The virtual environment objects appearing as mirror objects in the sensor data of the at least one radar sensor of the radar system and / or the virtual ego vehicle appearing as a mirror object in the sensor data of the at least one radar sensor of the radar system are evaluated by the radar system of the ego vehicle and / or a downstream control unit of the ego vehicle.

[0026] Preferably, the determination of relevant target objects carried out using the method according to the invention and / or the situation map generated based on the determination of relevant target objects and updated with the determined target objects, is used to control the driving operation of the ego-vehicle. In particular, this can also be used for assisted driving along a specific route, for example within a parking area, or for automated driving along a specific route, for example within a parking area, or for autonomous driving along a specific route, for example within a parking area, and / or for displaying the situation map updated with the determined target objects in the ego-vehicle by means of a display device in the ego-vehicle.

[0027] The method according to the invention is used in particular in an assistance system of the ego vehicle that performs an independent movement process of the ego vehicle and, in particular, longitudinal guidance or longitudinal control of the ego vehicle and / or lateral guidance or lateral control of the ego vehicle, such as an ACC system of the ego vehicle (Adaptive Cruise Control System) as an assistance system or a lateral guidance system of the ego vehicle as an assistance system, which are operated in an assisted driving mode, an automated driving mode, or an autonomous driving mode of the ego vehicle. For this purpose, the assistance system of the ego vehicle comprises at least one sensor system with at least one sensor for generating sensor data and at least one control unit for evaluating or further processing the sensor data of the respective sensor system of the ego vehicle.The data provided to the control unit can then be used by the control unit to control the assistance system.

[0028] Such a control unit, control device, or control module of the assistance system can include a data processing device or a processor configured to perform one of the described features of the invention. For this purpose, the processor can include at least one microprocessor and / or at least one microcontroller and / or at least one FPGA (Field Programmable Gate Array) and / or at least one DSP (Digital Signal Processor). In particular, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or an NPU (Neural Processing Unit) can be used as the microprocessor. Furthermore, the processor can include program code configured to execute one of the described features of the invention when executed by the processor. The program code can be stored in a data memory of the processor.The processor setup can be integrated, for example, on at least one circuit board and / or on at least one SoC (System on Chip).

[0029] Furthermore, a vehicle having at least one such assistance system is also claimed. The invention thus also includes a vehicle with an assistance system according to the invention, wherein the vehicle with the assistance system according to the invention can be designed in particular as a motor vehicle or motor car, especially as a passenger car, or as a truck or as a passenger bus.

[0030] The invention also includes combinations of the features of the described embodiments. The invention therefore also includes realizations that each exhibit a combination of the features of several of the described embodiments, provided that the embodiments have not been described as mutually exclusive.

[0031] With the method according to the invention, target objects relevant for controlling the driving operation of the ego vehicle, in particular stationary target objects having a certain minimum width or minimum length, can be easily identified and classified with little effort using the sensor data of at least one sensor system of the ego vehicle, and these identified target objects together with their respective position can then also be used to control downstream processes and functions in the ego vehicle.

[0032] An embodiment of the invention is described below. The following is shown: Fig. 1 a schematic basic representation of the data acquisition of sensor data with a radar system during the driving of an ego vehicle; Fig. 2 a schematic representation of the sensor data acquired by a radar system of an ego vehicle during the ego vehicle's journey and Fig. 3 Another schematic representation of the sensor data captured by a radar system of an ego vehicle during the ego vehicle's journey.

[0033] The exemplary embodiments described below are preferred embodiments of the invention. In these exemplary embodiments, the described components each represent individual features of the invention, which can be considered independently of one another and each further develops the invention independently. Therefore, the disclosure is intended to include combinations of features of the embodiments other than those shown. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

[0034] In the figures, identical reference symbols denote functionally equivalent elements.

[0035] According to the schematic representation in the Fig. 1 The ego vehicle 1 travels, for example, through a parking garage as a parking space or a parking area as a parking space on the route 14 as the trajectory of the ego vehicle 1 within the parking garage as a parking space or the parking area as a parking space.

[0036] The ego vehicle 1 has a radar system as sensor system 2 with at least one radar sensor as sensor 3 of the radar system as sensor system 2, for example, a radar system 2 with at least six radar sensors 3 arranged at different positions on the ego vehicle 1 and each at a specific height on the ego vehicle 1. In this radar system 2 of the ego vehicle 1, high-frequency electromagnetic waves of the transmitted radiation 4 are emitted as radar radiation by one or more antenna units with radar antennas. The electromagnetic waves of the radar radiation 4 reflected by surrounding objects 9 are detected as reflected radar radiation by the radar sensors 3 of the radar system 2 as sensor data 7, and this sensor data 7 is then evaluated accordingly.

[0037] As in the Fig. As can be seen in Figure 1, the radar sensors 3 of the radar system 2 detect both the radar radiation 4 reflected by direct reflection from surrounding objects 9, and thus from reference objects 11 and target objects 10, as a direct received signal 5, and the radar radiation 4 reflected by multiple reflections from surrounding objects 9, and thus from reference objects 11 and target objects 10, as an indirect received signal 6. Due to these multiple reflections of the radar radiation 4, virtual surrounding objects are created as mirror objects 12 in the sensor data 7 of the radar system 2, in particular also mirror objects 12 of the reference objects 11.

[0038] In particular, the occurrence of multiple reflections and thus of indirect received signals 6 also depends on the height at which the radar system 2 emitting the radar radiation 4 is located in the ego-vehicle 1, and thus on the height at which the respective radar sensors 3 of the radar system 2 are located in the ego-vehicle 1, and in which direction the radar sensors 3 of the radar system 2 emit the radar radiation 4. For example, the height of the radar sensors 3 in the ego-vehicle 1 is typically 50 cm to 60 cm above the road surface of the route 14 on which the ego-vehicle 1 is traveling.

[0039] In the Fig. Figure 2 shows the sensor data 7, which is continuously generated by the radar sensors 3 of the radar system 2 of the ego vehicle 1 during its journey along route 14, for example, in a parking garage 2. The sensor data 7 generated at various times during the ego vehicle 1's journey is also aggregated. For this purpose, the front area of ​​the ego vehicle 1 and its lateral surroundings within a specific detection range are sensed by the radar sensors 3 of the radar system 2 as the ego vehicle 1 passes by. This successively generates point clouds with measurement points as sensor data 3. Certain data patterns 8 emerge in these point clouds of sensor data 3 as clusters or accumulations of sensor data 3, which can originate from reference objects 11 as environment objects 9 or from target objects 10 as environment objects 9.

[0040] These data patterns 8 of the sensor data 7 from the radar sensors 3 of the radar system 2 are assigned to the reference objects 11 and the target objects 10 with a specific probability value and thus identified with a certain probability. In this context, three-dimensional, stationary target objects 10 with a specific height and a specific minimum width or length are to be determined using the sensor data 7, for example, boundary walls or walls arranged in a parking garage as target objects 10. Such target objects 10 generate a linear structure as a data pattern 8 in the sensor data 7, as exemplified in the Fig. 2 can be seen. Due to the ambiguity of these linear structures as data patterns 8 in the sensor data 7, they can also originate from other environmental objects 9 than the target objects 10 to be determined, for example, from verges or curbs located along the route 14.

[0041] To further validate the identification of the target objects 10 as environment objects 9 in the sensor data 7, the mirror objects 12 of the reference objects 11, which also appear in the sensor data 7 due to multiple reflections, are now considered. If, as in the Fig. As shown in Figure 2, data patterns of the mirror objects 12 of the reference objects 11, corresponding to the data patterns 8 of the sensor data 7 and the data patterns 8 of the reference objects 11, now appear. These patterns are highly likely to have originated from multiple reflections off surrounding objects 9, such as walls or partitions, that have a certain minimum height, and thus off the target objects 10 to be identified. This significantly increases the probability of the presence of walls or partitions, and therefore of the presence of boundary walls or partitions, as such target objects 10 to be identified in the parking garage among the surrounding objects 9.

[0042] In the Fig. 3 is analogous to Fig. Figure 2 illustrates the exemplary driving of the ego vehicle 1 through a parking garage 2. During the ego vehicle 1's journey along the driving path 14 in the parking garage, sensor data 7 is continuously generated by the radar sensors 3 of the radar system 2 of the ego vehicle 1. The sensor data 7 generated at different times during the ego vehicle 1's journey is also aggregated accordingly. Certain data patterns 8 emerge in the point clouds of the sensor data 3 as clusters or accumulations of the sensor data 3, which appear here particularly as several parallel, line-like structures.

[0043] Again, these data patterns 8 of the sensor data 7 of the radar sensors 3 of the radar system 2 are to be assigned to target objects 10 and thus identified with a certain probability as such target objects 10. Here, too, three-dimensional, stationary target objects 10 with a certain height and a certain minimum width or length are to be determined based on the sensor data 7, for example, boundary walls or walls arranged in a parking garage as target objects 10. Such target objects 10 inherently generate a linear structure as a data pattern 8 in the sensor data 7, as is also the case several times in the Fig. 3 can be seen. Due to the ambiguity of these multiple linear structures as data patterns 8 in the sensor data 7, the fact that mirror objects 13 of the target objects 10 can also appear in the sensor data 7 is taken into account to further substantiate the determination of the target objects 10 as environment objects 9 in the sensor data 7. In particular, the reflections of the ego vehicle 1 appear in the data patterns 8 of the sensor data 7, which accumulate here especially through the aggregation of the sensor data 7 in a respective linear structure of the data patterns 8.

[0044] If, as in the Fig.As shown in Figure 3, if the sensor data 7 and the data patterns 8 of the sensor data 7 correspond to the data pattern 8 of the target object 10, then these data patterns 8 of the mirror objects 13 of the target object 10 appear with a very high probability. These patterns likely originated from the presence of a target object 10 to be identified as an environment object 9, such as a wall or partition, which has a certain minimum height and a certain minimum width or length. This significantly increases the probability value for the presence of a wall or partition, and thus for the presence of boundary walls or partitions, as a target object 10 to be identified among the environment objects 9 in a parking garage for the data pattern 8 with the first linear structure.In contrast, the probability value for the presence of target objects 10 to be identified among the surrounding objects 9 in a parking garage is significantly reduced for the data patterns 8 of the further parallel linear structures, since these are recognized with a high probability as mirror objects 13 belonging to the identified target object 10.

[0045] Optionally, the target objects 10 identified with a high probability among the surrounding objects 9 can be automatically entered into a map of the parking garage, or displayed to the driver of the ego vehicle 1 for entry into a map of the parking garage, provided a certain probability value for their presence is reached. Likewise, the target objects 10 within the parking garage, along with their positions, can be transmitted from the ego vehicle 1 to a central location.

[0046] Overall, the examples thus show how a method for operating a sensor system 2 of an ego vehicle 1 can be advantageously provided, in particular when driving into a parking garage or parking area as parking space by the ego vehicle 1. Reference symbol list 1 Ego vehicle 2 Sensor system / radar system 3 radar sensor 4. Transmitted radiation / radar radiation 5 Received signal after single reflection 6 Received signal after multiple reflections 7 Sensor data 8 Data Patterns 9 surrounding objects 10 Target object wall as environment object 11 reference objects as environment objects 12 mirror objects of the reference objects 13 mirror objects of the target object 14. Travel route / trajectory of the Ego vehicle QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] US 2022 / 0 187 063 A1

[0004] US 2022 / 0 206 134 A1

[0005]

Claims

[1] Method for operating a sensor system (2) of an ego vehicle (1) in which electromagnetic transmission radiation (4) is emitted by the sensor system (2) and sensor data (7) are generated as a received signal (5, 6) by detecting the transmission radiation (4) reflected by environmental objects (9) and / or by the ego vehicle (1), characterized by , that during the journey of the ego vehicle (1) the mirror objects (12, 13) appearing in the sensor data (7) due to multiple reflections of the transmitting radiation (4) on surrounding objects (9) and / or on the ego vehicle (1) are used to assign the surrounding objects (9) to target objects (10). [2] Method according to claim 1, characterized by, that based on the mirror objects (12, 13) appearing in the sensor data (7) due to multiple reflections of the transmitting radiation (4) on surrounding objects (9) and / or on the ego vehicle (1), a certain probability value is assigned to the presence of a target object (10) to be determined in the sensor data (7). [3] Method according to claim 1 or 2, characterized by , that a respective target object (10) is deemed to be present if the probability value assigned to the presence of the respective target object (10) exceeds a predetermined threshold. [4] Method according to any one of claims 1 to 3, characterized by, that the mirror objects (12, 13) appearing in the sensor data (7) due to multiple reflections of the transmitting radiation (4) on surrounding objects (9) and / or on the ego vehicle (1) are used to assign the sensor data (7) to stationary target objects (10) having a certain minimum height and a certain minimum width or length. [5] Method according to claim 4, characterized by , that the presence of stationary target objects (10) having a certain minimum height and a certain minimum width or length is assessed based on the occurrence of linear structures as data patterns (8) in the sensor data (7) and based on the occurrence of mirror objects (12) symmetrical to reference objects (11) in the sensor data (7). [6] Method according to one of claims 4 or 5, characterized by, that the presence of stationary target objects (10) having a certain minimum height and a certain minimum width or length is assessed based on the occurrence of linear structures as data patterns (8) in the sensor data (7) and based on the occurrence of mirror objects (13) corresponding to target objects (10) in the sensor data (7). [7] Method according to any one of claims 1 to 6, characterized by , that the emission angle of the emission of the electromagnetic transmission radiation (4) with respect to surrounding objects (9) is taken into account when evaluating the sensor data (7) for the assignment of the surrounding objects (9) to target objects (10). [8] Method according to any one of claims 1 to 7, characterized by that radar systems and / or LIDAR systems and / or ultrasound systems are used as the sensor system (2) of the Ego vehicle (1) for generating sensor data (7). [9] Assistance system of an ego vehicle (1) comprising at least one control unit and at least one sensor system (2) for generating sensor data (7) in which a method according to one of claims 1 to 8 is used. [10] Ego vehicle (1) with at least one assistance system operated according to claim 9.

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