Method for detecting a self-shadow of a motor vehicle, driver assistance system for a motor vehicle and motor vehicle

Abstract

A method (100) for detecting a self-shadow (10) of a motor vehicle (200) is proposed, comprising the steps: - Determining a geographical position and orientation of the motor vehicle (200), - Capturing at least one environmental image (17a, 17b) using at least one camera (12) of a camera arrangement (11) of the motor vehicle (200), - Determining the position of the sun relative to the geographical position, - Determining, using an evaluation device (13), from the at least one environmental image (17a, 17b), whether a self-shadow (10) of the motor vehicle (200) is to be expected, - Calculating, using the evaluation device (13), a predicted self-shadow (25) of the motor vehicle (200) using the position of the sun, the geographical position and orientation of the motor vehicle (200), and information about the geometric shape of the motor vehicle (200), - Determining when a self-shadow (10) is to be expected,of a self-shadow candidate (28) in the at least one surrounding image (17a, 17b) using the evaluation device (13) with the predicted self-shadow (25),- Verify that the self-shadow candidate (28) is the self-shadow (10) of the motor vehicle (200) by comparing the self-shadow candidate (28) with the predicted self-shadow (25) using the evaluation device (13).,

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