Method for detecting and tracking objects in a surrounding region of a vehicle

Abstract

The invention relates to a method for detecting and tracking objects (O) in a surrounding region of a vehicle (1), wherein light signals (LS) are emitted by means of at least one LiDAR sensor (2) in a plurality of successive measurements and reflections (R1 to Rm) of the light signals (LS) that are returned by objects (O) are detected, a point cloud (PW1 to PW4) is generated for each measurement on the basis of the reflections (R1 to Rm) and, by means of the point clouds (PW1 to W4) generated in the successive measurements, objects (O) in the surrounding region are detected and tracked. According to the invention, the reflections (R1 to Rm) in one measurement are compared with reflections (R1 to Rm) in previous measurements, and reflections (R1 to Rm) within one measurement that cannot be assigned to an object (O) detected and tracked in the preceding measurements are identified as environmental influences (UE) which are not associated with the object (O) and are filtered.

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