Patent ID: 9734719
Date: 2017-08-15
CPC Classifications: G08G,H04N

Claim:
1. A method for guiding a vehicle in a surrounding environment of an object, the method comprising: reading in a multiplicity of view ray endpoints in a three-dimensional image of the surrounding environment, containing the object and/or the vehicle, the three-dimensional image representing an image produced by a stereo camera of the vehicle, and at least one of the view ray endpoints representing an outer surface of the object; connecting the multiplicity of view ray endpoints to form a polygon that represents a free surface to be traveled by the vehicle, wherein one or more sides of the polygon define an edge of the free space, the one or more sides defining a boundary between the polygon and the object; and generating a driving corridor, provided for the vehicle, for driving around the object, based on the free surface, wherein the generating of the driving corridor includes: