Patent ID: 8862382

Claim:
A computer-implemented method for collision monitoring for a motor vehicle, in which a surrounding area is monitored by at least one object sensor, the method comprising: at least one computer processor performing the following: providing a reference state for at least one first object situated in the surrounding area, as a reference object in a first stop operation, the reference state including reference position data of the at least one first object; in a subsequent second stop operation, determining at least one of whether the motor vehicle has traveled a predefined minimum distance between the first stop operation and the second stop operation, and whether a predefined minimum time has elapsed; if it is determined at least one of (i) that the motor vehicle has traveled a distance that is greater than the predefined minimum distance between the first stop operation and the second stop operation, and (ii) that a time that is greater than the predefined minimum time has elapsed, updating the reference state with position data of at least one second object situated in the surrounding area, as a reference object; if a subsequent drive-off is intended, determining actual position data of the at least one second object as an actual state; and detecting a potential collision when the actual state and the reference state indicate a distance of more than a predefined value.