Abstract: A method for predicting a trajectory of at least one secondary road user for avoiding a collision course with the secondary road user for a host vehicle. The method includes determining the present location for the host vehicle, retrieving a plurality of modelled clusters of trajectories for a present traffic situation, and detecting the position and speed of the at least one secondary road user. The method also includes predicting at least one feasible trajectory for the at least one secondary road user based on the position and the speed of the at least one secondary road user to the plurality of modelled clusters of trajectories and selecting at least one feasible trajectory of the feasible trajectories for each secondary road user based on a selection criterion. At least one action is performed based on the selected at least one feasible trajectory.

Abstract: A collision avoidance support device comprises target detection unit, target type determination unit, relative position determination unit, target track prediction unit, and vehicle track prediction unit, obstacle determination unit. The vehicle track prediction unit is configured to enlarge the width of a vehicle predicted track compared with a case where an enlargement condition is not satisfied when the enlargement condition is satisfied. The enlargement condition is satisfied when the relative position determination unit detects that a target determined to be a pedestrian by the target type determination unit is positioned on a travel lane at least once.

Abstract: Various aspects of a system and method to provide driving assistance to safely overtake a vehicle are disclosed herein. In accordance with an embodiment, an electronic control unit used in a first vehicle is configured to detect a second vehicle in front of the first vehicle. A first position associated with the first vehicle and a second position associated with the detected second vehicle is determined for a first time instance. It may be determined whether a lateral distance between the determined first position and the determined second position is below a pre-defined threshold distance. A first alert is generated when the determined lateral distance is below the pre-defined threshold distance.

Abstract: A lift-up determining device includes a detector and a determination unit. The detector acquires a captured image including a tire on an axle of a vehicle and detects the tire from the captured image. The determination unit determines, based on a detection result by the detector, whether the axle is lifted up.

Abstract: An Intelligent Transportation System, ITS, service station is disclosed. The ITS service station has: a receiver, having an area of radio coverage, configured to receive a first Collective Perception Message, CPM, from a first ITS station at a first position within the coverage area, the first CPM including first sensor data on an object perceived by the first ITS station; an aggregator connected to the receiver and configured to aggregate said first sensor data with at least one second sensor data on the same object into a third sensor data, which second sensor data either is received via the receiver in a second CPM from a second ITS station at a second position within the coverage area perceiving the same object or is determined by a sensor of the ITS service station perceiving the same object; and a transmitter configured to broadcast said third sensor data in a third CPM.

Abstract: An image processing apparatus and method for detecting and tracking multiple moving objects in successive frames includes circuitry configured to detect a plurality of moving regions within a plurality of frames based on an optical flow map of a plurality of pixels within the plurality of moving regions. A plurality of merged objects are identified from the detected plurality of moving regions. A plurality of split objects are identified from the detected plurality of moving regions and the identified plurality of merged objects. A location of each of the detected plurality of moving regions, the identified plurality of merged objects and the identified plurality of split objects is predicted and tracked within the captured plurality of frames.

Abstract: A ship reverse-run detection system includes a memory, and a processor coupled to the memory, wherein the processor is configured to: detect a direction of change in a position of a ship based on position information of the ship which is detected by a position detection device which is mounted on the ship, specify a traveling direction associated with a navigation region of the ship which is specified based on the position information, by referring to a storage which stores the navigation region and the traveling direction in association with each other, and detect reverse run of the ship in the navigation region based on the magnitude of an angle between the direction of the change and the traveling direction.

Abstract: A method and system for synchronizing a lidar and a camera on an autonomous vehicle. The system instructs the camera to detect light columns transmitted by the lidar. The system iterates through various start times for the camera. The system instructs the lidar to emit a plurality of light columns at a lidar frequency. The system instructs the camera to capture images at a camera frequency starting at each start time. The system analyzes the image data received from the cameras to identify light columns captured in the images. The system calculates an alignment score for each of the many start times based on the identified light columns. The start time with the optimal alignment score is selected and used to synchronize the lidar and the camera. With lidar data detected by the synchronized lidar and image data captured by the synchronized camera, the system may navigate the autonomous vehicle.

Abstract: Among other things, we describe techniques for traffic light estimation using range sensors. A planning circuit of a vehicle traveling on a first drivable region that forms an intersection with a second drivable region receives information sensed by a range sensor of the vehicle. The information represents a movement state of an object through the intersection. A traffic signal at the intersection controls movement of objects through the intersection. The planning circuit determines a state of the traffic signal at the intersection based, in part, on the received information. A control circuit controls an operation of the vehicle based, in part, on the state of the traffic signal at the intersection.

Abstract: A method for providing information about a probable driving intention of a first vehicle. The method includes ascertaining, using a locating device, first position data, which indicate the approximate position of the first vehicle, and map data for the first position data, and capturing, using cameras and/or sensors in the first vehicle, information about the surroundings in proximity to the first vehicle. The method also includes determining information about a probable trajectory of the first vehicle, and providing information about a probable driving intention of the first vehicle, based on the information about the probable trajectory of the first vehicle, the position data, the information about the surroundings and the map data. The method also includes transmitting the information about the probable driving intention of the first vehicle to a second vehicle and/or one or more vehicle-external entities.

Abstract: A communication control device includes: an identifier extraction unit which is configured to extract an identifier for identifying an on-board unit from an on-board unit transmission signal obtained by receiving, through a toll collection antenna, radio waves transmitted by the on-board unit; a position measurement unit which is configured to measure the position of an on-board unit which has transmitted radio waves on the basis of a position measurement signal obtained by receiving, through predetermined position measurement antennas, radio waves transmitted by the on-board unit; and an identifier registration unit which is configured to register the identifier included in the on-board unit transmission signal correlating with the position measurement signal as a permitted identifier when the position of the on-board unit, measured on the basis of the position measurement signal, is present within a prescribed defined communication region.

Abstract: A method for safeguarding a movement of a motor vehicle on an inclined ramp. Downhill from the motor vehicle, one or multiple collision object(s) is/are moved into a travel path specified by the ramp, so that in the event of a downhill movement of the motor vehicle on the travel path, a collision of the one or multiple collision object(s) with the motor vehicle reduces a speed of the motor vehicle while it is still on the ramp. Also described are a corresponding device, a parking facility, and a computer program.

Abstract: A system included and a computer-implemented method performed in an autonomous-driving vehicle are described. The system performs: detecting one or more movable objects; determining a target movable object from the one or more detected objects; determining a manner of generating a directed alert notification selectively toward the target movable object; and causing a directed alert notification of the determined manner to be generated toward the target movable object.

Abstract: Described herein are systems and methods for allocating departure slots at an airport. One embodiment of the disclosure of this application is related to a method including calculating an estimated takeoff time (“ETT”) based on airport data and flight plan data, allocating a departure slot time for the at least one flight based on the ETT, and populating the allocated departure slot time in an allocation grid. Another embodiment of the disclosure of this application is related to a system comprising a user interface displaying information related to flight plan data and airport data received from an airport network, and a departure allocation module calculating an estimated takeoff time (“ETT”) for the first flight based on the airport data and the flight plan data, allocating a departure slot time for the flight, and populating the departure slot time in an allocation grid via the user interface.

Abstract: A system and method for automatically controlling movement of a barrier that include determining at least one zone associated with the barrier. The system and method also include determining a current state of the barrier. The system and method additionally include sending a barrier control signal to remotely control movement of the barrier. The system and method further include presenting the current state of the barrier, wherein the current state of the barrier is updated based on remotely controlling the movement of the barrier.

Abstract: A system and method for automatically controlling movement of a barrier that include determining at least one zone associated with the barrier. The system and method also include determining a current state of the barrier. The system and method additionally include sending a barrier control signal to remotely control movement of the barrier. The system and method further include presenting the current state of the barrier, wherein the current state of the barrier is updated based on remotely controlling the movement of the barrier.

Abstract: A method and system for synchronizing a lidar and a camera on an autonomous vehicle. The system selects a plurality of track samples for a route including a lidar scan and an image. For each track sample, the system calculates a time shift by iterating many time deltas. For each time delta, the system adjusts a camera timestamp by that time delta, projects a lidar scan onto the image as a lidar projection according to the adjusted camera timestamp, and calculates an alignment score of the lidar projection for that time delta. The system defines the time shift for each track sample as the time delta with the highest alignment score. The system then models time drift of the camera compared to the lidar based on the calculated time shifts for the track samples and synchronizes the lidar and the camera according to the modeled time drift.

Abstract: An antenna structure of an RFID reader includes a carrying plate defining four quadrants and an antenna module disposed on the carrying plate. The antenna module includes a feeding antenna and a grounding antenna. The feeding antenna includes a feeding connecting segment, two feeding transmitting segments connected to the feeding connecting segment, and two feeding radiating segments respectively connected to the two feeding transmitting segments. The grounding antenna includes a grounding connecting segment, two grounding transmitting segments connected to the grounding connecting segment, and two grounding radiating segments respectively connected to the two grounding transmitting segments.

Abstract: A method and system of creating microlocation zones by defining virtual boundaries using a system of one or more transmitters and receivers with one or more spatially-correlated antennas.

Abstract: A wrong way vehicle countermeasure system may include at least one movement sensor positioned along a roadway and a wireless communications device. The system may further include a controller configured to cooperate with the at least one movement sensor to detect a wrong way vehicle on the roadway, and responsive to the detection of the wrong way vehicle on the roadway by the movement sensor, wirelessly send a countermeasure command to the wrong way vehicle via the wireless communications device to cause the wrong way vehicle to perform at least one wrong way driving countermeasure.

Abstract: A method determines iteratively a motion of the vehicle from an initial location and a target location. An iteration of the method determines a location between the initial location and the target location that satisfies spatial constraints on locations of the vehicle and determines state transitions of the vehicle moved to the location from a set of neighboring locations determined during previous iterations. The method selects a neighboring location resulting in an optimal state transition of the vehicle and updates a graph of state transitions of the vehicle determined during previous iterations with the optimal state transition. The motion of the vehicle is determined a sequence of state transitions connecting the initial location with the target location and the vehicle is controlled according to the determined motion.

Abstract: Disclosed are ways for wirelessly connecting an aircraft at an airport. For example, a method for wirelessly communicating with an aircraft may include determining a proximity of an aircraft of a directional antenna system for wireless communication, determining availability of the directional antenna system for wireless communication with the aircraft, selecting the directional antenna system based on the determined proximity and availability, and providing instructions for the directional antenna system to communicate with the aircraft.

Abstract: A method for providing sound detection information producing a result of sound detection based on sound data generated by detecting sound generated around a host vehicle, may include determining an opposite lane vehicle detection index based on the result of sound detection, the opposite lane vehicle detection index forming a basis of determination of presence or absence of an opposite lane vehicle, and controlling a notification of a neighboring vehicle travelling around the host vehicle or controlling the host vehicle according to the opposite lane vehicle detection index, wherein the result of sound detection is information about the probability of presence of the neighboring vehicle for respective angles in frames consecutive over time.

Abstract: A warning circuit for use on ladders includes a first sensor responsive to the placement of a first of a user's feet thereon and a second sensor responsive to the placement of a second of the user's feet thereon. The second sensor is electrically connected in series to the first sensor, and a relay is electrically connected in series to one of the first and second sensors. A power source has a power output terminal electrically connected in series to the other of the sensors connected in series. A sound device is electrically connected to a load output of the relay and to the power source. The load output of the relay is energized only when the first sensor is activated prior to activation of the second sensor whereupon the load output then energizes the sound device.

Abstract: A traffic safety system is provided for controlling the entry of motorists onto one way roads. The system has a motion detection unit which identifies the presence of motor vehicles travelling the wrong direction on one way roads, highway exit ramps and entrance ramps. Upon detection of a vehicle, the system activates audible and visual warnings. If the motorist does not stop moving, a barrier will deploy and a camera unit will photograph the license plate of the vehicle before transmitting same to local authorities. Additionally, a set of warming indicators positioned at a far end of the road are provided, which illuminate when the system is deployed, notifying travelers of a road blockage.

Abstract: The present invention is directed to a method of generating electricity from the unharnessed existing kinetic movement of various self-propelled sources: vehicles, wheeled vehicles, pedestrians, objects and/or wheeled objects with the aid of natural phenomena (i.e., gravity, buoyancy, magnetism, etc.) in combination with supporting undersurfaces, over surfaces and side surfaces upon which or about which they translate. In a first embodiment, floating platforms over which moving objects pass are implanted into a road surface. In a second embodiment, rollers rather than platforms are utilized. In a third embodiment, the moving vehicles, pedestrians and/or objects are provided with magnetic material generating electricity by passing over, under or by magnetized kinetic capturing panels containing coiled metallic wire (“kinetic panels”).

Abstract: Methods of determining vehicle scale health and suitability for use via weight transfer pattern analysis. Dynamically changing patterns of measurement values are seen at each load cell of a vehicle weighing scale as a vehicle enters, remains on, and leaves the scale platform thereof during a normal vehicle weighing operation. These patterns may be analyzed to provide an indication of whether a given load cell is operating properly and/or being manipulated to produce a false weight reading.

Abstract: A method controls vehicular traffic on a one-way roadway. A hardware sensor detects vehicular traffic on a roadway. A hardware traffic control device determines whether the vehicular traffic on the roadway has been moving exclusively in a first direction during a preceding period of time, such that the roadway is a one-way roadway on which current vehicular traffic is authorized to travel only in the first direction. The hardware sensor detects an errant vehicle that is traveling on the one-way roadway in a second direction that is opposite the first direction. In response to determining that the errant vehicle is traveling in the second direction on the one-way roadway, a warning signal is transmitted to vehicles, other than the errant vehicle, on the one-way roadway.

Abstract: In a method for recognizing an entry of a motor vehicle into a traffic lane of a road opposite a driving direction of the traffic lane, a stop line of the traffic lane is detected and a wrong driving direction of the motor vehicle is recognized if the motor vehicle has crossed the stop line upon entry into the traffic lane.

Abstract: A method is disclosed for warning in case of wrong-way travel of a vehicle on a directional carriageway by means of an on-board unit carried by the vehicle, said on-board unit determining its position and direction of movement in a satellite-assisted manner, comparing the latter with a target direction of movement stored in a digital road map for this position and outputting a warning message when detecting a wrong-way travel, comprising: for a temporary change in course of a section of the directional carriageway, providing a radio beacon arranged upstream to said section and having a local radio coverage range; when the on-board unit enters the radio coverage range of the radio beacon, receiving a message sent by the radio beacon concerning the change in course in a transceiver of the on-board unit; and detecting the wrong-way travel depending on the received message.

Abstract: A hardware traffic control device controls vehicular traffic on a one-way roadway. A hardware sensor detects vehicular traffic on a roadway in order to enable a hardware traffic control device to determine that the vehicular traffic on the roadway has been moving exclusively in a first direction during a preceding period of time, thus identifying the roadway as a one-way roadway in which current vehicular traffic is authorized to travel only in the first direction. The hardware sensor then detects an errant vehicle that is traveling in the opposite direction on the one-way roadway. A disabling electronic signal is then transmitted from the hardware traffic control device to disable a distracting electronic device within the errant vehicle.

Abstract: Systems, methods, and programs distribute traffic information including information on a wrong-way vehicle traveling in a wrong-way direction opposite to a designated travel direction of a road. The systems, methods, and programs distributes the traffic information to the target vehicle, determine a reporting range of the wrong-way vehicle information based on a wrong-way vehicle position. When an end-point distance is equal to or larger than a predetermined reference distance, the systems, methods, and programs set a wrong-way section as the reporting range. When the end-point distance is less than the reference distance, the systems, methods, and programs set the wrong-way section and at least one road section which is adjacent to the wrong-way section as the reporting range. When the target vehicle is in the reporting range, the systems, methods, and programs send the traffic information including the wrong-way vehicle information to the target vehicle.

Abstract: A vehicle direction identification device includes: a frequency analysis unit which analyzes amplitude or phase of surrounding sound in each analysis section; a sound source direction identification unit which identifies a sound source direction included in the surrounding sound for each analysis section; a vehicle identification information storage unit which stores first vehicle identification information including a first threshold value; a first vehicle identification unit which calculates a rate of occurrence of each sound source direction and identifies the sound source direction whose rate of occurrence is equal to or exceeds the first threshold value; a second vehicle identification information calculation unit which calculates second vehicle identification information including a second threshold value smaller than the first threshold value; and a second vehicle identification unit which identifies the sound source direction whose rate of occurrence is equal to or exceeds the second threshold value.

Abstract: A method, system or computer usable program product for a wireless unit of a first vehicle detecting and locating other nearby vehicles including emitting a first short range wireless signal with the first wireless unit, the first wireless signal including a first unique identifier and a first location of the first vehicle, detecting a second short range wireless signal of a second wireless unit of a second vehicle without the first wireless unit establishing a connection with the second wireless unit, the second wireless signal including a second unique identifier and a second location of the second vehicle, and computing a relative location of the second vehicle from the second wireless signal.

Abstract: A vehicle wrong-way travel detection device includes a map information storage unit where map information is stored, a decision-making point setting unit that sets, based upon the map information stored in the map information storage unit, the connecting point located ahead along a subject vehicle traveling direction as a decision-making point, a wrong-way travel decision-making area setting unit that sets wrong-way travel decision-making areas for at least one of a plurality of roads connected to the decision-making point, and a wrong-way travel decision-making unit that makes a decision, based upon the direction of traffic flow set for a unidirectional traffic road connected to the decision-making point and the subject vehicle traveling direction, as to whether or not the subject vehicle is traveling against the flow of traffic on the unidirectional traffic road.

Abstract: A method and a device for detecting travel of a vehicle in a traffic lane or on a roadway in an impermissible driving direction, at least one turnoff or exit ramp/entrance ramp being detected by checking on which side of the traffic lane or of the roadway the turnoff is detected, and the detection of the travel in the traffic lane or on the roadway in an impermissible driving direction being carried out as a function of a comparison of the detected side with the side which is expected during travel in the traffic lane or on the roadway in a permissible driving direction.

Abstract: A vehicle detecting system, a vehicle detecting method adapted for a vehicle, and a computer-readable storage medium encoded with a computer program are disclosed. The system controls two cameras to capture images in the front of the vehicle and at the back of the vehicle respectively, according to a speed and a direction of the vehicle. The system further determines whether or not two images from each camera are the same, if the two images from each camera are different, the vehicle is in a dangerous driving condition, and when times of the dangerous driving condition within a preset time period reaches a preset value, the system outputs a warning to prompt a driver.

Abstract: A method of using a directional sensor for the purposes of detecting the presence of a vehicle or an object within a zone of interest on a roadway or in a parking space. The method comprises the following steps: transmitting a microwave transmit pulse of less than 5 feet; radiating the transmitted pulse by a directional antenna system; receiving received pulses by an adjustable receive window; integrating or combining signals from multiple received pulses; amplifying and filtering the integrated receive signal; digitizing the combined signal; comparing the digitized signal to at least one preset or dynamically computed threshold values to determine the presence or absence of an object in the field of view of the sensor; and providing at least one pulse generator with rise and fall times of less than 3 ns each and capable of generating pulses less than 10 ns in duration.

Abstract: Approaches for monitoring traffic signal preemption at one or more intersections. According to one embodiment, a road map that includes a plurality of roads and intersections is displayed with a computer system. Preemption data periodically received by the computer system from at least one preemption controller at a respective intersection is used to update the road map. In response to the preemption data, the road map is updated to include a traffic signal icon at the respective intersection and a vehicle icon at a location on the map corresponding to a location of a vehicle transmitting a preemption request as indicated by the preemption data.

Abstract: A method for detecting a vehicle comprising: providing a multi-channel scannerless full-waveform lidar system operating in pulsed Time-Of-Flight operation oriented towards a surface of the roadway to cover the detection zone; providing at least one initialization parameter; emitting pulses at an emission frequency; receiving reflections of the pulses from the detection zone; and acquiring and digitalizing a series of individual complete traces at each channel of system; identifying at least one detection in at least one of the traces; obtaining a height and an intensity for the detection; determining a nature of the detection to be one of an environmental particle detection, a candidate object detection and a roadway surface detection; if the nature of the detection is the candidate object detection, detecting a presence of a vehicle in the detection zone.

Abstract: A system for detecting objects in the blind spot of a host vehicle. When an object is detected in the blind spot of the host vehicle, the system analyzes other objects directly in front of or behind the detected object in the blind spot. If the other objects are moving, the system concludes that the object in the blind spot is also moving and, therefore, is a stagnating vehicle. If the other objects are not moving, the system concludes that the object in the blind spot is also a stationary object. The system generates a blind-spot-detection signal when it determines that a stagnating vehicle is located in the blind spot.

Abstract: A method for tracking and characterizing a plurality of vehicles simultaneously in a traffic control environment, comprising: providing a 3D optical emitter; providing a 3D optical receiver with a wide and deep field of view; driving the 3D optical emitter into emitting short light pulses; receiving a reflection/backscatter of the emitted light, thereby acquiring an individual digital full-waveform LIDAR trace for each detection channel of the 3D optical receiver; using the individual digital full-waveform LIDAR trace and the emitted light waveform, detecting a presence of a plurality of vehicles, a position of at least part of each vehicle and a time at which the position is detected; assigning a unique identifier to each vehicle; repeating the steps of driving, receiving, acquiring and detecting, at a predetermined frequency; tracking and recording an updated position of each vehicle and an updated time at which the updated position is detected.

Abstract: A method comprises: disposing an on-board unit at a preset relative position with respect to a road-side unit; transmitting a signal by the road-side unit; receiving the signal by the on-board unit and detecting a strength of the received signal; calculating, by the on-board unit, a calculated strength of the received signal according to the detected strength of the received signal; storing the calculated strength of the received signal in a memory accessible by the on-board unit; using the stored calculated strength of the received signal to determine if payment of a toll should be made.

Abstract: A method, system or computer usable program product for a wireless unit of a first vehicle detecting and locating other nearby vehicles including emitting a first short range wireless signal with the first wireless unit, the first wireless signal including a first unique identifier and a first location of the first vehicle, detecting a second short range wireless signal of a second wireless unit of a second vehicle without the first wireless unit establishing a connection with the second wireless unit, the second wireless signal including a second unique identifier and a second location of the second vehicle, and computing a relative location of the second vehicle from the second wireless signal.

Abstract: A parking space detection device and method thereof, wherein, firstly, store a plurality of border data relating to moved distance of a vehicle, and distance between vehicle and an obstacle for reverse transmission of ultrasonic waves; then determine if said border data satisfy evaluation conditions, such that it is in a first detecting parking space then obstacle state, or in a first detecting obstacle then parking space state. Wherein, in case that any of evaluation conditions is satisfied, start to calculate a first difference between each of said border data and their average, to determine if it is grater than a standard deviation; in case that answer is positive, fetch at least two data points, a first data point and a second data point, corresponding to border data, then calculate their difference to adjust weights of first data point and second data point, in obtaining a highly accurate parking space.

Abstract: Provided is a rear cross traffic alert device that allows a driver to understand that notification of the presence of an object (another vehicle, etc.) in an area directly behind the vehicle cannot be notified. The rear cross traffic alert device provided on a vehicle includes: an object detection section configured to detect the presence of an object laterally behind the vehicle; a movement determination section configured to determine whether or not the object has entered a predetermined area in a detection area in which the object detection section can detect the presence of the object; and a notification control section configured to stop notification when the movement determination section has determined that the object has entered the predetermined area.

Abstract: A rotating wheel of a vehicle is detected by evaluating the Doppler shift of a measuring beam emitted by a detector unit passed by the vehicle, reflected by the wheel and returned in Doppler-shifted form. In a relative position to the wheel, the vehicle comprises an onboard unit, which can establish a radio communication with a transceiver having a known location in the detector unit. The direction and distance of the onboard unit from the transceiver are measured on the basis of at least one radio communication between the same. The radiation direction or radiation position of the measuring beam is controlled in accordance with the measured direction and distance and taking into consideration the aforementioned relative position and location. The relative position is stored in the onboard unit and is read from the onboard unit by way of a radio communication for the purpose of the aforementioned consideration.

Abstract: A rotating wheel of a vehicle is detected by evaluating the Doppler shift of a measuring beam, which is emitted by a detector unit passed by the vehicle, and is reflected by the wheel and returned in Doppler-shifted form. In a relative position to the wheel, the vehicle comprises an onboard unit, which can establish radio communication with a transceiver having a known location in the detector unit. The direction and distance of the onboard unit from the transceiver are measured on the basis of at least one radio communication between the same. The radiation direction or radiation position of the measuring beam is controlled in accordance with the measured direction and distance and taking into consideration the aforementioned relative position and location.

Abstract: The invention relates to the determination of direction, speed and/or distance of vehicles on a roadway by means of a sensor, which operates according to the light-section procedure and is directed onto the roadway, for recording the surface contour of a vehicle, and an evaluation unit, which is connected to the sensor and determines the direction, speed and/or distance of the vehicles therefrom.

Abstract: A method is used for detecting the environment of a vehicle and utilizes a number of sensors, the sensors having different detection ranges, and a transition of an object between two detection ranges is bridged by prediction by using a handover algorithm.