Abstract: A method determines support points for estimating a progression of roadside development of a road. The method determines a position of a first support point in the surroundings of a vehicle; determines a plurality of regions in a travel direction and/or counter to the travel direction of the vehicle on the basis of the position of the first support point; and determines support points of roadside development for each of the determined regions in the travel direction, counter to the travel direction and left and right of the vehicle.

Abstract: The present disclosure relates to a method for detecting one or more objects in an environment of a vehicle, the environment being bounded by a perimeter, the method comprising: segmenting the environment into a plurality of segments such that each segment of the plurality of segments is at least partially bounded by the perimeter of the environment; detecting one or more detection points based on the one or more objects in the environment of the vehicle; combining the one or more detection points into one or more clusters based on a spatial proximity of the one or more detection points; and assigning a state to each of the segments of the plurality of segments based on the one or more detected detection points and/or based on the one or more combined clusters. The present disclosure further relates to a system for detecting one or more objects in a vehicle environment and a vehicle comprising the system.

Abstract: A method determines support points for estimating a progression of roadside development of a road. The method determines a position of a first support point in the surroundings of a vehicle; determines a plurality of regions in a travel direction and/or counter to the travel direction of the vehicle on the basis of the position of the first support point; and determines support points of roadside development for each of the determined regions in the travel direction, counter to the travel direction and left and right of the vehicle.