Abstract: A method for controlling a motor vehicle may include one or more of the following steps: scanning an environment of the motor vehicle; detecting a passenger transport device stopped in front of the motor vehicle; detecting a movement of at least one person in the vicinity of the passenger transport device; and determining the probability that the passenger transport device will merge into traffic in front of the motor vehicle on the basis of the movement of the person.

Abstract: A method for controlling a motor vehicle may include one or more of the following steps: scanning an environment of the motor vehicle; detecting a passenger transport device stopped in front of the motor vehicle; detecting a movement of at least one person in the vicinity of the passenger transport device; and determining the probability that the passenger transport device will merge into traffic in front of the motor vehicle on the basis of the movement of the person.

Abstract: A device for determining height information for an object in a vehicle environment comprises: an input interface for receiving environment sensor data from an environment sensor containing information regarding an object in the vehicle environment and vehicle sensor data from a vehicle sensor containing information regarding a movement of the vehicle in relation to the environment, a grid unit for generating a three dimensional grid display of the vehicle environment based on the environment sensor data and vehicle sensor data, an evaluation unit for detecting a reference plane in the three dimensional grid display, and a plotting unit for calculating a two dimensional vertical grid display of the vehicle environment based on the three dimensional grid display and the reference plane, wherein a grid cell in the two dimensional vertical grid display comprises height information for the object in relation to the reference plane.