Method and driver assistance system for classifying objects in surroundings of vehicle

The invention relates to a method for classifying an object (30) in the surroundings of a vehicle (1) using an ultrasonic sensor (12, 13, 14, 15), in which an ultrasonic signal (20) is emitted, ultrasonic echoes (22, 24) from the object (30) in the surroundings are received, and the position of a reflection point relative to the ultrasonic sensor (12, 13, 14, 15) is determined using a least square method. 15), and wherein a reflection point is continuously determined and assigned to an object (30) in the surroundings. Furthermore, the dispersion parameter relating to the position of a reflection point associated with an object (30) is determined, and the dispersion parameter is used as a classification criterion relating to the type of the object (30). Further aspects of the invention relate to a driver assistance system (100) and a vehicle (1) comprising such a driver assistance system (100). 本发明涉及一种用于在使用超声波传感器(12，13，14，15)的情况下对在车辆(1)的周围环境中的对象(30)进行分类的方法，其中，发射超声波信号(20)，接收来自在周围环境中的对象(30)的超声回波(22，24)，并在使用最小二乘法