REPRESENTING AN ENVIRONMENT BY CYLINDRICAL AND PLANAR STRUCTURES

The present disclosure relates to a vehicle control system (3) adapted for an ego vehicle (1) travelling on a road (2). The vehicle control system (3) comprises a main control unit (4) and an environment detection sensor arrangement (5) that is adapted to provide an initial detected representation of the environment. The main control unit (4) is arranged to provide a processed representation of the environment by identifying cylindrical structures and planar structures extending along a vertical extension in a coordinate system, and to confer a first identification that corresponds to a cylindrical structure, and a corresponding coordinate in a 2-dimensional projection x-y of the coordinate system 13, for each identified cylindrical structure. The main control unit (4) is further arranged to confer a second identification that corresponds to a planar structure, and a corresponding coordinate in the 2-dimensional projection for each identified planar structure.