METHOD AND APPARATUS FOR AGGREGATING/REPRESENTING AN ENVIRONMENT MODEL FOR A DRIVER ASSISTANCE SYSTEM OF A VEHICLE

A method of parametrizing an environment model (108) for a driver assistance system (106) of a vehicle (100) comprises steps of defining, determining and transforming. In the step of defining, a reference point (R) on a predicted trajectory (T) of the vehicle (100) is defined in relation to a detected object (OBJ) in an environment of the vehicle (100). In the step of determining, an angle (αx) between a tangent (tan) to the trajectory (T) in the reference point (R) and a first axis (x) of a vehicle coordinate system (K) and a relative distance between object (OBJ) and reference point (R) are determined, to obtain object-related information (115). In the step of transforming, the object-related information (115) is transformed according to the determined angle (αx) to a new coordinate system with its first axis tangential to the trajectory (T) in the reference point (R), to obtain parametrization data (117).