A method and a device for detecting road users and obstacles on the basis
of camera images, in order to determine their distance from the observer
and to classify them. In a two-step classification, potential other
parties involved in a collision are detected and identified. In so doing,
in a first step, potential other parties involved in a collision are
marked in the image data of a mono-image camera; their distance and
relative velocity are subsequently determined so that endangering objects
can be selectively subjected to a type classification in real time. By
breaking down the detection activity into a plurality of steps, the
real-time capability of the system is also rendered possible using
conventional sensors already present in the vehicle.
