Method for determining a free space in vehicle surroundings

A method to determine at least one free space in vehicle surroundings of a vehicle, the method comprising:

• receiving at least two-dimensional contour points of objects in at least one field of vision situated in the vehicle surroundings;
• assigning the received contour points to a plurality of rows, which subdivide the at least one field of vision;
• ascertaining, within each row having multiple contour points located therein, a minimum contour point, the minimum contour point having a shortest distance to a reference system of the vehicle;
• and
• connecting the minimum contour points, that were respectively ascertained for each row having multiple contour points located therein, to form a contour line that extends across the plurality of rows and indicates a boundary of the at least one free space within the at least one field of vision, so that a distance between the reference system of the vehicle and the contour line is determined and is utilized to implement a driver assist application within the at least one free space by a driver assistance system provided in the vehicle,
• wherein the receiving, assigning, ascertaining and connecting steps are implemented in a computer of the driver assistance system, and
• wherein any contour points that are not ascertained as minimum contour points are deleted from a memory of the computer prior to forming the contour line.