Method and device for detecting collisions for a vehicle

A method for detecting collisions for a vehicle, comprising the following steps:

• executing a first collision check, the first collision check including checking whether an object from a surrounding area of the vehicle resides within an enveloping surface, the enveloping surface extending along a section of a trajectory of vehicle, the enveloping surface having a defined first geometric shape such that the vehicle remains within the enveloping surface when the section of the trajectory is driven on;
• responsive to the first collision check determining that an object from the area resides with the enveloping surface, executing a second collision check, the second collision check including examining whether an object is located in a partial surface associated with the enveloping surface, the partial surface defining a subarea of the enveloping surface and has a specified second geometric shape, which is within the enveloping surface, and each point of the partial surface being traversed by the vehicle when the section of the trajectory is driven on;
• and
• responsive to the second collision check determining that there is no object from the surrounding area of the vehicle within the partial surface, executing a third collision check, the third collision check including checking whether an object lies on points within the enveloping surface which are traversed by the vehicle when the section of the trajectory is driven on.

A device for detecting collisions for a vehicle, the device configured to:

• execute a first collision check, the first collision check including a check of whether an object from a surrounding area of the vehicle resides within an enveloping surface, the enveloping surface extending along a section of a trajectory of vehicle, the enveloping surface having a defined first geometric shape such that the vehicle remains within the enveloping surface when the section of the trajectory is driven on;
• responsive to the first collision check determining that an object from the area resides with the enveloping surface, execute a second collision check, the second collision check including an examination of whether an object is located in a partial surface associated with the enveloping surface, the partial surface defining a subarea of the enveloping surface and has a specified second geometric shape, which is within the enveloping surface, and each point of the partial surface being traversed by the vehicle when the section of the trajectory is driven on;
• and
• responsive to the second collision check determining that there is no object from the surrounding area of the vehicle within the partial surface, execute a third collision check, the third collision check including a check of whether an object lies on points within the enveloping surface which are traversed by the vehicle when the section of the trajectory is driven on.