CN102648115B - 用于在行驶的汽车中估算侧倾角的方法 - Google Patents

用于在行驶的汽车中估算侧倾角的方法 Download PDF

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Publication number
CN102648115B
CN102648115B CN201080053510.5A CN201080053510A CN102648115B CN 102648115 B CN102648115 B CN 102648115B CN 201080053510 A CN201080053510 A CN 201080053510A CN 102648115 B CN102648115 B CN 102648115B
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China
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camera
image
angle
roll angle
mark
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CN201080053510.5A
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English (en)
Chinese (zh)
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CN102648115A (zh
Inventor
M·瓦尔特
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Continental Zhixing Germany Co ltd
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Conti Temic Microelectronic GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/11—Pitch movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/112—Roll movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B60G2400/0511—Roll angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/03—Overturn, rollover
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Regulating Braking Force (AREA)
CN201080053510.5A 2009-11-25 2010-11-16 用于在行驶的汽车中估算侧倾角的方法 Active CN102648115B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102009055776A DE102009055776A1 (de) 2009-11-25 2009-11-25 Verfahren zur Schätzung des Rollwinkels in einem fahrenden Fahrzeug
DE102009055776.8 2009-11-25
PCT/DE2010/001332 WO2011063785A1 (de) 2009-11-25 2010-11-16 Verfahren zur schätzung des rollwinkels in einem fahrenden fahrzeug

Publications (2)

Publication Number Publication Date
CN102648115A CN102648115A (zh) 2012-08-22
CN102648115B true CN102648115B (zh) 2015-11-25

Family

ID=43502100

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201080053510.5A Active CN102648115B (zh) 2009-11-25 2010-11-16 用于在行驶的汽车中估算侧倾角的方法

Country Status (7)

Country Link
US (1) US8824741B2 (enExample)
EP (1) EP2504209B1 (enExample)
JP (1) JP2013512150A (enExample)
KR (1) KR101729912B1 (enExample)
CN (1) CN102648115B (enExample)
DE (2) DE102009055776A1 (enExample)
WO (1) WO2011063785A1 (enExample)

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JP5883275B2 (ja) * 2011-11-18 2016-03-09 東芝アルパイン・オートモティブテクノロジー株式会社 車載カメラのキャリブレーション装置
DE102011055795A1 (de) * 2011-11-29 2013-05-29 Continental Automotive Gmbh Verfahren zur Ermittlung eines drohenden Überschlags eines Fahrzeugs
DE102012108862A1 (de) 2012-09-20 2014-05-28 Continental Teves Ag & Co. Ohg Verfahren zur Kalibrierung mehrerer Umfeldsensoren in einem Fahrzeug
DE102014007900A1 (de) * 2014-05-27 2015-12-03 Man Truck & Bus Ag Verfahren und Fahrerassistenzsystem zur Ermittlung fahrdynamischer Zustände eines Nutzfahrzeugs
DE102015202115A1 (de) * 2015-02-06 2016-08-11 Robert Bosch Gmbh Verfahren zur Bestimmung des Schräglagenwinkels eines Zweirads
FR3036180B1 (fr) * 2015-05-11 2018-08-10 Valeo Schalter Und Sensoren Gmbh Procede de determination de l'assiette d'un vehicule automobile.
JP6413974B2 (ja) * 2015-08-05 2018-10-31 株式会社デンソー キャリブレーション装置、キャリブレーション方法、及びプログラム
US10235817B2 (en) * 2015-09-01 2019-03-19 Ford Global Technologies, Llc Motion compensation for on-board vehicle sensors
EP3159195A1 (de) * 2015-10-21 2017-04-26 Continental Automotive GmbH Fahrerassistenzvorrichtung für ein fahrzeug sowie verfahren zum austarieren einer schieflage des fahrzeugs
US10290119B2 (en) 2016-09-15 2019-05-14 Sportsmedia Technology Corporation Multi view camera registration
CN106585546B (zh) * 2016-09-30 2019-03-22 张家港长安大学汽车工程研究院 一种汽车侧翻预警系统
DE102016220559A1 (de) 2016-10-20 2018-04-26 Conti Temic Microelectronic Gmbh Verfahren und System zur Ermittlung eines Rollwinkels eines Zweirads während einer Kurvenfahrt
CN107395954B (zh) * 2017-06-12 2020-08-07 海信（山东）冰箱有限公司 一种冰箱定位拍摄方法及系统
CN109086650B (zh) * 2017-06-14 2022-04-12 现代摩比斯株式会社 校准方法和校准设备
KR102710515B1 (ko) 2018-01-17 2024-09-27 헤사이 테크놀로지 씨오., 엘티디. 검지기기 및 그의 파라미터 조정방법
KR102553053B1 (ko) 2018-12-28 2023-07-11 삼성전자주식회사 차량 주변의 위험 요소를 감지하기 위한 전자 장치 및 이를 제어하기 위한 방법
CN109903346B (zh) * 2019-05-13 2019-09-06 长沙智能驾驶研究院有限公司 相机姿态检测方法、装置、设备及存储介质
US11659261B2 (en) * 2021-08-19 2023-05-23 Ford Global Technologies, Llc Vehicle optical sensor motion correction
CN116862989B (zh) * 2022-03-28 2025-08-29 腾讯科技（深圳）有限公司 车载相机的翻滚角标定方法、装置、设备及存储介质
CN116381632B (zh) * 2023-06-05 2023-08-18 南京隼眼电子科技有限公司 雷达横滚角的自标定方法、装置及存储介质
DE102023211417B3 (de) 2023-11-16 2024-08-14 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zur Rollkalibrierung für ein Kamerasystem eines Fahrzeugs und Kamerasystem für ein Fahrzeug

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JP2000353300A (ja) * 1999-06-11 2000-12-19 Honda Motor Co Ltd 物体認識装置
US6285393B1 (en) * 1993-09-08 2001-09-04 Sumitomo Electric Industries, Ltd. Object recognition apparatus and method
CN1603184A (zh) * 2003-09-30 2005-04-06 三菱扶桑卡客车株式会社 车辆的倾翻抑制控制装置
US6963657B1 (en) * 1999-09-24 2005-11-08 Honda Giken Kogyo Kabushiki Kaisha Object recognition system
WO2006016661A1 (ja) * 2004-08-11 2006-02-16 Tokyo Institute Of Technology 移動体周辺監視装置
CN101473193A (zh) * 2006-06-23 2009-07-01 丰田自动车株式会社 姿势角检测装置与姿势角检测方法

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JP4803927B2 (ja) * 2001-09-13 2011-10-26 富士重工業株式会社 監視システムの距離補正装置および距離補正方法
JP3969984B2 (ja) * 2001-09-25 2007-09-05 ダイハツ工業株式会社 移動物体の認識方法
DE10204128B4 (de) * 2002-02-01 2011-06-22 Robert Bosch GmbH, 70469 Vorrichtung zur Überrollerkennung
JP4296076B2 (ja) * 2003-11-13 2009-07-15 三菱電機株式会社 走行車線認識装置
DE102004048400A1 (de) 2004-10-01 2006-04-06 Robert Bosch Gmbh Verfahren für die Erfassung einer optischen Struktur
DE102006061483B4 (de) * 2006-02-22 2024-01-25 Continental Automotive Technologies GmbH Verfahren und Vorrichtung zur Bestimmung des Rollwinkels eines Kraftrades
DE102006018978A1 (de) 2006-04-25 2007-11-08 Adc Automotive Distance Control Systems Gmbh Verfahren zur Bestimmung des Wankwinkels

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Publication number Priority date Publication date Assignee Title
US6285393B1 (en) * 1993-09-08 2001-09-04 Sumitomo Electric Industries, Ltd. Object recognition apparatus and method
JP2000353300A (ja) * 1999-06-11 2000-12-19 Honda Motor Co Ltd 物体認識装置
US6963657B1 (en) * 1999-09-24 2005-11-08 Honda Giken Kogyo Kabushiki Kaisha Object recognition system
CN1603184A (zh) * 2003-09-30 2005-04-06 三菱扶桑卡客车株式会社 车辆的倾翻抑制控制装置
WO2006016661A1 (ja) * 2004-08-11 2006-02-16 Tokyo Institute Of Technology 移動体周辺監視装置
CN101473193A (zh) * 2006-06-23 2009-07-01 丰田自动车株式会社 姿势角检测装置与姿势角检测方法

Also Published As

Publication number Publication date
US20120281881A1 (en) 2012-11-08
KR101729912B1 (ko) 2017-04-25
KR20130004895A (ko) 2013-01-14
EP2504209B1 (de) 2017-01-11
DE112010003422A5 (de) 2012-06-06
JP2013512150A (ja) 2013-04-11
DE102009055776A1 (de) 2011-05-26
CN102648115A (zh) 2012-08-22
US8824741B2 (en) 2014-09-02
WO2011063785A1 (de) 2011-06-03
EP2504209A1 (de) 2012-10-03

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Effective date of registration: 20240410

Address after: Ingolstadt, Germany

Patentee after: Continental Zhixing Germany Co.,Ltd.

Country or region after: Germany

Address before: Nuremberg, Germany

Patentee before: CONTI TEMIC MICROELECTRONIC GmbH

Country or region before: Germany