EP4062370A1 - Camera-based detection of tilting movements - Google Patents

Camera-based detection of tilting movements

Info

Publication number
EP4062370A1
EP4062370A1 EP20803815.8A EP20803815A EP4062370A1 EP 4062370 A1 EP4062370 A1 EP 4062370A1 EP 20803815 A EP20803815 A EP 20803815A EP 4062370 A1 EP4062370 A1 EP 4062370A1
Authority
EP
European Patent Office
Prior art keywords
camera
optical flow
vehicle
movement
expected
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20803815.8A
Other languages
German (de)
French (fr)
Inventor
Markus Birk
Gabriela Jager
Dieter Balz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of EP4062370A1 publication Critical patent/EP4062370A1/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/269—Analysis of motion using gradient-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/76—Television signal recording
    • H04N5/765—Interface circuits between an apparatus for recording and another apparatus
    • H04N5/77—Interface circuits between an apparatus for recording and another apparatus between a recording apparatus and a television camera
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Definitions

  • the invention relates to a method according to claim 1 and a vehicle according to the independent device claim.
  • the invention is based on the object of improving the stability of vehicles from tipping over at low speeds. This object is achieved by a method according to claim 1 and a vehicle according to the independent device claim.
  • a tilting movement is a rolling movement, i.e. a turning movement around the longitudinal axis of the vehicle, or a pitching movement, i.e. a turning movement around the transverse axis of the vehicle, which causes the vehicle to become unbalanced and fall over.
  • the vehicle is, for example, a wheel loader, a forklift or a dumper.
  • the vehicle has a camera.
  • a camera is a means of recording images of the environment on an imaging medium. It is preferably an optical camera in which visible light is imaging. The camera is fixed to the vehicle.
  • the method provides that an image sequence is recorded with the camera.
  • An image sequence is a sequence of at least two images.
  • An optical flow is determined in the recorded image sequence. This is a vector field of the speed projected into the image plane of the camera of visible points of at least one object recorded by the camera.
  • an optical flow to be expected is determined. The determination is based on a driving movement of the vehicle and a topography of the ground. A movement of the vehicle relative to the ground is referred to as driving movement.
  • the topography of the subsurface is its surface texture.
  • the movement of the vehicle and the topography of the ground clearly define a movement of the camera relative to objects that are stationary relative to the ground. This results in the expected optical flow of the object recorded by the camera.
  • the step of determining the expected optical flow is subdivided into several sub-steps.
  • the driving movement of the vehicle is determined.
  • the driving movement is preferably performed while the image sequence is being recorded. averages. If necessary, the topography of the subsurface is also determined. This can be omitted if the surface is level.
  • a movement of the camera relative to one or more objects recorded by the camera is clearly defined. This movement is determined in a further sub-step.
  • the objects are objects that are stationary, i.e. immovable relative to the subsurface.
  • the background itself can be such an object.
  • the optical flow is determined which is to be expected on the basis of the determined movement of the camera.
  • the sub-step of determining an optical flow to be expected due to the movement of the camera is further subdivided into sub-steps in a further preferred development.
  • the object recorded by the camera is recognized in the image sequence.
  • Corresponding automated or computer-implemented methods for image recognition are known to those skilled in the art from the prior art.
  • neural networks or stochastic algorithms can be used for image recognition.
  • an area in the image sequence is identified in which the object is imaged.
  • the optical flow of this area is determined. This means that not the optical flow of the entire image area, but only the optical flow of the object in the image sequence is determined. This makes the determination more efficient and interference, for example caused by moving objects or people, is avoided.
  • a corresponding optical flow of the object to be expected based on the movement of the camera is determined in the image sequence.
  • the optical flow to be expected due to the movement of the camera is determined in the above-mentioned area in which the object is imaged.
  • a vehicle according to the invention has at least one camera and at least one evaluation unit which implements the method according to the invention or a preferred development, ie which is designed to carry out such a method.
  • FIG. 1 A preferred embodiment of the invention is shown in FIG. 1 in detail shows:
  • the vehicle 101 shown in FIG. 1 has a camera 103 and an evaluation unit 105.
  • the camera 103 is connected to the evaluation unit 105 in a signal-conducting manner.
  • An object 107 is located in the image area of the camera 103, i.e. in an area recorded by the camera 103.
  • the evaluation unit 105 determines an optical flow of the object 107 in an image sequence recorded by the camera 103.
  • the evaluation unit 105 also detects a travel movement of the vehicle 101. This results in an expected optical flow of the object 107, which the evaluation unit 105 compares with the actual optical flow. If there are deviations, this suggests a tilting movement of the vehicle 101. In this case, the evaluation unit 105 initiates countermeasures to stabilize the vehicle 101.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to a method for detecting a tilting movement of a vehicle (101) which has at least one camera (103) fixed to the vehicle (101). The method has the steps of capturing a sequence of images using the camera (103); ascertaining an optical flow of the image sequence; ascertaining an optical flow which is expected on the basis of the driving movement of the vehicle (101) and the topography of the underlying surface; and checking the optical flow of the image sequence and the expected optical flow for deviations.

Description

Kamerabasierte Detektion von Kippbewegungen Camera-based detection of tilting movements
Die Erfindung betrifft ein Verfahren nach Anspruch 1 und ein Fahrzeug nach dem unabhängigen Vorrichtungsanspruch. The invention relates to a method according to claim 1 and a vehicle according to the independent device claim.
Aus dem Stand der Technik sind Systeme bekannt, die das Umkippen von PKWs oder LKWs verhindern. Diese Systeme stabilisieren das Fahrzeug durch einen Ein griff in die Bremse und/oder die Lenkung des Fahrzeugs. Systems are known from the prior art which prevent cars or trucks from tipping over. These systems stabilize the vehicle by intervening in the brakes and / or the steering of the vehicle.
Flurförderzeuge und Baumaschinen drohen häufig aufgrund der statischen Verlage rung angehobener Lasten umzukippen. Die aus dem Stand der Technik bekannten Systeme sind hier wirkungslos, da sie dynamisch wirken und eine hinreichend schnelle Fahrbewegung des Fahrzeugs voraussetzen. Industrial trucks and construction machines are often in danger of tipping over due to the static displacement of raised loads. The systems known from the prior art are ineffective here, since they act dynamically and require the vehicle to travel sufficiently quickly.
Der Erfindung liegt die Aufgabe zugrunde, die Kippsicherheit von Fahrzeugen bei geringen Geschwindigkeiten zu verbessern. Diese Aufgabe wird gelöst durch ein Verfahren nach Anspruch 1 und ein Fahrzeug nach dem unabhängigen Vorrich tungsanspruch. The invention is based on the object of improving the stability of vehicles from tipping over at low speeds. This object is achieved by a method according to claim 1 and a vehicle according to the independent device claim.
Das erfindungsgemäße Verfahren dient dazu, eine Kippbewegung eines Fahrzeugs zu erkennen. Eine Kippbewegung ist eine Rollbewegung, d.h. eine Drehbewegung um die Längsachse des Fahrzeugs, oder eine Nickbewegung, d.h. eine Drehbewe gung um die Querachse des Fahrzeugs, die zur Folge hat, dass das Fahrzeug aus dem Gleichgewicht gerät und umfällt. The method according to the invention is used to detect a tilting movement of a vehicle. A tilting movement is a rolling movement, i.e. a turning movement around the longitudinal axis of the vehicle, or a pitching movement, i.e. a turning movement around the transverse axis of the vehicle, which causes the vehicle to become unbalanced and fall over.
Bei dem Fahrzeug handelt es sich beispielsweise um einen Radlader, einen Gabel stapler oder einen Dumper. Das Fahrzeug weist eine Kamera auf. Eine Kamera ist ein Mittel zum Aufzeichnen von Bildern der Umgebung auf einem bildgebenden Me dium. Vorzugsweise handelt es sich um eine optische Kamera, bei der sichtbares Licht bildgebend ist. Die Kamera ist an dem Fahrzeug fixiert. The vehicle is, for example, a wheel loader, a forklift or a dumper. The vehicle has a camera. A camera is a means of recording images of the environment on an imaging medium. It is preferably an optical camera in which visible light is imaging. The camera is fixed to the vehicle.
Das Verfahren sieht vor, dass mit der Kamera eine Bildsequenz aufgenommen wird. Eine Bildsequenz ist eine Folge von mindestens zwei Bildern. In der aufgenommenen Bildsequenz wird ein optischer Fluss ermittelt. Dies ist ein Vektorfeld der in die Bildebene der Kamera projizierten Geschwindigkeit von sichtba ren Punkten mindestens eines von der Kamera aufgenommenen Objekts. The method provides that an image sequence is recorded with the camera. An image sequence is a sequence of at least two images. An optical flow is determined in the recorded image sequence. This is a vector field of the speed projected into the image plane of the camera of visible points of at least one object recorded by the camera.
Neben dem tatsächlich in der aufgenommenen Bildsequenz vorhandenen optischen Fluss wird ein zu erwartender optischer Fluss ermittelt. Der Ermittlung zugrunde ge legt wird eine Fahrbewegung des Fahrzeugs und eine Topografie des Untergrunds. Mit Fahrbewegung wird eine Bewegung des Fahrzeugs relativ zu dem Untergrund bezeichnet. Bei der Topografie des Untergrunds handelt es sich um dessen Oberflä chenbeschaffenheit. In addition to the optical flow actually present in the recorded image sequence, an optical flow to be expected is determined. The determination is based on a driving movement of the vehicle and a topography of the ground. A movement of the vehicle relative to the ground is referred to as driving movement. The topography of the subsurface is its surface texture.
Unter der Prämisse, dass das Fahrzeug nicht kippt, wird durch dessen Fahrbewe gung und die Topografie des Untergrunds eindeutig eine Bewegung der Kamera re lativ zu Objekten festgelegt, die relativ zu dem Untergrund ortsfest sind. Hieraus ergibt sich der zu erwartende optische Fluss des von der Kamera aufgenommenen Objekts. Under the premise that the vehicle does not tip over, the movement of the vehicle and the topography of the ground clearly define a movement of the camera relative to objects that are stationary relative to the ground. This results in the expected optical flow of the object recorded by the camera.
Schließlich wird geprüft, inwiefern der in der Bildsequenz tatsächlich vorhandene op tische Fluss von dem zu erwartenden optischen Fluss abweicht. Abweichungen sind ein Indiz für Kippbewegungen des Fahrzeugs. Finally, it is checked to what extent the optical flow actually present in the image sequence deviates from the optical flow to be expected. Deviations are an indication of tilting movements of the vehicle.
Wird aufgrund der Abweichungen des optischen Flusses eine drohende Kippbewe gung erkannt, können Gegenmaßnahmen eingeleitet werden. So können die Ge schwindigkeit des Fahrzeugs und/oder dessen Lenkwinkel reduziert werden. Wird eine Last angehoben, kann das Anheben gestoppt und/oder die Last abgelassen werden. If an impending tilting motion is detected due to the deviations in the optical flow, countermeasures can be initiated. In this way, the speed of the vehicle and / or its steering angle can be reduced. If a load is lifted, the lifting can be stopped and / or the load can be lowered.
Der Schritt des Ermittelns des zu erwartenden optischen Flusses untergliedert sich in einer bevorzugten Weiterbildung in mehrere Teilschritte. So wird, um den zu erwar tenden optischen Fluss zu ermitteln, die Fahrbewegung des Fahrzeugs ermittelt. Vorzugsweise wird die Fahrbewegung während der Aufnahme der Bildsequenz er- mittelt. Gegebenenfalls wird darüber hinaus die Topografie des Untergrunds ermittelt. Darauf kann verzichtet werden, wenn der Untergrund eben ist. In a preferred development, the step of determining the expected optical flow is subdivided into several sub-steps. In order to determine the optical flow to be expected, the driving movement of the vehicle is determined. The driving movement is preferably performed while the image sequence is being recorded. averages. If necessary, the topography of the subsurface is also determined. This can be omitted if the surface is level.
Aufgrund der Fahrbewegung und der Topografie ist unter der Prämisse, dass das Fahrzeug nicht kippt, eine Bewegung der Kamera relativ zu einem oder mehreren von der Kamera aufgenommenen, d.h. in der Bildsequenz enthaltenen Objekten, eindeutig definiert. Diese Bewegung wird in einem weiteren Teilschritt ermittelt. Bei den Objekten handelt es sich um Objekte, die ortsfest, d.h. relativ zu dem Untergrund unbeweglich, angeordnet sind. Insbesondere kann es sich bei dem Untergrund selbst um ein solches Objekt handeln. Based on the driving movement and the topography, under the premise that the vehicle does not tip over, a movement of the camera relative to one or more objects recorded by the camera, i.e. contained in the image sequence, is clearly defined. This movement is determined in a further sub-step. The objects are objects that are stationary, i.e. immovable relative to the subsurface. In particular, the background itself can be such an object.
In einem letzten weiterbildungsgemäßen Teilschritt wird der optische Fluss ermittelt, der aufgrund der ermittelten Bewegung der Kamera zu erwarten ist. In a last sub-step according to the development, the optical flow is determined which is to be expected on the basis of the determined movement of the camera.
Der Teilschritt des Ermittelns eines aufgrund der Bewegung der Kamera zu erwar tenden optischen Flusses ist in einer darüber hinaus bevorzugten Weiterbildung nochmals in Teilschritte untergliedert. In einem ersten Teilschritt wird das von der Kamera aufgenommene Objekt in der Bildsequenz erkannt. Entsprechende automa tisierte bzw. computerimplementierte Verfahren zur Bilderkennung sind dem Fach mann aus dem Stand der Technik bekannt. Insbesondere können neuronale Netze oder stochastische Algorithmen zur Bilderkennung verwendet werden. The sub-step of determining an optical flow to be expected due to the movement of the camera is further subdivided into sub-steps in a further preferred development. In a first sub-step, the object recorded by the camera is recognized in the image sequence. Corresponding automated or computer-implemented methods for image recognition are known to those skilled in the art from the prior art. In particular, neural networks or stochastic algorithms can be used for image recognition.
Durch die Erkennung des Objekts in der Bildsequenz wird ein Bereich in der Bildse quenz identifiziert, in dem das Objekt abgebildet wird. In einem weiteren Teilschritt wird der optische Fluss dieses Bereichs ermittelt. Dies bedeutet, dass nicht der opti sche Fluss des gesamten Bildbereichs, sondern lediglich der optische Fluss des Ob jekts in der Bildsequenz ermittelt wird. Dadurch wird die Ermittlung effizienter und Störungen, etwa durch sich bewegende Objekte oder Personen werden vermieden. By recognizing the object in the image sequence, an area in the image sequence is identified in which the object is imaged. In a further sub-step, the optical flow of this area is determined. This means that not the optical flow of the entire image area, but only the optical flow of the object in the image sequence is determined. This makes the determination more efficient and interference, for example caused by moving objects or people, is avoided.
In einem weiteren Teilschritt wird ein entsprechender, aufgrund der Bewegung der Kamera zu erwartender optischer Fluss des Objekts in der Bildsequenz ermittelt. Im Einzelnen wird der aufgrund der Bewegung der Kamera zu erwartende optische Fluss in dem oben genannten Bereich, in dem das Objekt abgebildet wird, ermittelt. Ein erfindungsgemäßes Fahrzeug weist mindestens eine Kamera und mindestens eine Auswerteinheit auf, die das erfindungsgemäße Verfahren oder eine bevorzugte Weiterbildung implementiert, d.h. die ausgebildet ist, ein solches Verfahren auszufüh ren. In a further partial step, a corresponding optical flow of the object to be expected based on the movement of the camera is determined in the image sequence. In detail, the optical flow to be expected due to the movement of the camera is determined in the above-mentioned area in which the object is imaged. A vehicle according to the invention has at least one camera and at least one evaluation unit which implements the method according to the invention or a preferred development, ie which is designed to carry out such a method.
Ein bevorzugtes Ausführungsbeispiel der Erfindung ist in Fig. 1 dargestellt. Im Ein zelnen zeigt: A preferred embodiment of the invention is shown in FIG. In detail shows:
Fig. 1 ein Fahrzeug. 1 shows a vehicle.
Das in Fig. 1 dargestellte Fahrzeug 101 weist eine Kamera 103 und eine Auswert einheit 105 auf. Die Kamera 103 ist signalleitend mit der Auswerteinheit 105 verbun den. Im Bildbereich der Kamera 103, d.h. in einem Bereich, der von der Kamera 103 aufgenommen wird, befindet sich ein Objekt 107. The vehicle 101 shown in FIG. 1 has a camera 103 and an evaluation unit 105. The camera 103 is connected to the evaluation unit 105 in a signal-conducting manner. An object 107 is located in the image area of the camera 103, i.e. in an area recorded by the camera 103.
Die Auswerteinheit 105 ermittelt einen optischen Fluss des Objekts 107 in einer von der Kamera 103 aufgenommenen Bildsequenz. Weiterhin erfasst die Auswerteinheit 105 eine Fahrbewegung des Fahrzeugs 101. Daraus ergibt sich ein zu erwartender optischer Fluss des Objekts 107, den die Auswerteinheit 105 mit dem tatsächlichen optischen Fluss vergleicht. Sind Abweichungen vorhanden, lässt dies auf eine Kipp bewegung des Fahrzeugs 101 schließen. In dem Fall leitet die Auswerteinheit 105 Gegenmaßnahmen zur Stabilisierung des Fahrzeugs 101 ein. The evaluation unit 105 determines an optical flow of the object 107 in an image sequence recorded by the camera 103. The evaluation unit 105 also detects a travel movement of the vehicle 101. This results in an expected optical flow of the object 107, which the evaluation unit 105 compares with the actual optical flow. If there are deviations, this suggests a tilting movement of the vehicle 101. In this case, the evaluation unit 105 initiates countermeasures to stabilize the vehicle 101.
Bezuqszeichen Fahrzeug Kamera Auswerteinheit Objekt Reference vehicle camera evaluation unit object

Claims

Patentansprüche Claims
1. Verfahren zum Erkennen einer Kippbewegung eines Fahrzeugs (101), das min destens eine an dem Fahrzeug (101 ) fixierte Kamera (103) aufweist, mit den Schrit ten 1. A method for detecting a tilting movement of a vehicle (101), which has at least one camera (103) fixed to the vehicle (101), with the steps
- Aufnahme einer Bildsequenz mit der Kamera (103); - Recording an image sequence with the camera (103);
- Ermitteln eines optischen Flusses der Bildsequenz; - determining an optical flow of the image sequence;
- Ermitteln eines aufgrund einer Fahrbewegung des Fahrzeugs (101) und einer To pografie des Untergrunds zu erwartenden optischen Flusses; und - Determining an optical flow to be expected on the basis of a travel movement of the vehicle (101) and a topography of the subsurface; and
- Prüfen, des optischen Flusses der Bildsequenz und des zu erwartenden optischen Flusses auf Abweichungen. - Check the optical flow of the image sequence and the expected optical flow for deviations.
2. Verfahren nach Anspruch 1; dadurch gekennzeichnet, dass der Schritt des Ermittelns des zu erwartenden optischen Flusses die folgenden Teil schritte umfasst: 2. The method according to claim 1; characterized in that the step of determining the expected optical flow comprises the following sub-steps:
- Ermitteln der Fahrbewegung des Fahrzeugs (101); - determining the travel movement of the vehicle (101);
- Ermitteln einer aufgrund aus der Fahrbewegung und der Topografie zu erwartenden Bewegung der Kamera (103) relativ zu mindestens einem von der Kamera (103) auf genommenen Objekt (107); und Determining a movement of the camera (103) to be expected based on the driving movement and the topography relative to at least one object (107) recorded by the camera (103); and
- Ermitteln eines aufgrund der Bewegung der Kamera (103) zu erwartenden opti schen Flusses. - Determination of an optical flow to be expected based on the movement of the camera (103).
3. Verfahren nach dem vorhergehenden Anspruch; dadurch gekennzeichnet, dass der Schritt des Ermittelns des zu erwartenden optischen Flusses die folgenden Teil schritte umfasst: 3. The method according to the preceding claim; characterized in that the step of determining the expected optical flow comprises the following sub-steps:
- Erkennen des Objekts (107) in der Bildsequenz - Recognition of the object (107) in the image sequence
- Ermitteln des optischen Flusses eines Bereichs der Bildsequenz, in dem das Objekt abgebildet wird; und Determining the optical flow of a region of the image sequence in which the object is imaged; and
- Ermitteln eines aufgrund der Bewegung der Kamera (103) zu erwartenden opti schen Flusses des Bereichs. - Determining an optical flow of the area to be expected on the basis of the movement of the camera (103).
4. Fahrzeug (101) mit mindestens einer Kamera (103) und mindestens einem Steu ergerät (105); dadurch gekennzeichnet, dass das Steuergerät (105) ein Verfahren nach einem der vorhergehenden Ansprüche implementiert. 4. Vehicle (101) with at least one camera (103) and at least one control device (105); characterized in that the control unit (105) implements a method according to one of the preceding claims.
EP20803815.8A 2019-11-21 2020-11-09 Camera-based detection of tilting movements Pending EP4062370A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019217988.6A DE102019217988A1 (en) 2019-11-21 2019-11-21 Camera-based detection of tilting movements
PCT/EP2020/081404 WO2021099149A1 (en) 2019-11-21 2020-11-09 Camera-based detection of tilting movements

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EP4062370A1 true EP4062370A1 (en) 2022-09-28

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US (1) US20220414893A1 (en)
EP (1) EP4062370A1 (en)
JP (1) JP2023503915A (en)
CN (1) CN114651278A (en)
DE (1) DE102019217988A1 (en)
WO (1) WO2021099149A1 (en)

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Publication number Priority date Publication date Assignee Title
DE19918597C2 (en) * 1999-04-23 2001-03-08 Deutsch Zentr Luft & Raumfahrt Process for reducing the risk of tipping of road vehicles
DE10326190A1 (en) * 2003-06-06 2004-12-30 Daimlerchrysler Ag Apparatus and method for determining a spatial orientation of a hanger or trailer
DE102011055795A1 (en) * 2011-11-29 2013-05-29 Continental Automotive Gmbh Method for determining an imminent rollover of a vehicle
DE102012110082A1 (en) * 2012-10-23 2014-04-24 Continental Automotive Gmbh Method for controlling safety devices in motor vehicle during slope drive, involves detecting presence of risk measure of slope driving and adjusting control of safety device starting from exceed of hazard measure of slope trip
DE102014007900A1 (en) * 2014-05-27 2015-12-03 Man Truck & Bus Ag Method and driver assistance system for determining the driving dynamics of a commercial vehicle
DE102016209900A1 (en) * 2016-06-06 2017-12-07 Robert Bosch Gmbh Method and device for detecting lateral tilting of a vehicle and vehicle
US10657654B2 (en) * 2017-12-28 2020-05-19 Denso Ten Limited Abnormality detection device and abnormality detection method
DE102018102287A1 (en) * 2018-02-01 2019-08-01 Sick Ag Optoelectronic sensor device

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US20220414893A1 (en) 2022-12-29
CN114651278A (en) 2022-06-21
JP2023503915A (en) 2023-02-01
DE102019217988A1 (en) 2021-05-27
WO2021099149A1 (en) 2021-05-27

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