JP4154335B2 - ロールオーバー識別用装置 - Google Patents
ロールオーバー識別用装置 Download PDFInfo
- Publication number
- JP4154335B2 JP4154335B2 JP2003563863A JP2003563863A JP4154335B2 JP 4154335 B2 JP4154335 B2 JP 4154335B2 JP 2003563863 A JP2003563863 A JP 2003563863A JP 2003563863 A JP2003563863 A JP 2003563863A JP 4154335 B2 JP4154335 B2 JP 4154335B2
- Authority
- JP
- Japan
- Prior art keywords
- rollover
- processor
- image
- stereo camera
- detects
- 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.)
- Expired - Fee Related
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R2021/0002—Type of accident
- B60R2021/0018—Roll-over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R2021/01306—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over monitoring vehicle inclination
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
- B60T2201/089—Lane monitoring; Lane Keeping Systems using optical detection
-
- 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
-
- 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
- G06T2207/10021—Stereoscopic video; Stereoscopic 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
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
Description
本発明は、独立請求項に記載された上位概念のロールオーバー識別用装置に関する。
独立請求項の特徴を備えた本発明のロールオーバー識別用装置は、以下の利点を有する。即ち、ステレオカメラによるロールオーバー識別が、空中での横転の際にも機能し、そして別の目的のためのカメラ、例えば暗視、交通標識識別、車線警告、車線逸脱警告、及び/又は車道進行識別、若しくはプレクラッシュセンシングといった目的のためのカメラをロールオーバー識別用に使用することもできるという利点である。ステレオカメラは、特に、三角法によって、対象物までの距離を決定することが可能であるという利点を有する。
横軸を中心にするロールオーバー過程を識別する。この車両横軸又はy軸若しくはピッチ軸も、一般にまだセンシングされない。
本発明の実施例は、図面で示され、以下により詳細に説明される。図1は、本発明の装置のブロック図を、図2は、画像センサによる対象物観察を、図3は、本発明の装置のプロセッサ上でのプロセスを示すフローチャートである。
ロールオーバー過程とは、車両の縦軸又は横軸を中心にするロールオーバーを意味する。縦軸はロール軸とも言われ、他方、横軸はピッチ軸とも言われる。
Claims (4)
- ロールオーバー識別用装置において、
当該装置は車両内に配置されており、2つの画像センサ(1、2)を備えたステレオカメラを有し、対象物までの距離測定を実行し、それぞれの画像センサ(1、2)に対しての画像ベクトルを生成し、
前記ステレオカメラはプロセッサ(4)に接続されており、前記プロセッサは、画像ベクトル(9、8)の垂直成分の時間的変化からロールオーバー過程を識別することを特徴とするロールオーバー識別用装置。 - 前記ステレオカメラは走行方向に配置されており、前記プロセッサは垂直成分の時間的変化に依存して、車両横軸を中心にするロールオーバー過程を識別する、請求項1記載の装置。
- 前記プロセッサ(4)は走査点ごとの時間的変化を検出する、請求項1又は2記載の装置。
- 前記プロセッサ(4)は前記時間的変化からロール速度及び/又はロール角を検出する、請求項1ないし3のいずれか1項記載の装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10204128A DE10204128B4 (de) | 2002-02-01 | 2002-02-01 | Vorrichtung zur Überrollerkennung |
PCT/DE2002/003568 WO2003064216A1 (de) | 2002-02-01 | 2002-09-23 | Vorrichtung zur überrollerkennung |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005515931A JP2005515931A (ja) | 2005-06-02 |
JP4154335B2 true JP4154335B2 (ja) | 2008-09-24 |
Family
ID=7713541
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2003563863A Expired - Fee Related JP4154335B2 (ja) | 2002-02-01 | 2002-09-23 | ロールオーバー識別用装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7260460B2 (ja) |
EP (1) | EP1474315B1 (ja) |
JP (1) | JP4154335B2 (ja) |
DE (1) | DE10204128B4 (ja) |
WO (1) | WO2003064216A1 (ja) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7197388B2 (en) * | 2003-11-06 | 2007-03-27 | Ford Global Technologies, Llc | Roll stability control system for an automotive vehicle using an external environmental sensing system |
DE102004019832B3 (de) * | 2004-04-23 | 2005-11-03 | Audi Ag | Verfahren zur Analyse und Regelung der Fahrdynamik eines Kraftfahrzeugs sowie Kraftfahrzeug zur Durchführung des Verfahrens |
DE102004036044A1 (de) * | 2004-07-24 | 2006-02-16 | Robert Bosch Gmbh | Anordnung zur Erfassung von Bewegungen eines Fahrzeuges |
DE102004061998A1 (de) | 2004-12-23 | 2006-07-06 | Robert Bosch Gmbh | Stereokamera für ein Kraftfahrzeug |
US20080262680A1 (en) * | 2007-04-02 | 2008-10-23 | Trw Automotive U.S. Llc | Apparatus and method for detecting vehicle rollover using an enhanced algorithm having lane departure sensor inputs |
DE102008032400A1 (de) | 2007-07-10 | 2009-06-25 | Continental Teves Ag & Co. Ohg | Vorrichtung zur Aufnahme von Fahrzeugsensoren |
DE102008058279A1 (de) * | 2008-11-20 | 2010-05-27 | Hella Kgaa Hueck & Co. | Verfahren und Vorrichtung zur Kompensation eines Rollwinkels |
DE102009031650A1 (de) | 2009-07-03 | 2011-01-05 | Volkswagen Ag | Verfahren zur Erweiterung eines Kamerasystems, Kamerasystem, Fahrerassistenzsysem und entsprechendes Fahrzeug |
DE102009055776A1 (de) | 2009-11-25 | 2011-05-26 | Conti Temic Microelectronic Gmbh | Verfahren zur Schätzung des Rollwinkels in einem fahrenden Fahrzeug |
DE102011084880B4 (de) * | 2011-10-20 | 2016-12-15 | Robert Bosch Gmbh | Verfahren zur Erzeugung einer Freiflughinweisinformation für ein Fahrzeug und Verfahren zur Erkennung eines Freiflugzustandes eines Fahrzeugs |
DE102011084877B3 (de) * | 2011-10-20 | 2012-12-27 | Robert Bosch Gmbh | Verfahren zur Erzeugung einer Freiflughinweisinformation für ein Fahrzeug und Verfahren zur Erkennung eines Freiflugzustandes eines Fahrzeugs |
DE102011084842B4 (de) | 2011-10-20 | 2017-12-14 | Robert Bosch Gmbh | Verfahren zur Erzeugung einer Freiflughinweisinformation für ein Fahrzeug und Verfahren zur Erkennung eines Freiflugzustandes eines Fahrzeugs |
DE102011055795A1 (de) | 2011-11-29 | 2013-05-29 | Continental Automotive Gmbh | Verfahren zur Ermittlung eines drohenden Überschlags eines Fahrzeugs |
SE538987C2 (sv) * | 2013-07-18 | 2017-03-14 | Scania Cv Ab | Vältvarning i fordon |
CN103407407A (zh) * | 2013-08-28 | 2013-11-27 | 沈阳工业大学 | 基于双目立体视觉的汽车安全车距警示装置及方法 |
JP5947268B2 (ja) * | 2013-09-20 | 2016-07-06 | 本田技研工業株式会社 | 車両のロール角推定装置 |
KR101698783B1 (ko) * | 2013-12-16 | 2017-01-23 | 엘지전자 주식회사 | 스테레오 카메라 및 이를 구비한 차량 |
JP6675823B2 (ja) * | 2014-09-22 | 2020-04-08 | 株式会社Subaru | 乗員保護装置 |
DE102016222646A1 (de) * | 2016-11-17 | 2017-12-14 | Conti Temic Microelectronic Gmbh | Fahrerassistenzsystem für ein Fahrzeug |
JP6787766B2 (ja) * | 2016-12-09 | 2020-11-18 | 株式会社Subaru | 車両用横転検出装置 |
DE102017217008A1 (de) * | 2017-09-26 | 2019-03-28 | Robert Bosch Gmbh | Verfahren zum Ermitteln der Steigung einer Fahrbahn |
KR102553053B1 (ko) | 2018-12-28 | 2023-07-11 | 삼성전자주식회사 | 차량 주변의 위험 요소를 감지하기 위한 전자 장치 및 이를 제어하기 위한 방법 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3637165A1 (de) * | 1986-10-31 | 1988-05-05 | Rainer Ashauer | Verfahren und einrichtung zum verhindern von zusammenstoessen, insbesondere fuer kraftfahrzeuge im strassenverkehr |
DE4106079A1 (de) * | 1991-02-27 | 1992-09-03 | Daimler Benz Ag | Verfahren zur erkennung einer fuer ein kraftfahrzeug kritischen fahrsituation |
DE19650629C2 (de) * | 1996-12-06 | 1999-02-25 | Telefunken Microelectron | Verfahren zum Messen der Neigung eines Fahrzeugs und deren Verwendung sowie Anordnung zur Durchführung des Verfahrens |
DE19732081A1 (de) * | 1997-07-25 | 1999-01-28 | Bosch Gmbh Robert | Verfahren und Anordnung zum Ermitteln der Inertiallage eines Fahrzeugs |
DE19822184B4 (de) * | 1998-05-16 | 2006-05-04 | Volkswagen Ag | Vorrichtung zur Erfassung eines Überschlages eines Kraftfahrzeuges |
DE19962491A1 (de) * | 1999-12-23 | 2001-07-05 | Daimler Chrysler Ag | Verfahren zur optischen Überwachung der Umgebung eines sich bewegenden Fahrzeugs |
DE10019416A1 (de) | 2000-04-19 | 2001-10-25 | Bosch Gmbh Robert | Anordnung zur Plausibilisierung einer Überrollentscheidung |
DE10025678B4 (de) * | 2000-05-24 | 2006-10-19 | Daimlerchrysler Ag | Kamerabasiertes Precrash-Erkennungssystem |
-
2002
- 2002-02-01 DE DE10204128A patent/DE10204128B4/de not_active Expired - Lifetime
- 2002-09-23 JP JP2003563863A patent/JP4154335B2/ja not_active Expired - Fee Related
- 2002-09-23 WO PCT/DE2002/003568 patent/WO2003064216A1/de active IP Right Grant
- 2002-09-23 US US10/503,431 patent/US7260460B2/en not_active Expired - Lifetime
- 2002-09-23 EP EP02781104A patent/EP1474315B1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
JP2005515931A (ja) | 2005-06-02 |
US7260460B2 (en) | 2007-08-21 |
WO2003064216A1 (de) | 2003-08-07 |
DE10204128B4 (de) | 2011-06-22 |
DE10204128A1 (de) | 2003-08-07 |
US20050168575A1 (en) | 2005-08-04 |
EP1474315A1 (de) | 2004-11-10 |
EP1474315B1 (de) | 2006-03-22 |
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