KR101729912B1 - 주행 중인 차량의 롤링각 평가 방법 - Google Patents

주행 중인 차량의 롤링각 평가 방법 Download PDF

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Publication number
KR101729912B1
KR101729912B1 KR1020127016556A KR20127016556A KR101729912B1 KR 101729912 B1 KR101729912 B1 KR 101729912B1 KR 1020127016556 A KR1020127016556 A KR 1020127016556A KR 20127016556 A KR20127016556 A KR 20127016556A KR 101729912 B1 KR101729912 B1 KR 101729912B1
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South Korea
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camera
image
rolling angle
vehicle
distance
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KR20130004895A (ko
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미하엘 발터
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콘티 테믹 마이크로일렉트로닉 게엠베하
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Assigned to 콘티넨탈 오토노머스 모빌리티 저머니 게엠베하 reassignment 콘티넨탈 오토노머스 모빌리티 저머니 게엠베하 권리의 전부이전등록 Assignors: 콘티 테믹 마이크로일렉트로닉 게엠베하
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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

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Regulating Braking Force (AREA)
KR1020127016556A 2009-11-25 2010-11-16 주행 중인 차량의 롤링각 평가 방법 Active KR101729912B1 (ko)

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
KR20130004895A KR20130004895A (ko) 2013-01-14
KR101729912B1 true KR101729912B1 (ko) 2017-04-25

Family

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Application Number Title Priority Date Filing Date
KR1020127016556A Active KR101729912B1 (ko) 2009-11-25 2010-11-16 주행 중인 차량의 롤링각 평가 방법

Country Status (7)

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

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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
JP2021510819A (ja) 2018-01-17 2021-04-30 上海禾賽光電科技有限公司Ｈｅｓａｉ Ｐｈｏｔｏｎｉｃｓ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 探測設備及びそのパラメータ調整方法
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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US5638116A (en) * 1993-09-08 1997-06-10 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
JP3995846B2 (ja) * 1999-09-24 2007-10-24 本田技研工業株式会社 物体認識装置
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
JP4228865B2 (ja) * 2003-09-30 2009-02-25 三菱ふそうトラック・バス株式会社 車両のロールオーバ抑制制御装置
JP4296076B2 (ja) * 2003-11-13 2009-07-15 三菱電機株式会社 走行車線認識装置
JP4297501B2 (ja) * 2004-08-11 2009-07-15 国立大学法人東京工業大学 移動体周辺監視装置
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
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Also Published As

Publication number Publication date
DE102009055776A1 (de) 2011-05-26
CN102648115A (zh) 2012-08-22
DE112010003422A5 (de) 2012-06-06
EP2504209A1 (de) 2012-10-03
WO2011063785A1 (de) 2011-06-03
EP2504209B1 (de) 2017-01-11
KR20130004895A (ko) 2013-01-14
CN102648115B (zh) 2015-11-25
JP2013512150A (ja) 2013-04-11
US20120281881A1 (en) 2012-11-08
US8824741B2 (en) 2014-09-02

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