METHOD FOR DETERMINING A MOVEMENT OF A VEHICLE BODY

• US 20120323444A1
• Filed: 03/04/2011
• Published: 12/20/2012
• Est. Priority Date: 03/11/2010
• Status: Active Grant

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler AG (Mercedes-Benz Group AG)
• Inventors: Schirle, Thomas, Rieger, Karl-Josef
• Granted Patent: US 8,744,680 B2
• Time in Patent Office: Days
• US Class Current: 701/37
• CPC Class Codes: B60G 2400/252 vertical
• CPC Class Codes: B60G 2401/142 Visual Display Camera, e.g. LCD
• CPC Class Codes: B60W 10/22 including control of suspension systems
• CPC Class Codes: B60W 2030/043 about the roll axis
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2520/16 Pitch
• CPC Class Codes: B60W 2520/18 Roll
• CPC Class Codes: B60W 40/11 Pitch movement
• CPC Class Codes: B60W 40/112 Roll movement
• CPC Class Codes: B60W 40/114 Yaw movement
• CPC Class Codes: G01C 21/3602 Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/20221 Image fusion; Image merging
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle

Abstract

Λ method for determining a vehicle body movement of a vehicle body of a vehicle (1) which comprises a camera (3) arranged on the vehicle (1). Camera images of vehicle surroundings are thereby continuously recorded by means of the camera (3) and image position data of at least one static object (8) are determined in camera images recorded at different times. Using the time-based sequence of the determined image position data the vehicle body movement is determined. Further, a method for determining a spring compression movement of at least one wheel (7), mounted in a sprung fashion, of a vehicle (1) which comprises a camera (3) arranged on the vehicle (1).

Claims

1. A method for determining a vehicle body movement of a vehicle body of a vehicle (1) having a camera (3) arranged on the vehicle (1), comprising

continually recording camera images of vehicle surroundings by means of the camera (3)

determining image position data of at least one static object (8) in camera images recorded at different times, and

determining the vehicle body movement using the time-based sequence of detected image position data.

3. A method according to claim 1 to control a vehicle function of a vehicle (1), wherein the determined vehicle body movement and/or the determined spring compression movement are evaluated to control the vehicle function.

4. The method Use according to claim 3, wherein the vehicle function is a damper regulation for shock absorbers (6) or a load recognition or a light width regulation for headlamps of the vehicle (1).

2. A method for determining a spring compression movement of at least one wheel (7), mounted in a sprung fashion, of a vehicle (1) which has a camera (3) arranged on the vehicle (1), the method comprising

continually recording camera images of vehicle surroundings lying ahead of the vehicle (1) by means of the camera (3) camera,

determining image position data of at least one static object (8) and lane sections lying ahead of the vehicle (1) in camera images recorded at different times,

determining, by reference to the time-based sequence of the determined image position data, a vehicle body movement of a vehicle body of the vehicle (1) and a vehicle height profile of a lane (2) lying ahead of the vehicle, and

determining the spring compression movement of at least one wheel (7), mounted in a sprung fashion, of the vehicle (1) from the determined vehicle body movement and the determined lane height profile.