METHOD AND VEHICLE ASSISTANCE SYSTEM FOR ACTIVE WARNING AND/OR FOR NAVIGATION ASSISTANCE TO PREVENT A COLLOSION OF A VEHICLE BODY PART AND/OR OF A VEHICLE WHEEL WITH AN OBJECT

• US 20150035983A1
• Filed: 11/16/2012
• Published: 02/05/2015
• Est. Priority Date: 12/07/2011
• Status: Abandoned Application

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Niemz, Volker
• Application Number:
  US14/362,654
• Publication Number:
  US 20150035983A1
• Time in Patent Office: Days
• US Class Current: 348/148
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2021/01013 Means for detecting collision, impending collision or roll-over
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Abstract

A method for active warning and/or for navigation assistance to prevent a collision of a vehicle body part and/or of a vehicle wheel with at least one curb and/or another similar object, the at least one object being recognized based on an evaluation of the images of the vehicle surroundings recorded with the aid of at least one camera situated on the vehicle, and an active warning being issued and/or an active intervention in the vehicle dynamics being carried out when a possible collision exists between a vehicle body part and/or a vehicle wheel and the at least one recognized object.

Claims

1-10. -10. (canceled)

11. A method for at least one of active warning and for navigation assistance to prevent a collision of at least one of a vehicle body part and of a vehicle wheel with an object, the method comprising:

determining a pattern of an instantaneously surrounding road by an evaluation of an image recorded with the aid of at least one camera situated on the vehicle;

evaluating an image recorded with the aid of at least one camera situated laterally on the vehicle for differences from a certain pattern of the instantaneously surrounding road for recognition of the object; and

at least one of;

i) issuing a warning to a driver, and ii) carrying out an active intervention in vehicle dynamics, if a possible collision exists between the at least one of the vehicle body part and the vehicle wheel, and the recognized object.

12. The method as recited in claim 11, wherein the object is a curb.

13. The method as recited in claim 11, wherein at least one image of a road section is recorded with the aid of at least one of a front camera and a rear view camera, situated on the vehicle for the determination of the pattern of the instantaneously surrounding road and is correlated with the at least one image of the vehicle surroundings recorded with the aid of the at least one lateral camera for the recognition of the at least one object.

14. The method as recited in claim 11, wherein the pattern of the instantaneously surrounding road is determined with the aid of an evaluation of at least one image of the vehicle surroundings recorded with the aid of at least one camera situated laterally on the vehicle for the recognition of relevant structure repetitions.

15. The method as recited in claim 11, wherein a direct area of the vehicle surroundings marginally in front of a side skirt of the vehicle in a predefined image section of an image from the lateral camera is evaluated during the recognition of the pattern.

16. The method as recited in claim 11, wherein during the recognizing of the at least one object, at least one of object recognition and object tracking, is carried out with the aid of an evaluation of camera images of the vehicle surroundings.

17. The method as recited in claim 11, wherein during the recognizing of the at least one object, a height of the at least one object is recorded with a camera, the camera being one of a stereo camera or a line scan camera.

18. The method as recited in claim 11, wherein at least one object recognized as an obstacle is supplied to a classifier as a pattern for the recognition of similar obstacles.

19. The method as recited in claim 18, wherein the obstacle is a curb.

20. A vehicle assistance system comprising:

an evaluation unit which is designed to determine at least one object, based on an evaluation of at least one image of the vehicle surroundings recorded with the aid of at least one camera which is situated laterally on the vehicle, the evaluation including a pattern recognition of an instantaneously surrounding road, and to generate at least one of a warning signal and a control signal when a possible collision exists between at least one of a vehicle body part and a vehicle wheel, with the at least one recognized object; and

at least one of i) a warning unit which is designed to issue an active warning when a warning signal generated by the evaluation unit is present, and ii) a control unit, which is designed to actively intervene in vehicle dynamics when a control signal generated by the evaluation unit is present.

21. The vehicle assistance system as recited in claim 20, wherein the evaluation unit is further designed to at least one of:

i) carry out object recognition, and ii) carry out object tracking, for the determination of the at least one object with the aid of an evaluation of camera images.

22. The vehicle assistance system as recited in claim 20, wherein the evaluation unit is designed to determine a height to the at least one recognized object with the aid of an evaluation of at least one image of the vehicle surroundings, which was recorded using at least one of a stereo camera and a line scan camera.

23. The vehicle assistance system as recited in claim 20, wherein the evaluation unit is designed to classify at least one detected object with the aid of a classifier and to supply at least one object recognized as an obstacle to the classifier as a pattern for the recognition of similar obstacles.

24. The vehicle assistance system as recited in claim 23, wherein the obstacle is a curb.

25. A vehicle, comprising:

a vehicle assistance system including an evaluation unit which is designed to determine at least one object, based on an evaluation of at least one image of the vehicle surroundings recorded with the aid of at least one camera which is situated laterally on the vehicle, the evaluation including a pattern recognition of an instantaneously surrounding road, and to generate at least one of a warning signal and a control signal when a possible collision exists between at least one of a vehicle body part and a vehicle wheel, with the at least one recognized object, and at least one of i) a warning unit which is designed to issue an active warning when a warning signal generated by the evaluation unit is present, and ii) a control unit, which is designed to actively intervene in vehicle dynamics when a control signal generated by the evaluation unit is present.