Method for detecting road slope and system for controlling vehicle speed using the method

• US 6,484,086 B2
• Filed: 11/26/2001
• Issued: 11/19/2002
• Est. Priority Date: 12/28/2000
• Status: Expired due to Term

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Jeon, Yong-Won
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US09/991,727
• Publication Number:
  US 20020087253A1
• Time in Patent Office: 358 Days
• Field of Search: 701/1, 701/93, 701/94, 701/95, 701/96, 701/98, 701/51, 701/54, 701/55, 340/441, 340/425.5
• US Class Current: 701/93
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

Disclosed is a method for detecting road slope and a system for controlling vehicle speed using the method. The method comprises the steps of receiving input of road images from a camera; performing conversion of the road images into a bird'"'"'s-eye view; extracting a plurality of lane markers from the converted road images; calculating a slope in the extracted lane markers; and calculating a slope in the road using a difference in value between the slopes. The system comprises a vehicle speed setting unit for establishing a target vehicle speed and outputting the same; a camera for obtaining road images and outputting the same; a drive state detecting unit having a plurality of sensors for detecting a vehicle drive state; an actuator unit for performing specific automatic controls of the vehicle; and a control unit for performing the method of the present invention to detect a road slope, and controlling the actuator unit according to road slope detection results such that the vehicle is maintained at the established speed.

Claims

1. A method for detecting road slope comprising the steps of:

(a) receiving input of road images from a camera;

(b) performing conversion of the road images into a bird'"'"'s-eye view;

(c) extracting a plurality of lane markers from the converted road images;

(d) calculating a slope in the extracted lane markers; and

(e) calculating a slope in the road using a difference in value between the slopes.

2. The method of claim 1 wherein the slope in the road is calculated by selecting two lane marker slopes of lane markers on opposite sides of the road, and calculating a difference in value between the slopes.

3. The-method of claim 1 wherein in step (b) of conversion into a bird'"'"'s-eye view, only data in a relevant area including left and right lane markers that define a lane are converted.

4. The method of claim 1 further comprising the step of:

determining if a steering angle is within a predetermined range by receiving input from a steering angle sensor,

wherein the steering angle determination may be performed before any of the steps (a)-(e), and

wherein if it is determined that the steering angle falls outside the predetermined range, remaining steps of the method are not performed.

5. A method for detecting road slope comprising the steps of:

(a) receiving input of road images from a camera;

(b) extracting a plurality of lane markers from the converted road images;

(c) performing bird'"'"'s-eye view conversion of the images in which lane markers have been extracted.

(d) calculating a slope in the extracted lane markers; and

(e) calculating a slope in the road using a difference in value between the slopes.

6. The method of claim 5 wherein the slope in the road is calculated by selecting two lane marker slopes of lane markers on opposite sides of the road, and calculating a difference in value between the slopes.

7. The method of claim 5 wherein in step (c) of conversion into a bird'"'"'s-eye view, only data in a relevant area including left and right lane markers that define a lane are converted.

8. The method of claim 5 further comprising the step of:

determining if a steering angle is within a predetermined range by receiving input from a steering angle sensor,

wherein the steering angle determination may be performed before any of the steps (a)-(e), and

wherein if it is determined that the steering angle falls outside the predetermined range, remaining steps of the method are not performed.

9. A system for controlling vehicle speed comprising:

a vehicle speed setting unit for establishing a target vehicle speed and outputting the same;

a camera for obtaining road images and outputting the same;

a drive state detecting unit having a plurality of sensors for detecting a vehicle drive state;

an actuator unit for performing specific automatic controls of the vehicle; and

a control unit for detecting a road slope, and controlling the actuator unit according to road slope detection results such that the vehicle is maintained at the established speed, wherein the detecting a road slope comprises;

receiving input of road images from a camera;

performing conversion of the road images into a bird'"'"'s-eye view;

extracting a plurality of lane markers from the converted road images;

calculating a slope in the extracted lane markers; and

calculating a slope in the road using a difference in value between the slopes.

10. The system of claim 9 wherein the actuator unit includes a throttle valve actuator for controlling a throttle valve according to control signals received from the control unit, and wherein the throttle valve actuator is a step motor.

11. The system of claim 10 wherein the control unit, if it is determined that there is an approaching upward slope in the road, outputs a control signal to the throttle valve actuator such that an opening of the throttle valve is increased, and if it is determined that there is an approaching downward slope in the road, the control unit outputs a control signal to the throttle valve actuator such that the opening of the throttle valve is decreased.

12. A system for controlling vehicle speed comprising:

a vehicle speed setting unit for establishing a target vehicle speed and outputting the same;

a camera for obtaining road images and outputting the same;

a drive state detecting unit having a plurality of sensors for detecting a vehicle drive state;

an actuator unit for performing specific automatic controls of the vehicle; and

a control unit for detecting a road slope, and controlling the actuator unit according to road slope detection results such that the vehicle is maintained at the established speed, wherein the detecting a road slope comprises;

receiving input of road images from a camera;

extracting a plurality of lane markers from the converted road images;

performing bird'"'"'s-eye view conversion of the images in which lane markers have been extracted;

calculating a slope in the extracted lane markers; and

calculating a slope in the road using a difference in value between the slopes.