Vehicle state sensing system and vehicle state sensing method
First Claim
Patent Images
1. A vehicle state sensing system comprising:
- an image recognizing means that is installed in a vehicle, wherein the image recognizing means is for capturing an image of an outside visual scene that is outside of the vehicle and is for outputting image data of the captured image;
a vehicle speed sensing means for outputting a measurement signal, which corresponds to a moving speed of the vehicle; and
a vehicle state determining means for determining a state of the vehicle based on the measurement signal of the vehicle speed sensing means and an optical flow of a predetermined point of the captured image, which is captured during traveling of the vehicle, wherein the optical flow of the predetermined point is obtained based on the image data of the captured image, whereinthe vehicle state determining means determines, as the state of the vehicle, at least one of a slip angle, which indicates a translational movement of the vehicle in a transverse direction of the vehicle, and a yaw rate, which indicates a rotational movement of the vehicle about a center of mass of the vehicle, wherein the vehicle state determining means determines the slip angle of the vehicle using the following equation
β
=1/V[α
/1+α
]Vy flowwhere;
α
=(1−
KV2)Lr/d;
K =M/2L Lf/LrKcr;
“
β
”
denotes the slip angle of the vehicle;
“
V”
denotes the moving speed of the vehicle;
“
Vy flow”
denotes the optical flow of the predetermined point;
“
d”
denotes a distance between the vehicle and a point of regard of the outside visual scene, which corresponds to the predetermined point of the captured image;
“
M”
denotes a mass of the vehicle;
“
L”
denotes a wheelbase of the vehicle;
“
Lf”
denotes a distance between a center of mass of the vehicle and a front wheel axle of the vehicle;
“
Lr”
denotes a distance between the center of mass of the vehicle and a rear wheel axle of the vehicle; and
“
Kcr”
denotes a tire cornering power of a rear wheel of the vehicle.
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Accused Products
Abstract
An on-vehicle camera captures an image of an outside visual scene that is outside of a vehicle and outputs image data of the captured image. A wheel speed sensor outputs a measurement signal, which corresponds to a moving speed of the vehicle. An ECU determines a state of the vehicle based on the measurement signal of the wheel speed sensor and an optical flow of a predetermined point of the captured image, which is captured during traveling of the vehicle. The optical flow of the predetermined point is obtained based on the image data of the captured image.
8 Citations
4 Claims
-
1. A vehicle state sensing system comprising:
-
an image recognizing means that is installed in a vehicle, wherein the image recognizing means is for capturing an image of an outside visual scene that is outside of the vehicle and is for outputting image data of the captured image; a vehicle speed sensing means for outputting a measurement signal, which corresponds to a moving speed of the vehicle; and a vehicle state determining means for determining a state of the vehicle based on the measurement signal of the vehicle speed sensing means and an optical flow of a predetermined point of the captured image, which is captured during traveling of the vehicle, wherein the optical flow of the predetermined point is obtained based on the image data of the captured image, wherein the vehicle state determining means determines, as the state of the vehicle, at least one of a slip angle, which indicates a translational movement of the vehicle in a transverse direction of the vehicle, and a yaw rate, which indicates a rotational movement of the vehicle about a center of mass of the vehicle, wherein the vehicle state determining means determines the slip angle of the vehicle using the following equation
β
=1/V[α
/1+α
]Vy flowwhere; α
=(1−
KV2)Lr/d;K =M/2L Lf/LrKcr; “
β
”
denotes the slip angle of the vehicle;“
V”
denotes the moving speed of the vehicle;“
Vy flow”
denotes the optical flow of the predetermined point;“
d”
denotes a distance between the vehicle and a point of regard of the outside visual scene, which corresponds to the predetermined point of the captured image;“
M”
denotes a mass of the vehicle;“
L”
denotes a wheelbase of the vehicle;“
Lf”
denotes a distance between a center of mass of the vehicle and a front wheel axle of the vehicle;“
Lr”
denotes a distance between the center of mass of the vehicle and a rear wheel axle of the vehicle; and“
Kcr”
denotes a tire cornering power of a rear wheel of the vehicle.
-
-
2. A vehicle state sensing system comprising:
-
an image recognizing means that is installed in a vehicle, wherein the image recognizing means is for capturing an image of an outside visual scene that is outside of the vehicle and is for outputting image data of the captured image; a vehicle speed sensing means for outputting a measurement signal, which corresponds to a moving speed of the vehicle; and a vehicle state determining means for determining a state of the vehicle based on the measurement signal of the vehicle speed sensing means and an optical flow of a predetermined point of the captured image, which is captured during traveling of the vehicle, wherein the optical flow of the predetermined point is obtained based on the image data of the captured image, wherein the vehicle state determining means determines, as the state of the vehicle, at least one of a slip angle, which indicates a translational movement of the vehicle in a transverse direction of the vehicle, and a yaw rate, which indicates a rotational movement of the vehicle about a center of mass of the vehicle, wherein the vehicle state determining means determines the yaw rate of the vehicle using the following equation
γ
=1/d[1/1+α
]Vy_flowwhere; α
=(1−
KV2)Lr/d;K=M/2L Lf/LrKcr; “
γ
”
denotes the yaw rate of the vehicle;“
V”
denotes the moving speed of the vehicle;“
Vy_flow”
denotes the optical flow of the predetermined point;“
d”
denotes a distance between the vehicle and a point of regard of the outside visual scene, which corresponds to the predetermined point of the captured image;“
M”
denotes a mass of the vehicle;“
L”
denotes a wheelbase of the vehicle;“
Lf”
denotes a distance between a center of mass of the vehicle and a front wheel axle of the vehicle;“
Lr”
denotes a distance between the center of mass of the vehicle and a rear wheel axle of the vehicle; and“
Kcr”
denotes a tire cornering power of a rear wheel of the vehicle.
-
-
3. A vehicle state sensing method comprising:
-
obtaining a moving speed of a vehicle; obtaining image data of an image of an outside visual scene that is outside of the vehicle and is captured by an image recognizing means during traveling of the vehicle; obtaining an optical flow of a predetermined point of the captured image based on the image data; and determining a state of the vehicle based on the moving speed of the vehicle and the optical flow of the predetermined point, wherein the determining of the state of the vehicle includes determining as the state of the vehicle at least one of a slip angle, which indicates a translational movement of the vehicle in a transverse direction of the vehicle, and a yaw rate, which indicates a rotational movement of the vehicle about a center of mass of the vehicle, wherein the determining of the slip angle of the vehicle includes determining of the slip angle of the vehicle using the following equation
β
=1/V[α
/1+α
]Vy_flowwhere; α
=(1−
KV2)Lr/d;K=M/2L Lf/LrKcr; “
β
”
denotes the slip angle of the vehicle;“
V”
denotes the moving speed of the vehicle;“
Vy flow”
denotes the optical flow of the predetermined point;“
d”
denotes a distance between the vehicle and a point of regard of the outside visual scene, which corresponds to the predetermined point of the captured image;“
M”
denotes a mass of the vehicle;“
L”
denotes a wheelbase of the vehicle;“
Lf”
denotes a distance between a center of mass of the vehicle and a front wheel axle of the vehicle;“
Lr”
denotes a distance between the center of mass of the vehicle and a rear wheel axle of the vehicle; and“
Kcr”
denotes a tire cornering power of a rear wheel of the vehicle.
-
-
4. A vehicle state sensing method comprising:
-
obtaining a moving speed of a vehicle; obtaining image data of an image of an outside visual scene that is outside of the vehicle and is captured by an image recognizing means during traveling of the vehicle; obtaining an optical flow of a predetermined point of the captured image based on the image data; and determining a state of the vehicle based on the moving speed of the vehicle and the optical flow of the predetermined point, wherein the determining of the state of the vehicle includes determining as the state of the vehicle at least one of a slip angle, which indicates a translational movement of the vehicle in a transverse direction of the vehicle, and a yaw rate, which indicates a rotational movement of the vehicle about a center of mass of the vehicle, wherein the determining of the yaw rate of the vehicle includes determining of the yaw rate of the vehicle using the following equation
γ
=1/d[1/1+α
]Vy_flowwhere; α
=(1−
KV2)Lr/d;K=M/2L Lf/LrKcr; “
γ
”
denotes the yaw rate of the vehicle;“
V”
denotes the moving speed of the vehicle;“
Vy_flow”
denotes the optical flow of the predetermined point;“
d”
denotes a distance between the vehicle and a point of regard of the outside visual scene, which corresponds to the predetermined point of the captured image;“
M”
denotes a mass of the vehicle;“
L”
denotes a wheelbase of the vehicle;
“
Lf”
denotes a distance between a center of mass of the vehicle and a front wheel axle of the vehicle;“
Lr”
denotes a distance between the center of mass of the vehicle and a rear wheel axle of the vehicle; and“
Kcr”
denotes a tire cornering power of a rear wheel of the vehicle.
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Specification
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Current AssigneeDENSO Corporation
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Original AssigneeDENSO Corporation
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InventorsSawada, Mamoru, Matsumoto, Toshiki
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Primary Examiner(s)Wu; Jingge
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Assistant Examiner(s)Abdi; Amara
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Application NumberUS11/075,180Publication NumberTime in Patent Office1,407 DaysField of Search382/104, 340/435US Class Current382/104CPC Class CodesB60W 40/02 related to ambient conditionsB60W 40/103 Side slip angle of vehicle ...B60W 40/105 Speed
