Process for the automatic calculation of the coefficient of a slope about to be ascended by a motor vehicle and an associated device

• US 8,189,870 B2
• Filed: 10/16/2008
• Issued: 05/29/2012
• Est. Priority Date: 10/17/2007
• Status: Active Grant

• Current Assignee: Valeo Vision (Valeo SE)
• Original Assignee: Valeo Vision (Valeo SE)
• Inventors: Fleury, Benoist, Moizard, Julien, Charpentier, Adrien
• Primary Examiner(s): Bali, Vikkram
• Assistant Examiner(s): Bitar, Nancy
• Application Number:
  US12/252,508
• Publication Number:
  US 20090103781A1
• Time in Patent Office: 1,321 Days
• Field of Search: 382103-104, 382/106, 382/107, 382/108, 701/23, 701/28, 701/208, 701/36, 701/49, 701/211, 701/1, 356/3, 362/494
• US Class Current: 382/104
• CPC Class Codes: B60W 40/02 related to ambient conditions
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 7/73 using feature-based methods
• 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

The present invention relates to a process for the automatic determination of the coefficient of a slope from a motor vehicle fitted with a camera.

Claims

1. A process for the automatic calculation of the coefficient of a slope about to be ascended by a motor vehicle fitted with a camera capable of capturing at least one image of a road scene extending in front of said motor vehicle, the process comprising the different steps comprising:

detecting, on an image captured by the camera, a first reference mark, belonging to a reference mark type considered having a generally elongated shape and being repeated along the road, said first reference mark being present at a first position and comprising at least one first element and a second element situated on both sides of the road and in the vicinity of the motor vehicle;

detecting, at a distance from the motor vehicle, of a second reference mark of the reference mark type considered, said second reference mark being present at a second position on both sides of the road;

determining, through the use of an image processing system, a change of direction between the direction of the first reference mark and the direction of the second reference mark;

where applicable, deducing from said change of direction the presence of a slope and calculating the coefficient of said slope, by using the characteristics of said change of direction.

2. The process in accordance with claim 1, wherein the type of reference mark considered is constituted by road markings.

3. The process in accordance with claim 1, wherein the type of reference mark considered is constituted by roadsides.

4. The process in accordance with claim 1, wherein the step consisting in calculating the coefficient of the slope includes an operation consisting in considering flat the road at the location of the first reference mark.

5. The process in accordance with claim 1, wherein the step consisting in calculating the coefficient of the slope includes an operation consisting in considering constant the width of the road between the first position and the second position.

6. The process in accordance with claim 1, wherein the second position is situated at the location of the maximum distance detectable by the camera.

7. A process in accordance with claim 1, wherein the step consisting in calculating the coefficient of the slope comprising the steps of:

determining the distance of the first reference mark on the basis of its vertical position in the image by considering flat the road at the location of the first reference mark;

determining, on the captured image, a number of pixels present between the at least one first element and a second element of the first reference mark;

deducing the width of the road from the number of pixels determined and from the distance from the first reference mark;

determining in pixels, the width of the road at the location of the second position;

considering the width of the road as being constant between the first position and the second position;

deducing an actual distance from the width of the road determined in pixels;

counting, in pixels, the height in the captured image at which is situated the second position;

deducing from the above operation a theoretical distance corresponding to the presumption of a flat road between the second position and the motor vehicle;

deducing, from the difference between the actual distance and the theoretical distance, the coefficient of the slope between a particular point of the road, corresponding to the projection onto the road of the position of the camera installed in the motor vehicle, and the second position.

8. A driving assistance device, installed in a vehicle, suited to implement the process according to claim 1, comprising:

a camera capturing at least one image of the scene of the road extending in front of said vehicle;

means for image processing in order to detect;

a first reference mark, present at the location of a first position and being constituted from at least a first element and a second element situated on both sides of the road and in the vicinity of the vehicle;

a second reference mark present at the location of a second position at a distance from the vehicle, of the same type as the first reference mark;

means for calculating, using the characteristics of a detected change of direction, where applicable, between the first reference mark and the second reference mark, the coefficient of the slope between the second position and a particular point on the road, this particular point corresponding to the projection onto the ground of the position of the camera installed in the vehicle; and

means for controlling the direction of a headlamp beam, said control means interpreting information received concerning the coefficient of the slope so as to adjust the direction of the headlamp beam.

9. The driving assistance device, installed in a vehicle, suited to implement the process according to claim 1, comprising:

a camera capturing at least one image of a scene of the road extending in front of said vehicle;

means for image processing in order to detect;

a first reference mark, present at the location of a first position and being constituted by at least a first element and a second element situated on both sides of the road and in the vicinity of the vehicle;

a second reference mark present at the location of the second position at a distance from the vehicle, of the same type as the first reference mark;

means for calculating, using the characteristics of a detected change of direction, where applicable, between the first reference mark and the second reference mark, the coefficient θ

of the slope between the second position and a particular point on the road, with this particular point corresponding to the projection onto the ground of the position of the camera installed in the vehicle;

means for controlling the flow of fuel into the engine, said control means interpreting information relating to the coefficient of the slope so that the flow of fuel to be engine can be controlled.

10. A motor vehicle equipped with a device in accordance with claim 8.

11. The process in accordance with claim 2, wherein the step consisting in calculating the coefficient of the slope includes an operation consisting in considering flat the road at the location of the first reference mark.

12. The process in accordance with claim 3, wherein the step consisting in calculating the coefficient of the slope includes an operation consisting in considering flat the road at the location of the first reference mark.

13. The process in accordance with claim 2, wherein the step consisting in calculating the coefficient of the slope includes an operation consisting in considering constant the width of the road between the first position and the second position.

14. The process in accordance with claim 3, wherein the step consisting in calculating the coefficient of the slope includes an operation consisting in considering constant the width of the road between the first position and the second position.

15. The process in accordance with claim 2, wherein the second position is situated at the location of the maximum distance detectable by the camera.

16. The process in accordance with claim 3, wherein the second position is situated at the location of the maximum distance detectable by the camera.

17. A driving assistance device installed on a vehicle comprising:

a camera mounted on the vehicle;

a device mounted on the vehicle and coupled to the camera;

said device receiving an image captured by the camera and calculating a first reference mark in the image at a first position and a second reference mark in the image at a second position and calculating a coefficient of a slope between said second position and a particular point on the road on which the vehicle is travelling;

a headlight control for adjusting a direction of a headlamp beam in response to the calculated coefficient;

said device for image processing in order to detect;

a first reference mark, present at the location of a first position and being constituted from at least a first element and a second element situated on both sides of the road and in the vicinity of the vehicle; and

a second reference mark present at the location of a second position at a distance from the vehicle, of the same type as the first reference mark;

said device calculating, using the characteristics of a detected change of direction, where applicable, between the first reference mark and the second reference mark, the coefficient of the slope between the second position and a particular point on the road, this particular point corresponding to the projection onto the ground of the position of the camera installed in the vehicle.

18. The driving assistance device as recited in claim 17 wherein said particular point corresponds to a projection onto or relative to the ground of the position of the camera installed in the vehicle.

19. The driving assistance device as recited in claim 17 wherein said driving assistance device further comprises a fuel control for controlling a flow of fuel into an engine in the vehicle using said coefficient of said slope.