Method for determining a movement of a vehicle body

• US 8,744,680 B2
• Filed: 03/04/2011
• Issued: 06/03/2014
• Est. Priority Date: 03/11/2010
• Status: Expired due to Fees

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler AG (Mercedes-Benz Group AG)
• Inventors: Rieger, Karl-Josef, Schirle, Thomas
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US13/579,958
• Publication Number:
  US 20120323444A1
• Time in Patent Office: 1,187 Days
• Field of Search: 701/28, 701/293.1, 701/36, 701/37, 701/65, 701/117, 701/119, 701/523, 340/433, 340/435, 340/436, 340/461, 340/815.69, 340/901, 340/903, 340/936, 340/937, 348/118, 348/119, 348/143, 348/148, 348/149, 348/169, 180/104, 180/167, 180/197, 180/271, 396/427, 318/587, 280/5.5, 382/100, 382/103, 382/106, 325/385
• 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

A method for determining a vehicle body movement of a vehicle body of a vehicle (1) using a camera (3) arranged on the vehicle (1). Camera images of vehicle surroundings are thereby continuously recorded using the camera (3) and image position data of at least one static object (8) are determined by a processor in camera images recorded at different times. Using the time-based sequence of the determined image position data the vehicle body movement is determined by the processor. 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, by a processor, image position data of at least one static object (8) in camera images recorded at different times, and

determining, by the processor, the time-related course of at least one of a pitch angle and a roll angle of the vehicle body as vehicle body movement using the time-based sequence of detected image position data.

2. A method for control of a function 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, by a processor, image position data of at least one static object (8) in camera images recorded at different times,

determining, by a processor, image position data of lane sections in the detection region (4) to determine a lane height profile,

determining, by the processor, the spring compression movement of the wheels (7) of the vehicle (1) using the time-based sequence of detected image position data, and

generating a control signal for controlling a function of the vehicle based on the determined spring compression movement, wherein the function is selected from damper regulation of the shock absorbers (6) for the wheels (7) of the vehicle (1), regulating suspension based on load recognition, and regulating light width for the headlamps of the vehicle.

3. 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, by a processor, 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 the processor, 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, by the processor, 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.

4. A method according to claim 3 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.

5. The method according to claim 4, 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).