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Method for estimating the roll angle in a travelling vehicle

  • US 8,824,741 B2
  • Filed: 11/16/2010
  • Issued: 09/02/2014
  • Est. Priority Date: 11/25/2009
  • Status: Active Grant
First Claim
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1. A method for estimating the roll angle of a camera in a vehicle traveling on a road surface, by using the camera, comprising the following steps:

  • a) the camera is used to record a sequence of camera images of the vehicle'"'"'s surroundings,b) from the camera images, at least one signature on the road surface is determined and tracked,c) from a changed position of the at least one signature in at least one subsequent camera image it is determined in which roll angle direction the camera is turned,d) a value of the roll angle isd1) directly estimated, taking into account the vehicle'"'"'s speed and an imaging model of the camera ord2) estimated and iteratively corrected by a correction angle until a resulting estimated roll angle sufficiently compensates for the turning of the camera.

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