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Method and device for determining a change in the pitch angle of a camera of a vehicle

  • US 9,117,272 B2
  • Filed: 12/29/2009
  • Issued: 08/25/2015
  • Est. Priority Date: 12/30/2008
  • Status: Active Grant
First Claim
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1. A method for determining a change in a pitch angle of a camera of a vehicle, comprising:

  • sequentially recording at least three images, each of which includes a reproduction of a detection area in front of the vehicle, and the at least three images including at least a first image, a second image and a third image;

    wherein the camera is mounted in a fixed position at the vehicle and the vehicle performs a driving motion during the sequential recording of the at least three images;

    generating image data corresponding to each of the images; and

    processing the image data by;

    determining a first image position as a position of a first reproduction of a stationary object in the first image;

    determining a second image position as a position of a second reproduction of the stationary object in the second image;

    determining a course of a straight line based on at least the first image position and the second image position, the course of the straight line representing a current pitch angle of the camera;

    determining a third image position as a position of a third reproduction of the stationary object in the third image, the third image position spaced apart from the course of the straight line; and

    determining the change in the pitch angle of the camera from the current pitch angle of the camera based on a length of a line that extends between the third image position and a point on the straight line that is an expected position of the third reproduction of the stationary object in the third image were there no change in the pitch angle of the camera, wherein the line extends between the third image position and the point only along a Y-axis of an X- and Y-image point matrix of an image recording sensor of the camera.

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