Method and system for determining an ego-motion of a vehicle

• US 9,789,816 B2
• Filed: 12/06/2011
• Issued: 10/17/2017
• Est. Priority Date: 12/15/2010
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Heger, Thomas, Simon, Stephan, Helmle, Michael
• Primary Examiner(s): Senfi, Behrooz
• Application Number:
  US13/994,893
• Publication Number:
  US 20130335553A1
• Time in Patent Office: 2,142 Days
• Field of Search: 348118
• CPC Class Codes: B60Q 9/005 using a video camera
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G06T 2207/30264 Parking
• CPC Class Codes: G06T 7/269 using gradient-based methods

Abstract

A method for determining an ego-motion of a vehicle is described, which is carried out in driver assistance systems, particularly in parking assistance systems. The method involves: taking a sequence of images, successive in time of a vehicle surroundings by a vehicle camera; determining, based on the image sequence, at least one motion flow with regard to an object in the vehicle surroundings; and determining the ego-motion of the vehicle based on the at least one motion flow.

Claims

1. A method for determining an ego-motion of a vehicle, the method comprising:

taking, by a vehicle camera, a sequence of images, successive in time, of vehicle surroundings;

determining, based on the image sequence, at least one motion flow with respect to an object in the vehicle surroundings;

determining the ego-motion of the vehicle based on the at least one motion flow; and

calculating a time-to-collision from the at least one motion flow, the time-to-collision being factored into the determining of the ego-motion;

wherein the determining of the ego-motion of the vehicle includes drawing data from at least one vehicle sensor that measures at least one of an instantaneous speed and an instantaneous steering angle, and

wherein the determining of the ego-motion of the vehicle includes drawing data from at least one ultrasonic sensor of the vehicle that measures a distance from the object in the vehicle surroundings, and

wherein the ego-motion includes prompting counter-steering of the vehicle.

2. The method as recited in claim 1, wherein the vehicle camera is a rearview camera that takes images of the vehicle surroundings from a rear perspective.

3. The method as recited in claim 1, further comprising:

detecting the ego-motion of the object in the vehicle surroundings based on the at least one determined motion flow and at least one of at least one additional determined motion flow and additional sensor data.

4. A method in a parking assistance system of a vehicle for at least one of a continuous calculation, checking, and adjustment of a parking trajectory, comprising:

determining an ego-motion of the vehicle by;

taking, by a vehicle camera, a sequence of images, successive in time, of vehicle surroundings;

determining, based on the image sequence, at least one motion flow with respect to an object in the vehicle surroundings;

determining the ego-motion of the vehicle based on the at least one motion flow; and

calculating a time-to-collision from the at least one motion flow, the time-to-collision being factored into the determining of the ego-motion;

wherein the determining of the ego-motion of the vehicle includes drawing data from at least one vehicle sensor that measures at least one of an instantaneous speed and an instantaneous steering angle, and

wherein the determining of the ego-motion of the vehicle includes drawing data from at least one ultrasonic sensor of the vehicle that measures a distance from the object in the vehicle surroundings, and

wherein the ego-motion includes prompting counter-steering of the vehicle.

5. A method for collision warning in a driver assistance system of a vehicle, comprising:

determining an ego-motion of the vehicle;

taking, by a vehicle camera, a sequence of images, successive in time, of vehicle surroundings;

determining, based on the image sequence, at least one motion flow with respect to an object in the vehicle surroundings; and

determining the ego-motion of the vehicle based on the at least one motion flow; and

calculating a time-to-collision from the at least one motion flow, the time-to-collision being factored into the determining of the ego-motion;

wherein the determining of the ego-motion of the vehicle includes drawing data from at least one vehicle sensor that measures at least one of an instantaneous speed and an instantaneous steering angle, and

wherein the determining of the ego-motion of the vehicle includes drawing data from at least one ultrasonic sensor of the vehicle that measures a distance from the object in the vehicle surroundings, and

wherein the ego-motion includes prompting counter-steering of the vehicle.

6. A non-transitory computer readable medium having a computer program, which is executable by a processor, comprising:

a program code arrangement having program code for determining an ego-motion of a vehicle, by performing the following;

taking, by a vehicle camera, a sequence of images, successive in time, of vehicle surroundings;

determining, based on the image sequence, at least one motion flow with respect to an object in the vehicle surroundings; and

determining the ego-motion of the vehicle based on the at least one motion flow; and

calculating a time-to-collision from the at least one motion flow, the time-to-collision being factored into the determining of the ego-motion;

wherein the determining of the ego-motion of the vehicle includes drawing data from at least one vehicle sensor that measures at least one of an instantaneous speed and an instantaneous steering angle, and

wherein the determining of the ego-motion of the vehicle includes drawing data from at least one ultrasonic sensor of the vehicle that measures a distance from the object in the vehicle surroundings, and

wherein the ego-motion includes prompting counter-steering of the vehicle.

7. A driver assistance system for determining an ego-motion of a vehicle, comprising:

a vehicle camera for taking a sequence of images, successive in time, of vehicle surroundings;

a component, for determining, based on the image sequence, at least one motion flow with respect to an object in the vehicle surroundings; and

a component for determining the ego-motion of the vehicle based on the at least one motion flow; and

calculating a time-to-collision from the at least one motion flow, the time-to-collision being factored into the determining of the ego-motion;

wherein the determining of the ego-motion of the vehicle includes drawing data from at least one vehicle sensor that measures at least one of an instantaneous speed and an instantaneous steering angle,

wherein the determining of the ego-motion of the vehicle includes drawing data from at least one ultrasonic sensor of the vehicle that measures a distance from the object in the vehicle surroundings, and

wherein the ego-motion includes prompting counter-steering of the vehicle.