Method for estimating the roll angle in a travelling vehicle

摘要

The invention relates to a method for estimating the roll angle in a travelling vehicle (7), comprising the following steps. In step a), a camera (8) is used to record a sequence of images of the vehicle's surroundings, in particular of the road (1) ahead. In step b), at least one signature (S1-S6) on the road surface is extracted from the camera images, i.e. said signature is determined and tracked. The changed position of the at least one signature (S1-S6) in one or more subsequent camera image(s) is used in step c) to determine in which direction the camera (8) is turned with regard to the roll angle.;The value of the roll angle is estimated in step d).;For this purpose, the roll angle is either directly estimated in step d1), taking into account the vehicle speed (v) and an imaging model of the camera (8), or the roll angle is iteratively increased or decreased by a defined correction angle in step d2) until the roll angle sufficiently compensates for the turning of the camera (8). On this basis, the estimated roll angle is obtained as an overall correction value.

主权项

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 is
d1) 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.