The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 02, 2014
Filed:
Nov. 16, 2010
Michael Walter, Heerbrugg, CH;
Michael Walter, Heerbrugg, CH;
Conti Temic microelectronic GmbH, Nuremberg, DE;
Abstract
The invention relates to a method for estimating the roll angle in a travelling vehicle (), comprising the following steps. In step a), a camera () is used to record a sequence of images of the vehicle's surroundings, in particular of the road () ahead. In step b), at least one signature (S-S) 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 (S-S) in one or more subsequent camera image(s) is used in step c) to determine in which direction the camera () 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 d), taking into account the vehicle speed (v) and an imaging model of the camera (), or the roll angle is iteratively increased or decreased by a defined correction angle in step d) until the roll angle sufficiently compensates for the turning of the camera (). On this basis, the estimated roll angle is obtained as an overall correction value.