CAMERA-BASED DETECTION OF TILTING MOVEMENTS

Abstract

The invention relates to a method for recognizing a tilting movement of a vehicle having at least one camera installed on the vehicle The method includes recording an image sequence by the camera, determining an optical flow of the image sequence, determining an optical flow to be expected on the grounds of a travel movement of the vehicle and a topography of the underlying surface, and checking of the optical flow of the image sequence and of the expected optical flow for deviations. A vehicle adapted to perform the method is also disclosed.

Claims

1. A method for recognizing a tilting movement of a vehicle (101) which comprises at least one camera (103) installed on the vehicle (101), the said method having the following steps: recording of an image sequence by the camera (103); determining an optical flow of the image sequence; determining an optical flow to be expected on the grounds of a travel movement of the vehicle (101) and a topography of an underlying surface; and checking of the optical flow of the image sequence and of the expected optical flow for deviations.

2. The method according to claim 1, wherein determining the optical flow to be expected comprises the following part-steps: determining a travel movement of the vehicle (101); determining a movement, of the camera (103) to be expected on the grounds of the travel movement and the topography, relative to at least one object (107) recorded by the camera (103); and determining an optical flow to be expected on the grounds of the movement of the camera (103).

3. The method according to claim 2, wherein determining the optical flow to be expected comprises the following part-steps: recognition of the object (107) in the image sequence; determination of the optical flow of an area of the image sequence in which the object is depicted; and determination of an optical flow of the said area to be expected due to the movement of the camera (103).

4. A vehicle (101) having at least one camera (103) and at least one control unit (105), wherein the at least one control unit (105) is configured to implement the method according to claim 1.

5. A vehicle (101) having at least one camera (103) and at least one control unit (105), wherein the at least one control unit (105) is configured to implement the method according to claim 2.

6. A vehicle (101) with at, least one camera (103) and at least one control unit (105), wherein the control unit (105) is configured to implement the method according to claim 3.

Description

BRIEF DESCRIPTION OF THE DRAWING

[0022] FIG. 1: A vehicle.

DETAILED DESCRIPTION

[0023] The vehicle 101 shown in FIG. 1 comprises a camera 103 and an evaluation unit 105. The camera 103 is connected for signal exchange with the evaluation unit 105. In the image area of the camera 103, i.e. in an area which is recorded by the camera 103, there is an object 107.

[0024] The evaluation unit 105 determines an optical flow of the object 107 in an image sequence recorded by the camera 103. In addition, the evaluation unit 105 determines a travel movement of the vehicle 101. From this an optical flow of the object 107 that is to be expected is obtained, which the evaluation unit 105 compares with the actual optical flow. If there are deviations, it can be concluded that the vehicle 101 is undergoing a tilting movement. In that event the evaluation unit 105 initiates countermeasures to stabilize the vehicle 101.

INDEXES

[0025] 101 Vehicle

[0026] 103 Camera

[0027] 105 Evaluation unit

[0028] 107 Object