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US 9,789,816 B2Granted
Method and system for determining an ego-motion of a vehicle
AssigneeRobert Bosch GmbH
InventorsThomas Heger, Stephan Simon, Michael Helmle
Life of this patent
Estimating the term…
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.
Claims7
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.
5 more elements
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.
6 more elements
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.
7 more elements
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 more elements
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.
6 more elements
Dependencies are inferred from the claim text.