WO2023102585A1 - Procédé de détermination de la vitesse et/ou de la direction de déplacement d'un véhicule - Google Patents

Procédé de détermination de la vitesse et/ou de la direction de déplacement d'un véhicule Download PDF

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Publication number
WO2023102585A1
WO2023102585A1 PCT/AT2022/060427 AT2022060427W WO2023102585A1 WO 2023102585 A1 WO2023102585 A1 WO 2023102585A1 AT 2022060427 W AT2022060427 W AT 2022060427W WO 2023102585 A1 WO2023102585 A1 WO 2023102585A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
camera
movement
speed
image
Prior art date
Application number
PCT/AT2022/060427
Other languages
German (de)
English (en)
Inventor
Peter Priller
Thomas SCHLÖMICHER
Original Assignee
Avl List Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Avl List Gmbh filed Critical Avl List Gmbh
Publication of WO2023102585A1 publication Critical patent/WO2023102585A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
    • G01P3/38—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light using photographic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Definitions

  • the invention relates to a method for determining the speed and/or direction of movement of a vehicle, with a camera on the vehicle recording at least one image of the area surrounding the vehicle, at least one object in the image being recognized by a processing device and based on the movement of the object relative to the Vehicle the speed and / or direction of movement of the vehicle is calculated.
  • It also relates to a measuring device for determining the speed and/or the direction of movement of a vehicle, the measuring device having a camera for recording images of the area surrounding the vehicle and a processing device connected to the camera for detecting at least one object in the image and for calculating the speed and /or having a direction of movement, and wherein the camera has an optical axis.
  • the side slip angle (the drift angle) can be measured to estimate the oblique load on the tire, which is relevant for evaluating the driving dynamics.
  • IMUs intial measurement units
  • GPS/GNSS global positioning system
  • the object of the invention is therefore to provide a method, a measuring device and a vehicle that enable the speed and/or direction of movement to be calculated easily, quickly and as precisely as possible.
  • this object is achieved in that, in order to record the image, an optical axis of the camera is directed essentially normally onto the underbody of the vehicle.
  • the processing device is designed to calculate the speed and/or direction of movement essentially perpendicular to the optical axis.
  • an optical axis of the camera is directed essentially perpendicularly to the underside of the vehicle to record the image means that the optical axis of the camera is directed downwards along a vertical axis of the vehicle and an optical axis of the camera is essentially parallel to the Vertical axis is arranged.
  • a movement of the vehicle relative to the ground is detected. Based on the direction of movement and the measured change in path over a certain period of time, conclusions can be drawn about the speed and acceleration. This movement can be a linear movement and/or a rotation.
  • the detection of the object does not necessarily have to include the detection of the entire object. For example, only a small portion of a lane may be present in an image. However, even this small part can be enough to successfully detect the object to the extent that it is sufficient for determining the speed and/or direction of movement. It is sometimes sufficient for recognition if one or a few features of the object, for example an edge or a color change, can be recognized as a pattern.
  • the recognition can take place, for example, by means of a neural network and/or by means of image recognition algorithms.
  • image recognition algorithms are already adequately described in the technical literature. Due to the direct direction of the camera on the ground, a particularly quick and easy determination is made possible, which is also particularly precise. On the one hand, this is due to the fact that the distance between the camera and the base of the vehicle is essentially known as a result of this orientation.
  • the speed and/or direction of movement is calculated from the motion blur of the object on the image, with this calculation preferably including that the brightness profile in a motion blur area of the object, particularly preferably at the edge of the object, is included in the calculation is included.
  • This can be particularly useful in poor lighting conditions, since there are inevitably blurred areas due to the longer exposure time.
  • a single image is sufficient for such a measurement in order to enable the direction of movement and/or speed to be determined with sufficient accuracy.
  • the calculation of the speed can include multiplying a measured displacement BLD of an object in a specific direction between the two images by a scaling factor and preferably changing the sign.
  • a vehicle movement FZG can be calculated in a linear measure such as meters in a specific direction, which reflects the length of movement of the vehicle in the period of time that has elapsed between the recording of the two images:
  • the velocity when divided by the time delay between the two images, the velocity can be calculated.
  • the time delay can be determined, for example, by the difference in the time stamps of the two image recordings. If this is carried out in the direction of travel, for example, then the movement distance, ie the distance covered in the direction of travel and thus the speed of the vehicle, can be determined. If this is done at right angles to the direction of travel, a drift movement and thus also the drift speed can be calculated. It can also be provided that the direction of movement is determined, the movement distance is calculated in this movement direction and then this movement direction is preferably broken down into different parts, for example into a part parallel to the direction of travel and into a part transverse to the direction of travel, i.e. in the longitudinal direction of the vehicle.
  • the scaling factor results from the resolution of the camera and the distance from the camera to the background.
  • a similar procedure is also possible if a rotation or a movement with a rotational component takes place.
  • the angle of rotation and the axis of rotation can be calculated and a lateral drift without rotation or other or purely translational movements can be distinguished from normal cornering.
  • the calculation procedure works in a similar way to that described above, with the change in the angle of the position of the objects relative to one another in the two images providing information about the rotation of the vehicle.
  • the position of the vehicle can also be determined at a specific point in time if the starting point is known.
  • the position of the vehicle is determined on the basis of the detected object.
  • the exact position of the vehicle can be determined after retrieving position data that is linked to the detected object and is preferably also stored in the object database. This can be carried out in parallel with the aspects of the invention already described and the speed and/or direction of movement data thus obtained can be supplemented by these.
  • these objects can also have been arranged especially or primarily for determining the position of the vehicle, for example in test tracks.
  • the measuring device has an object database unit and a position determination unit is connected to the object database unit and the camera and for unambiguous Recognition of a recorded object is set up by comparison with the objects stored in the object database unit and for determining the position of the vehicle based on the recognized object.
  • the position determination unit can also be connected to the processing device. In this way it can be achieved that the processed or calculated data of the processing device, in particular the detected objects, are made available to the position determination unit. It can also be provided that the processing device and the position determination unit are implemented together, for example by a common calculation unit.
  • a position of the vehicle is calculated on the basis of the calculated speed and/or direction of movement, with this position particularly preferably being corrected on the basis of the known object when a known object stored in the object database is detected.
  • this position particularly preferably being corrected on the basis of the known object when a known object stored in the object database is detected.
  • At least one detected object has position information and the position of the vehicle is determined on the basis of the position information.
  • the object can be a QR code or include one that contains the exact position data of the object.
  • the camera is essentially rigidly connected to at least one wheel axle of the vehicle in order to record the image. It is sufficient for the camera to be rigidly connected to the axle of just one wheel, as this ensures that the spring movements of the vehicle do not cause any changes in distance. This also applies analogously if the camera is essentially rigidly connected to at least one wheel axle of the vehicle.
  • the distance between the camera and the ground is measured using a distance measurement unit, preferably using ultrasound transit time and/or using laser distance measurement, and the measured distance is included in the calculation of the speed and/or direction of movement.
  • a distance measurement unit preferably using ultrasound transit time and/or using laser distance measurement
  • the measured distance is included in the calculation of the speed and/or direction of movement.
  • the measuring device is a distance measuring unit, preferably one Ultrasonic time-of-flight distance measurement unit and/or a laser distance measurement unit, which is directed essentially in the same direction as the camera and is connected to the processing device.
  • the invention also relates to a vehicle that has a measuring device according to the invention, with an optical axis of the camera being directed downwards along a vertical axis of the vehicle and the optical axis of the camera being essentially parallel to the vertical axis.
  • the vertical axis means an axis of the vehicle which is vertical when the vehicle is in the intended position of use on level ground, in other words runs from the underbody of the vehicle to the roof lining. This requires the camera to look directly at the ground.
  • the camera is arranged in the underbody of the vehicle. This requires safe and space-saving positioning.
  • the camera is essentially rigidly connected to at least one wheel axle of the vehicle.
  • FIG. 1 shows two images recorded at two different points in time by a measuring device according to the invention while a method according to the invention is being carried out;
  • FIG. 2 shows a schematic representation of a measuring device according to the invention in a first embodiment.
  • FIG. 1 shows two recordings 10, 11 recorded at a time t1 and a time t2.
  • the substrate 4 of the vehicle is visible on it during a straight forward movement of the vehicle.
  • recording 10 at time t1 there is an object on the lower right edge, in this case a spot and further spot-like, punctiform color changes arranged next to it Roadway visible as underground 4. This was recognized as an object by a processing device 6, 7, see margin 12.
  • a change in the position of the object can be measured in the form of a displacement BLD become.
  • a shift BLD can only be seen parallel to the x-axis of the captured images. It can thus be determined that the direction of movement is along the x-axis and that it is purely a forward movement, since the direction of movement represents the opposite direction of the displacement BLD from image 10 to image 11. If the vehicle corners, an additional displacement along the y-axis would also be measurable. As a result, the exact overall direction of movement of the vehicle can be determined by combining these movement direction components.
  • the overall speed of the vehicle which is made up of a speed in the x-direction and a speed in the y-direction.
  • a rotational movement or a movement with a rotational component can be detected even more precisely if at least two objects are detected in the two recordings 10, 11. In this case, cornering, for example, can also be easily distinguished from a sideways drift movement.
  • the change in path of the vehicle is calculated by multiplying BLD by a scaling factor k and changing the sign. If this change in path is divided by the time difference, the speed of the vehicle is obtained.
  • FIG. 2 shows an embodiment of a measuring device 5 according to the invention, which is arranged in a vehicle according to the invention.
  • a camera 1 of the measuring device 5 is installed in an underbody 2 of the vehicle between the wheels 3a, 3b.
  • the front wheel or wheels 3a can also be arranged between the camera 1 and the rear wheel or wheels 3b.
  • An optical axis A which is transverse to the image area of the camera, is parallel to a vertical axis H of the vehicle and thus points directly to the ground 4 on which the vehicle is standing or driving.
  • the measuring device 5 has a processing device 6, 7 connected to the camera 1, which receives the image data from the camera 1 and uses this to carry out object recognition (box 6).
  • the processing device 6, 7 calculates the direction of movement tion and speed (Box 7). The data obtained in this way with regard to the speed and/or direction of movement 20 are output or stored by the measuring device 5 .
  • the data of the detected objects are transmitted from the processing device 6 , 7 to a position determination unit 8 connected to it, which compares the object data obtained with the data from an object database unit 9 . If the data match, the position of the detected object in the recorded image or images is determined. In addition, the position data of the recognized object is retrieved in the object database unit 9 . The absolute position of the vehicle is determined from this data and this absolute position data 21 is also output or stored.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Power Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de détermination de la vitesse et/ou de la direction de déplacement d'un véhicule, avec une caméra (1) sur le véhicule enregistrant au moins une image (10, 11) de l'environnement du véhicule, au moins un objet étant identifié dans l'image (10, 11) par un dispositif de traitement (6, 7), et la vitesse et/ou la direction de déplacement du véhicule étant calculée sur la base du mouvement de l'objet par rapport au véhicule, caractérisé en ce qu'un axe optique (A) de la caméra (1) est aligné sensiblement perpendiculairement à la surface (4) sous le véhicule dans le but d'enregistrer l'image (10, 11).
PCT/AT2022/060427 2021-12-06 2022-12-06 Procédé de détermination de la vitesse et/ou de la direction de déplacement d'un véhicule WO2023102585A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50973/2021A AT525694A1 (de) 2021-12-06 2021-12-06 Verfahren zur bestimmung der geschwindigkeit und/oder bewegungsrichtung eines fahrzeugs
ATA50973/2021 2021-12-06

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WO2023102585A1 true WO2023102585A1 (fr) 2023-06-15

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Publication number Priority date Publication date Assignee Title
DE102023202671B3 (de) 2023-03-24 2024-05-08 Continental Autonomous Mobility Germany GmbH Fahrzeug umfassend eine Positionsbestimmungseinrichtung und Verfahren zur Positionsbestimmung eines Fahrzeugs

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US6535114B1 (en) 2000-03-22 2003-03-18 Toyota Jidosha Kabushiki Kaisha Method and apparatus for environment recognition
JP2007046949A (ja) * 2005-08-08 2007-02-22 Sumitomo Electric Ind Ltd 車載用の対地速度計測装置および対地速度計測方法
JP2007278951A (ja) * 2006-04-10 2007-10-25 Alpine Electronics Inc 車体挙動測定装置
US20150151753A1 (en) * 2013-12-04 2015-06-04 Mobileye Vision Technologies Ltd. Image-based velocity control for a turning vehicle
KR101843990B1 (ko) * 2017-03-09 2018-03-30 한국과학기술원 모션 블러 변조 방법 및 이를 이용한 차량의 속도 정보 측정 방법
JP2020190458A (ja) * 2019-05-21 2020-11-26 株式会社小野測器 速度計測装置
JP2021004729A (ja) * 2019-06-25 2021-01-14 株式会社小野測器 状態計測装置

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JPS62132176A (ja) * 1985-12-04 1987-06-15 Nippon Soken Inc 車両用速度計
JP3346189B2 (ja) * 1996-10-24 2002-11-18 トヨタ自動車株式会社 車両運動量検出装置
DE10248416B4 (de) * 2002-10-17 2006-01-26 Audi Ag Vorrichtung und Verfahren zur Bestimmung einer Relativbewegung eines Fahrzeugs
FR2920879B1 (fr) * 2007-09-12 2009-12-04 Michelin Soc Tech Procede de dermination d'une direction de deplacement, application, et dispositif de mise en oeuvre
JP6140463B2 (ja) * 2013-01-31 2017-05-31 本田技研工業株式会社 車速算出装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6535114B1 (en) 2000-03-22 2003-03-18 Toyota Jidosha Kabushiki Kaisha Method and apparatus for environment recognition
JP2007046949A (ja) * 2005-08-08 2007-02-22 Sumitomo Electric Ind Ltd 車載用の対地速度計測装置および対地速度計測方法
JP2007278951A (ja) * 2006-04-10 2007-10-25 Alpine Electronics Inc 車体挙動測定装置
US20150151753A1 (en) * 2013-12-04 2015-06-04 Mobileye Vision Technologies Ltd. Image-based velocity control for a turning vehicle
KR101843990B1 (ko) * 2017-03-09 2018-03-30 한국과학기술원 모션 블러 변조 방법 및 이를 이용한 차량의 속도 정보 측정 방법
JP2020190458A (ja) * 2019-05-21 2020-11-26 株式会社小野測器 速度計測装置
JP2021004729A (ja) * 2019-06-25 2021-01-14 株式会社小野測器 状態計測装置

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Publication number Publication date
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