Inclination detection in two-wheelers

Patent metadata

Field	Value
Publication number	US-10102751-B2
Application number	US-201615342306-A
Country	US
Kind code	B2
Filing date	Nov 3, 2016
Priority date	Dec 3, 2015
Publication date	Oct 16, 2018
Grant date	Oct 16, 2018

Abstract

A method for operating a vehicle equipped with a surroundings sensor system is provided. In the method, at least one preceding and/or oncoming two-wheeler is detected at least as a function of data of the surroundings sensor system. In addition, an angle of inclination of the two-wheeler is ascertained at least as a function of data of the surroundings sensor system and a movement path of the two-wheeler is predicted based on the ascertained angle of inclination. The operation of the vehicle takes place in this case based on the predicted movement path.

First claim

What is claimed is:

1. A method for operating a vehicle equipped with a surroundings sensor system, the method comprising:
detecting at least one of a preceding and an oncoming two-wheeler, the detecting being based on data of the surroundings sensor system;
ascertaining an angle of inclination of the two-wheeler at least as a function of data of the surroundings sensor system, wherein the angle of inclination is formed by an inclination with respect to horizontal of a straight line;
predicting a movement path of the two-wheeler based on the ascertained angle of inclination; and
operating the vehicle based on the predicted movement path.

2. The method as recited in claim 1 , wherein an optical flow is ascertained on the basis of image sequences recorded with the aid of the surroundings sensor system to detect the two wheeler, the surrounding sensor system including a camera.

3. The method as recited in claim 1 , wherein a proper motion of the vehicle is taken into consideration in the ascertaining of the angle of inclination.

4. The method as recited in claim 1 , wherein the angle of inclination is ascertained based on at least two reference points on the two-wheeler, which are detected by the surroundings sensor system.

5. The method as recited in claim 1 , wherein the surroundings sensor system includes a camera, and specific pixels of a digital image recorded using the camera are associated with the two-wheeler to ascertain the angle of inclination.

6. The method as recited in claim 5 , wherein a mean column value of the pixels associated with the two-wheeler is determined in at least two lines of the image and the angle of inclination is ascertained on the basis of the mean column values.

7. The method as recited in claim 1 , wherein, to ascertain the predicted movement path, roadway turnoffs are ascertained and, with respect to at least one ascertained roadway turnoff, a roadway approached by the two-wheeler is predicted based on the angle of inclination.

8. The method as recited in claim 1 , further comprising:
determining a velocity of the two-wheeler is determined to predict the movement path, the velocity being determined at least one of: with the aid of the data of the surroundings sensor system, and on the basis of the angle of inclination and an input item of map information.

9. The method as recited in claim 8 , wherein the predicted movement path includes a travel trajectory which is predicted on the basis of the ascertained angle of inclination and the ascertained velocity.

10. The method as recited in claim 1 , further comprising:
ascertaining on the basis of the predicted movement path of the two-wheeler whether the two-wheeler will move onto a lane traveled by the vehicle;
wherein the operation of the vehicle includes at least one of activating a warning device, and activating at least one actuator which intervenes in the driving dynamics of the vehicle.

11. A device for operating a vehicle equipped with a surroundings sensor system, the device being designed to:
detect at least one of a preceding and an oncoming two-wheeler;
predict a movement path of the two-wheeler, wherein, the movement path is predicted as a function of an angle of inclination of the two-wheeler which is detected as a function of data of the surrounding sensor system, wherein the angle of inclination is formed by an inclination with respect to horizontal of a straight line; and
operate the vehicle based on the predicted movement path.

12. A non-transitory computer readable storage medium on which is stored a computer program for operating a vehicle equipped with a surroundings sensor system, the computer program, when executed by a processor, causing the processor to perform:
detecting at least one of a preceding and an oncoming two-wheeler, the detecting being based on data of the surroundings sensor system;
ascertaining an angle of inclination of the two-wheeler at least as a function of data of the surroundings sensor system, wherein the angle of inclination is formed by an inclination with respect to horizontal of a straight line;
predicting a movement path of the two-wheeler based on the ascertained angle of inclination; and
operating the vehicle based on the predicted movement path.

13. The method as recited in claim 1 , wherein the straight line contains at least two reference points on the two-wheeler, and wherein the reference points include a contact point of the two-wheeler with a roadway and a point on a headlight of the two-wheeler.

14. The device as recited in claim 11 , wherein the straight line contains at least two reference points on the two-wheeler, and wherein the reference points include a contact point of the two-wheeler with a roadway and a point on a headlight of the two-wheeler.

15. The non-transitory computer readable storage medium as recited in claim 12 , wherein the straight line contains at least two reference points on the two-wheeler, and wherein the reference points include a contact point of the two-wheeler with a roadway and a point on a headlight of the two-wheeler.

Assignees

• Bosch Gmbh Robert

Inventors

• Lehner Philipp

Classifications

• B60W2555/00

  Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00 · CPC title

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• G06V10/242

  by image rotation, e.g. by 90 degrees · CPC title

• G01C2009/066

  optical · CPC title

• B60W30/0953

  the prediction being responsive to vehicle dynamic parameters · CPC title