• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    SAM MAN DRAGMethod (300) and calculating unit (120) for detecting the steering of a vehicle (100). The method (300) comprises determining (301) a normal plane (140), by feeding a distance (A1) in the height direction of the vehicle between a 3D camera (110-1, 110-2) included in the vehicle (100) and a substrate (130) when the vehicle (100) is in a horizontal position. The method (300) also includes feeding (302) with the 3D camera (110-1, 110-2) the distance (A2, A3) between the 3D camera (110-1, 110-2) and the vehicle base (130). The method (300) further comprises calculating (303) the difference in distance, between the measured (302) distance (A2, A3) and the distance (A1) to the determined (301) normal plane (140) and detecting (304) that the vehicle (100) is about to roll over when the calculated (303) difference in distance exceeds a threshold value.
    公开号:SE1350902A1
    申请号:SE1350902
    申请日:2013-07-18
    公开日:2015-01-19
    发明作者:Fredrich Claezon；Carl Fredrik Ullberg；Mikael Lindberg
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    VEHICLE WARNING WARNINGTECHNICAL FIELDThe invention relates to a method and a calculating unit associated with a vehicle. More specifically, the invention provides a mechanism for detecting the steering of a vehicle.
    BACKGROUNDA vehicle may be inclined in relation to the plane of the road, for example due to heavy, asymmetrically placed load and / or uneven ground, for example when ditching or the like.
    In this context, vehicles refer to, for example, lorries, lorries, flatbed trucks, transport vehicles, wheel loaders, buses, SUVs, tracked vehicles, tanks, quad bikes, tractors, cars or other similar motorized or unmanned means of transport, adapted for land-based geographical movement.
    Such tilting of the vehicle can in turn cause the vehicle to tip over, which can seriously damage the driver of the vehicle. For heavy vehicles, rollover accidents are probably the most common cause of death for the driver.
    To detect that the vehicle is about to roll over, a crash sensor inside is often used.grasping a type of accelerometer Saint Gyro as' canner of accelerations and rotational accelerations. You can use a vehicle model that is advanced to give a signal when the radiating angle of inclination and acceleration exceeds the low where the vehicle is laterally stable and thus will roll over. When a heavy vehicle rolls relatively slowly, one often waits far into the process so as not to riskto release the vehicle's side airbag prematurely, or accidentally.
    In order to calibrate a crash sensor in order to handle selection accidents of various kinds, a number of crash tests are required in which accelerometer data for each position and2device type man viii mount crash sensor and roller protection on. This is very costly and time consuming.
    The crash sensor with accelerometer and gyro itself cannot detect if the vehicle risks rolling into a rock and the armed will not release the side airbag intime in such an accident. This can possibly be solved by installing one or more pressure sensors, as a complement, which is mounted, for example, in the doors. These have the task of detecting when the side of the vehicle hits the ground in order to release the side airbag earlier than otherwise. This is in cases where the vehicle rolls against, for example, a rock or other object protruding from the ground floor.10 Installing such an extra pressure sensor, however, entails extra wiring that must be pulled out in the doors. This requires extra work and material costs.
    A crash sensor is an expensive component, which also has a very limited area of use that can only detect the steering of the vehicle and not, for example, that another vehicle is about to run into the side, or that its own vehicle is about to run into an obstacle etc.
    It can be stated that much remains to be done to improve the detection of hazards that cause the release of side impact protection in a vehicle and also reduce the cost of this.
    SUMMARY OF THE INVENTIONIt is therefore an object of this invention to improve the detection of vehicle flaking, in order to solve at least some of the above problems and thereby achieve a vehicle improvement.
    According to a first aspect of the invention, this grinding is achieved by a processthose in a calculating unit for detecting the management of a vehicle. The method comprises determining a normal plane, by feeding a distance in the height direction of the vehicle between a 3D camera included in the vehicle and a substrate when the vehicles are in a horizontal position. Furthermore, the procedure includes feeding with the 3D camera3of the distance between the 3D camera and the vehicle base. The method also includes calculating the difference in distance between the measured distance and the distance to the determined normal plane. The method also includes detecting that the vehicle is about to roll over when the calculated difference in distance is exceeded.there a threshold value.
    According to a second aspect of the invention, this targeting is achieved by a calculating unit for detecting the steering of a vehicle. The calculating unit comprises a signal receiver, arranged to receive a food value from a 3D camera included in the vehicle. Furthermore, the calculating unit also comprises a processor circuit,arranged to establish a normal plane, based on feeding a distance in the vertical direction of the vehicle between a 3D camera included in the vehicle and a surface where the vehicle is in a horizontal position. The processor circuit is also arranged to calculate the difference in distance, between the measured distance to the substrate and the distance to the determined normal plane. In addition, the processor circuit is arranged to detect thatthe vehicle tends to tip over as the calculated difference in distance exceeds a threshold value.
    By using a 3D camera to detect the steering of the vehicle, instead of a conventional crash sensor, a more reliable detection of steering and an unmatched functionality is achieved when protruding objects or irregularities in the ground, whichrisks penetrating or hitting the wheelhouse during overturning can be detected. This gives the opportunity to release the side airbag and / or belt tensioner earlier than usual. In addition, further areas of application are achieved in addition to detection of overturning, compared with conventional crash sensor, for example detection of another road user at an angle of advance of the vehicle, feeding distance to the vehicle in front of the vehicle.purpose to warn the driver if the distance is too short, and / or to adapt the vehicle's cruise control to the speed of the vehicle in front.
    Thereby, by reusing the 3D camera to feed and determine the inclination of the vehicle according to the methods described here, one can reduce the number of sensors in the vehicle, which leads to lower material cost, danger moments during assemblyas well as lower manufacturing costs for the vehicle as fewer components need to be stored and mounted in the vehicle.4Another advantage is that the 3D camera is relatively unobtrusive for where it is mounted on the vehicle as long as it has clear vision. A quick and easy assembly is thereby facilitated, which also leads to a low manufacturing cost.
    Furthermore, since neither the mounting height nor the placement of the 3D camera is probable, not as many tests are required to calibrate the algorithms as when using conventional crash sensors, which reduces costs and gives a shorter time to the market for such an election warning. This achieves an improvement of the vehicle.
    Other advantages and further features will become apparent from the following detailed description of the invention.
    LIST OF FIGURESThe invention will now be described in further detail with reference to the accompanying figures, which illustrate various embodiments of the invention:Figure 1 Illustrates a vehicle with a sensor, shown in profile.
    Figure 1 Illustrates a vehicle with a sensor, shown from behind.
    Figure 2 Illustrates a vehicle with a sensor, shown from behind with an angulardeviation to the horizontal plane.
    Figure 2 Illustrates a vehicle with two sensors, shown from behind, with an angulardeviation from the horizontal plane.
    Figure 2Cillustrates a vehicle with two sensors, shown from behind, with an angulardeviation from the horizontal plane where detection of an object on the substrate Ors.
    Figure 3 is a flow chart illustrating an embodiment of a method.
    Figure 4 is an illustration of a calculating unit in a system, according to an embodimentembodiment of the invention.
    DETAILED DESCRIPTION OF THE INVENTIONThe invention is defined as a method and a calculation unit for determining angular deviation in the horizontal plane of a vehicle, which can be realized inflake of the embodiments described below. However, this invention may be embodied in many different forms and should not be construed as limited by the embodiments described herein, which are intended to illustrate and illustrate various aspects of the invention.
    Further aspects and features of the invention may be apparent from itThe following detailed description when considered in conjunction with the accompanying figures. However, the figures are to be considered only as examples of different embodiments of the invention and should not be construed as limiting the invention, which is limited only by the appended claims. Furthermore, the figures are not necessarily to scale, and are, unless otherwise specifically stated, intended to be conceptuallyillustrate aspects of the invention.
    Figure 1A shows a vehicle 100 in a direction of travel 101. This direction of travel 101 refers to an existing or planned direction of travel 101, the said vehicle 100 may be in motion in the direction of travel 101, or be stationary, prepared for a planned movement in the direction of travel 101 or move in the exact opposite direction, the viii saga back.
    The vehicle 100 has a wheelhouse 105, in which the driver of the vehicle is usually located during commuting with the vehicle 100.
    At or in the vehicle 100, for example in or on the wheelhouse 105, at least one 3D camera 110-1 is installed. This 3D camera 110-1 may include, or consist of, for example, a radar feeder, a laser feeder such as a Light Detector.tion And Ranging (LIDAR), sometimes also called LADAR or laser radar, a camera such as a Time-of-Flight camera (ToF camera), a stereo camera, a light field camera, or similar device configured for distance assessment.6A LIDAR is an optical instrument that measures the properties of reflected light to determine the distance and / or other properties of a remote-controlled forearm. The technology is based on radar (Radio Detection and Ranging), but instead of radio waves, light is used. Typically, you feed the distance to a form throughto feed the time delay between a transmitted laser pulse and the recorded reflex from the form.
    A ToF camera is a type of camera that takes a sequence of pictures and measures a distance to an object based on the known light speed, by feeding the time access for a light signal between the camera and the forearm, for example byfeed the phase shift between the transmitted light signal and a received reflection of this light signal, Than foremalet.
    In some embodiments, more than one 3D camera 110-1 may be mounted on the vehicle 100. An advantage of having more than two 3D cameras 110-1 is that more reliable distance assessment can be made, and that a larger area can be monitored by an additional3D camera. Another advantage is that an assessment of the inclination of the vehicle can be made in several dimensions, such as two or three dimensions according to certain embodiments. In such embodiments with more than one 3D camera 110-1, the 3D cameras can consist of the same type of 3D camera or of different types of 3D cameras according to different embodiments.In the vehicle 100 there is also a calculation unit 120, which is arranged to receive food data from the 3D camera 110-1, and perform calculations based on this food data. For example, a distance to the vehicle base 1 can be taken up by the 3D camera 110-1 and sent to the calculation unit 120, which can compare this food value with a food value made on a horizontal plane.
    According to some embodiments, a 3D camera 110-1 may be mounted on each side of the wheelhouse 105 so that it can be detected if the vehicle 100 is about to roll over. The 3D camera 110-1 can measure the distance to the vehicle base 130, for example continuously or with a certain time interval. By establishing a normal plane when the vehicle 100 is driven on a horizontal surface, determine the distance to this7grinding plane and compare this distance with the later measured distance, the rolling risk of the vehicle 100 can be calculated, for example when a certain spruce value is exceeded.
    An advantage of placing the 3D camera 110-1 inside the wheelhouse 105 on the vehicle 100, instead of on the outside of the vehicle 100 is that the 3D camera 110-1 is more protected therefor external damage such as dirt, snOslask and the like, as well as against theft, damage and other damage. As a result, the reliability of the 3D camera 110-1 can be improved and the service life of the 3D camera 110-1 can be extended, even if they are placed outside the vehicle 100.
    On the other hand, in some embodiments, the 3D camera 110-1 can be placed high up near the roof of the vehicle 100. This allows a long rack width for the 3D camera 110-1. A high location provides some protection against the stench of dirt from other vehicles and also against theft and damage, etc.
    According to some embodiments, the 3D camera 110-1 may be arranged to detect an object next to the vehicle 100 which protrudes from the ground 130 and risks hitting the cab 105 and thereby damaging the driver, before the vehicle 100 has completely selected.
    Such a protruding form can be an arbitrary form, such as a stone, another vehicle, a road sign, a property, a tree, a pet or other similar forernal. It is irrelevant to the invention if the protruding 10-rernalet is in motion or is stationary. The invention is also independent of whether the own vehicle 100 is stationary or in motion according to certain embodiments.
    An advantage of using a 3D camera 110-1 to detect the steering of the vehicle 100 compared to previously used crash sensor based on accelerometer and gyro is that a 3D camera 110-1 has more applications beyond detection.of management. For example, the 3D camera 110-1 can detect pedestrians, other vehicles approaching its own vehicle 100, etc. and can thus enable more functionality than a conventional crash sensor. A side airbag adapted to accidental accidents has a greater potential to save life than a steering wheel-mounted airbag in a heavy vehicle such as a truck, truck or bus and it is therefore important that it8do as well as possible. At the same time, it is of course presumptuous for road safety if an airbag is accidentally triggered in the vehicle 100 during transport.
    For example, the 3D camera 110-1 may be located in or on the vehicle 100 for another purpose, such as to distance to the vehicle in front for the purpose of warningthe driver if the distance is too short, and / or to adapt the vehicle's cruise control to the speed of the vehicle in front. Another conceivable purpose is to detect an emerging vehicle in front of the vehicle 100 and warn the driver thereof, or initiate an automatic braking, for example.
    Thereby, by reusing the 3D camera 110-1 to feed and fixAccording to the methods described here, the number of sensors in the vehicle 100 can be reduced, which leads to lower material costs, fewer steps during assembly and lower manufacturing costs for the vehicle 100 by having components stored and mounted in the vehicle 100.
    Another advantage is that the 3D camera 110-1 is initially insensitive to where it is mounted on the cab 105 as long as it has a clear view. A quick and easy assembly is made possible, which leads to a low manufacturing cost.
    An additional advantage of the 3D camera 110-1 compared to a conventional crash sensor is that the one described above can detect if the vehicle 100 is about to roll into a protruding object and thus give the possibility to release the side airbag and / or belt tensioner earlier than usual .
    Furthermore, since neither the mounting height nor the placement of the 3D camera 110-1 is probable, not as many samples are required to calibrate the algorithms, which reduces costs and gives a shorter time to the market for such an election warning.
    Figure 1B shows the vehicle 100 of Figure 1A, viewed from behind. The 3D camera 110-1 ma-ter the distance A1 to the vehicle base 130 in height when the vehicle 100 is on a horizontal surface. By height is meant has a direction which is substantially perpendicular to the direction of travel 101 of the vehicle. Hereby a normal plane 1 can be determined, together with the reference distance A1 to this normal plane 140.9According to various embodiments, such determination of the reference distance A1 and the normal plane 140 can be made, for example, in connection with the vehicle's manufacture, during inspection, during software update for the vehicle 100 or when it can be determined that the vehicle 100 is on a horizontal surface, for example by feeds with3D camera 110-1 or other sensor in the vehicle.
    Figure 2A shows the vehicle 100 in Figure 1A and Figure 1B, viewed from behind, but now about to roll over. The 3D camera 110-1 feeds the distance A2 to the substrate 130. This food value can then be sent to the computing unit 120 via a wired or wireless interface.Such a wireless interface may, for example, be based on any of the following technologies: Global System for Mobile Communications (GSM), Enhanced Data Rates for GSM Evolution (EDGE), Universal Mobile Telecommunications System (UMTS), Code Division Access (CDMA), (CDMA 2000), Time Division Synchronous CDMA (TD-SCDMA), Long Term Evolution (LTE); Wireless Fidelity (Wi-Fi), de-funded by the Institute of Electrical and Electronics Engineers (IEEE) standards 802.11 a, ac, b, g and / or n, Internet Protocol (IP), Bluetooth and / or Near Field Communication, (NFC), or similar communication technology according to different embodiments.
    According to some other embodiments, the baring unit is 120 and the 3D camera110-1 arranged for communication and information transmission over a wired interface. Such wired interfaces may include a communication bus system consisting of one or more communication buses for interconnecting a number of electronic control units (ECUs), or controllers / controllers, and various components and sensors located on the vehicle 100, such asview the 3D camera 110-1.
    The calibration unit 120 and the 3D camera 110-1 are arranged to communicate partly with each other, in order to receive signals and the food value and possibly also trigger a supply, for instance at a certain time interval. Furthermore, the calculating unit 120 and the 3D camera 110-1 are arranged to communicate, for example, via the vehiclecommunication bus, which may be one or more of a cable; a databus, such as a CAN bus (Controller Area Network bus), a MOST bus (Media Oriented Systems Transport), or any other bus configuration.
    Since the food value representing the measured distance A2 between the 3D camera 110-1 and the vehicle base 130 is received in the calculation unit 120, this can then be compared with the previously determined distance A1 to the normal plane 140. According to some embodiments, the detection of the vehicle 100 valta gOras when the difference between the distance A1 and A2 exceeds a certain spruce value, for example 50 cm, 100 cm, 130 cm, 180 cm, 250 cm or any other spruce value between any of these examples of the spruce value. In some embodiments, such spruce response may vary with vehicle type, vehicle model and load, for example.
    Furthermore, the feeding with the 3D camera 110-1 of the distance A2 to the vehicle base 130 can be used to calculate an angle α of the vehicle inclination in relation to the determined normal plane 140.
    The angle a can be calculated from the following trigonometric relationships (the sine theorem for right-angled triangle):A2-A1Sin a =Where the distance D denotes the distance between the contact surface of the outer wheel with the base 130 and the point on the normal plane 140 at which the 3D camera 110-1 Or reads. This distance D, which is substantially constant, can be determined or measured in advance during a calibration and stored as a constant.
    According to some embodiments, the detection that the vehicle 100 is about to roll can be made when the angle of inclination of the vehicle exceeds a certain spruce value, such as 0, 25 °, 42 °, 600 or another spruce value between any of theseempel pa gransvarden. In some embodiments, such spruce value may vary with vehicle type, vehicle model and load, for example.
    The illustrated example of a vehicle angular deviation a in Figure 2A is merely an arbitrary illustration.11Figure 2B shows the vehicle 100 of Figure 1A, Figure 1B and / or 2A, viewed from behind, but now about to roll over and including another 3D camera 110-2 which measures the distance A3 to the substrate 130. This food value can then be sent to the scaling unit 120 via a wired or wireless interface as previously described.and used in conjunction with, or instead of, the food A2 obtained with the first 3D camera 110-1.
    The second 3D camera 110-2 may be located on the other side of the vehicle 100, relative to the first camera 110-1 according to certain embodiments, for example as shown in Figure 2B, or on the same side as the first camera 110-1.An advantage of having a second 3D camera 110-2 as a complement to the first camera 110-1 is that more reliable food information can be obtained and feeding can be avoided in a ditch, pit or other cavity next to the track 130.
    Another advantage of having a second 3D camera 110-2 as a complement to the first camera 110-1 and allowing them to be placed on opposite sides of the vehicle 100 is that an object protrudes from the ground 130 and threatens to penetrate the wheelhouse. 105 and damage the driver. This is shown in more detail in Figure 2C.
    Figure 2C shows how the second 3D camera 110-2 detects a forernal 150 which, if the vehicle 100 were to overturn, could penetrate the wheelhouse 105 and damage the driver. In this case, flakes or some measures can be taken to protect the driver,such as releasing a side airbag, tightening the safety belt, dropping a curtain in front of the side window in the wheelhouse 105, moving the driver's seat in the opposite direction as the vehicle 100 falls, triggering a catapult mechanism in the driver's seat and pushing the driver out of the wheelhouse 105, or similar.
    Figure 3 illustrates an example embodiment of the invention. Flodesschemat iFigure 3 illustrates a method 300 for detecting selection of a vehicle 100. The method 300 may be performed in whole or in part in a calculation unit 120 in the vehicle 100, based on one or more feeds made with a 3D camera 110-1 in the vehicle 100. Alternatively, the method 300 may be performed in a system of the vehicle 100, the system comprising a 3D camera 110-1 and a calculating unit 120. In some embodiments12The calculating unit 120 may be included in the 3D camera 110-1 of the vehicle 100.
    The vehicle 100 may include two 3D cameras 110-1, 110-2 in some embodiments. Such a 3D camera 110-1, 110-2 may consist of: a Time of Flight, ToF, camera; a stereo camera; and / or a light field scanner.
    In order to be able to detect the steering of the vehicle 100 in a correct manner, the method 300 may comprise a number of steps 301-305. It should be noted, however, that some of the described steps 301-305 may be performed in a slightly different chronological order from what the numbering order suggests and that some of them may be performed in parallel withEach other, according to different embodiments. Furthermore, certain steps may be performed in some, but not necessarily all, embodiments, such as step 305. The method 300 includes the following steps:Step 301A normal plane 140 is determined by feeding a distance A1 in the height direction of the vehicle between a 3D camera 110-1, 110-2 included in the vehicle 100 and a substrate 130 when the vehicle 100 is in a horizontal position.
    According to certain embodiments, a horizontal position can be determined by feeding with the 3D camera 110-1, 110-2, by feeding with another sensor in the vehicle 100 or by feeding against a reference surface which has been determined to be horizontal, for example a flat carriageway.
    Step 302The 3D camera 110-1, 110-2 measures the distance A2, A3 between the 3D camera 110-1, 110-2 and the vehicle base 130.
    In some embodiments, the vehicle 100 may include two 3D cameras 110-1, 110-2, and the feeding of the distance A2, A3 may be done with the respective 3D camera 110-1, 110-2.13The supply with the 3D camera 110-1, 110-2 of the distance A2, A3 between the 3D camera 110-1, 110-2 and the vehicle base 130 may include distance feeding to a plurality of points on the base 130.
    The feed with the 3D camera 110-1, 110-2 of the distance A2, A3 can in certain embodiments be used to calculate an angle α on the inclination of the vehicle in relation to the determined normal plane 140.
    The feeding with the 3D camera 110-1, 110-2 of the distance A2, A3 between the 3D camera 110-1, 110-2 and the vehicle base 130 can be done continuously, or with a certain predetermined or configurable time interval.
    Step 303The difference in distance between the fed 302 distance A2, A3 and the distance A1 to the determined 301 normal plane 140 is calculated.
    In some embodiments, where the vehicle 100 includes two 3D cameras 110-1, 110-2, and the feeding of the distance A2, A3 is done with the respective 3D camera 110-1, 12, the difference in distance between the respective fed 302 distance A2, A3 and the distance A1 to the determined 301 normal plane 140 is calculated.
    Step 304When the calculated 303 difference in distance exceeds a threshold value, it is detected that the vehicle 100 is about to roll over.In some embodiments, the vehicle 100 includes two 3D cameras 110-1, 110-2 and wherein the feeding of the distance A2, A3 is done with the respective 3D camera 110-1, 110-2 and the difference in distance between the respective fed 302 distances. A2, A3 and the distance A1 to the determined 301 normal plane 140 have been calculated, so it can be detected that the vehicle 100 is able to roll when the ram these calculated distancesstatus differences exceed a respective threshold value at the same time.
    In some embodiments, the feed with the 3D camera 110-1, 110-2 of the distance A2, A3 has been used to calculate an angle α of the inclination of the vehicle in relation to14the determined normal plane 140, the detection that the vehicle 100 is about to roll can be made when the angle of inclination of the vehicle exceeds a threshold value.
    The detection that the vehicle 100 is about to roll can in some embodiments be used to trigger a protective measure to protect the driver of the vehicle.
    Step 30This step can be performed in some, but not necessarily all, embodiments.The 3D camera 110-1, 110-2 can detect an object 150 on the ground 130 which is judged to hit the vehicle's wheelhouse 105 when overturning the vehicle 100.
    The detection of an object 150 on the ground 130 being judged to hit the wheelhouse 105 of the vehicle 10 during a rollover of the vehicle 100 can in some embodiments be used to trigger a protective action to protect the driver of the vehicle.
    Figure 4 shows an embodiment of a system 400 comprising, inter alia, a calculation unit 120. This calculation unit 120 is configured to perform at least some of the previously described method steps 301-305, included in the description of the method 300 for detecting management of a vehicle 100.
    According to certain embodiments, the calculating unit 120 can further be arranged to detect an object 150 on the base 130 which is judged to hit the vehicle's wheelhouse 105 during a selection, based on the food value received from the 3D camera 110-1, 110-2.
    In order to be able to correctly detect the management of the vehicle 100 containsshaving unit 120 a number of components, which are described in more detail in the following text. Some of the described sub-components occur in some, but not necessarily all, embodiments. There may also be additional electronics in the calculating unit 120, which is not completely necessary to understand the function thereof according to the invention.
    The calculating unit 120 comprises a signal receiver 410, arranged to receive a food value A2, A3 from a 3D camera 110-1, 110-2 included in the vehicle 100.
    The food value A2, A3 can be sent from the 3D camera 110-1, 110-2 to the signal receiver 410 in the calibration unit 120 via a wired or wireless interface according to certain embodiments.
    For example, the wireless network may be based on the following technologies: Global System for Mobile Communications (GSM), Enhanced Data Rates for GSM Evolution (EDGE), Universal Mobile Telecommunications System (UMTS), Code Division Access (CDMA), (CDMA 2000 ), Time Division Synchronous CDMA (TD-SCDMA), Long Term Evolution (LTE); Wireless Fidelity (Wi-Fi), defined by the Institute of Electrical and Electronics Engineers (IEEE) standards 802.11 a, ac, b, 10 g and / or n, Internet Protocol (IP), Bluetooth and / or Near Field Communication, (NFC ), or similar communication technology according to different embodiments.
    According to certain other embodiments, the 3D camera 110-1, 110-2 and the signal receiver 410 are arranged for communication and information transmission over a wired interface. Such a wired interface may include a communicationbus system consisting of one or more communication buses for connecting a number of electronic control units (ECUs), or control units / controllers, and various components and sensors located on the vehicle 100. The communication bus of the vehicle may be one or more of a cable; a data bus, such as a CAN bus (Controller Area Network bus), and a MOST bus (Media Orient-ted Systems Transport), or any other bus configuration; or by a wireless connection, for example according to the flag of the above-mentioned technologies for wireless communication.
    Further, the calculating unit 120 comprises a processor circuit 420, arranged to determine a normal plane 140, based on feeding a distance A1 in the vehicleheight direction between a 3D camera 110-1, 110-2 included in the vehicle 100 and a base 130 when the vehicle 100 is in a horizontal position. The processor circuit 420 is also arranged to calculate the difference in distance, between the measured distance A2, A3 to the base 130 and the distance A1 to the determined normal plane 140. In addition, the processor circuit 420 is arranged to detect that the vehicle 100 isselect when the calculated difference in distance exceeds a threshold value.16The processor circuit 420 may be, for example, one or more Central Processing Unit (CPU), microprocessor or other logic designed to interpret and execute instructions and / or to read and write data. The processor circuit 420 may handle data for inflow, outflow or data processing of data including also buffering ofdata, control functions and the like.
    Furthermore, embodiments of the computing unit 120 may comprise a memory unit 4 which in some embodiments may be constituted by a storage medium for data. The memory unit 425 can be constituted by, for example, a memory card, flash memory, USB memory, hard disk or other similar data storage device, for example flake from10 group: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash memory, EEPROM (Electrically Erasable PROM), etc. in various embodiments.
    The calibration unit 120 may further comprise a signal transmitter 430, arranged to send a control signal to trigger a protection measure to protect the driver of the vehicle, then detection that the vehicle 100 is about to roll over and / or of a vehicle 150 which is judged to hit the vehicle's wheelhouse 105 at a management has been done.
    Furthermore, according to certain embodiments, the invention comprises a computer program for detecting selection of a vehicle 100. The computer program is arranged to perform the method 300 according to at least some of the previously described steps 301-305, when the program is executed in a processor circuit 420 in the calculation unit 120.
    The method 300 according to at least some of the steps 301-305 for detecting control of the vehicle 100 may be implemented by one or more processor circuits 420 in the calculation unit 120 together with computer program code for performing the flag, some, some or all of the steps 301-305 described above. . Darigenommay be a computer program including instructions for performing steps 301-305 when the program is loaded into the processor circuit 420.
    This above-described computer program in the vehicle 100 is in certain embodiments arranged to be installed in the memory unit 425 in the computing unit 120, for example over a wireless interface.17The signal receivers 410 described and discussed above, and / or signal transmitters 430 may in some embodiments be separate transmitters and transceivers. However, in some embodiments, signal receivers 410 and signal transmitters 430 in the calibration unit 120 may be a sand receiver, or transceiver, adapted to transmit and receive radio signals, where parts of the structure, such as the antenna, are common to transmitters and receivers. The said communication can be adapted for wireless information transmission, via radio waves, WLAN, Bluetooth or infrared transmitter / receiver module. However, signal receivers 410, and / or signal transmitters 430 in certain embodiments may alternatively be specially adapted for wired information exchange, or alternatively for both wireless and wired communication according to certain embodiments.
    The invention further comprises a system 400 for detecting selection of a vehicle 100. This system 400 comprises at least one 3D camera 110-1, 110-2 and a calculating unit 120, as described above.
    The system 400 may further include two 3D cameras 110-1, 110-2 mounted in or on the vehicle 100.
    Such a 3D camera 110-1, 110-2 may comprise, for example, a ToF camera, a stereo camera and / or a light field camera according to various embodiments.
    Some embodiments of the invention also include a vehicle 100, which includes a system 400 installed in the vehicle 100 for detecting vehicle management 100.18
    权利要求:
    Claims (16)
    [1]
    A method (300) in a calculating unit (120) for detecting the steering of a vehicle (100), the method (300) being characterized by: determining (301) a normal plane (140), by feeding an aystand (A1) in the vertical direction of the vehicle between a 3D camera (110-1, 110-2) included in the vehicle (100) and a base (130) when the vehicle (100) is in a horizontal position; feeding (302) with the 3D camera (110-1, 110-2) the position (A2, A3) between the 3D camera (110-1, 110-2) and the vehicle base (130); calculating (303) the difference in aystand, between the fed (302) of the stand (A2, A3) and the aystand (A1) to the fixed (301) normal plane (140); detecting (304) that the vehicle (100) is about to roll over when the calculated (303) difference in distance exceeds a threshold value.
    [2]
    The method (300) of claim 1, further comprising detecting (305) with the 3D camera (110-1, 110-2) a forernal (150) on the ground (130) which is judged to hit the vehicle cab (105) at a management.
    [3]
    The method (300) of any of claims 1 or 2, wherein the vehicle (100) comprises two 3D cameras (110-1, 110-2), and wherein the feed (302) of the aystand (A2, A3) and the calculation (303) is made for the respective 3D camera (110-1, 110-2), and where the detection (304) comprises that the calculated (303) difference in aystand Exceeds the threshold value for [Dada feeds simultaneously.
    [4]
    The method (300) of any of claims 1-3, wherein the feeding (302) with the 3D camera (110-1, 110-2) of the aystand (A2, A3) between the 3D camera (110-1, 110-2) and the vehicle substrate (130) includes stand feed to a plurality of points on the substrate (130).
    [5]
    The method (300) of any of claims 1-4, wherein the feed (302) with the 3D camera (110-1, 110-2) of the distance (A2, A3) is anyands for calculating an angle 19 (a) of the inclination of the vehicle in relation to the determined normal plane (140), and where the detection (304) that the vehicle (100) is about to tip is made then the angle (a) of the inclination of the vehicle exceeds a threshold value.
    [6]
    The method (300) of any of claims 1-5, wherein the 3D camera (110-1, 110-2) is comprised of: a Time of Flight, ToF, camera; a stereo camera; and / or a light field camera.
    [7]
    The method (300) of any of claims 1-6, wherein the detection (304) of the vehicle (100) is capable of overturning and / or the detection (305) of a forernal (150) judged to hit the vehicle's wheelhouse (105) during a rollover is used to trigger a protective guard to protect the driver of the vehicle.
    [8]
    The method (300) of any of claims 1-7, wherein the feed (302) with the 3D camera (110-1, 110-2) of the distance (A2, A3) between the 3D camera (110-1, 110- 2) and vehicle base (130) Ors continuously.
    [9]
    A calculating unit (120) for detecting the steering of a vehicle (100), the calculating unit (120) being characterized by: a signal receiver (410), arranged to receive a food value (A2, A3) from a 3D canning (110). 1, 110-2) included in the vehicle (100); a processor circuit (420), arranged to determine a normal plane (140), based on feeding a distance (A1) in the height direction of the vehicle between a 3D camera (110-1, 110-2) included in the vehicle (100) and a ground (130) when the vehicle (100) is in a horizontal position, true arranged to calculate the difference in distance, between the measured distance (A2, A3) to the ground (130) and the distance (A1) to the fixed normal plane (140), and further arranged to detect that the vehicle (100) is about to roll over when the calculated difference in distance exceeds a threshold value.
    [10]
    The calculating unit (120) according to claim 9, further arranged to detect a forernal (150) on the ground (130) which is judged to hit the wheelhouse (105) of the vehicle during a selection, based on the food received by the Iran 3D camera (110-1, 110 -2).
    [11]
    The calibration unit (120) according to claims 9-10, further comprising a signal transmitter (430), arranged to send a control signal to trigger a protection measure to protect the driver of the vehicle, when detecting that the vehicle (100) is about to roll and / or or by an object (150) which is judged to hit the vehicle's wheelhouse (105) during a rollover.
    [12]
    A computer program for detecting the management of a vehicle (100), by a method (300) according to any one of claims 1-8, wherein the computer program is executed in a processor circuit (420) in a calculation unit (120) according to any one of claims 9-11 .
    [13]
    A system (400) for detecting the steering of a vehicle (100), the system 10 (400) comprising: a 3D camera (110-1, 110-2); and a calculating unit (120) according to any one of claims 9-11.
    [14]
    The system (400) of claim 13, further comprising two 3D cameras (110-1, 110-2).
    [15]
    The system (400) of any of claims 13-14, wherein the 3D camera (110-1, 110-2) comprises: Time of Flight, ToF, camera; stereo camera; and / or light field camera.
    [16]
    A vehicle (100) comprising a system (400) according to any one of claims 13-15, arranged to perform a method (300) according to any one of claims 1-8 for detecting steering of the vehicle (100). 1/101 L 1
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    同族专利:
    公开号 | 公开日
    SE538987C2|2017-03-14|
    DE112014002961B4|2019-02-07|
    WO2015009222A1|2015-01-22|
    DE112014002961T5|2016-03-24|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1350902A|SE538987C2|2013-07-18|2013-07-18|Roll-over warning in vehicles|SE1350902A| SE538987C2|2013-07-18|2013-07-18|Roll-over warning in vehicles|
    DE112014002961.0T| DE112014002961B4|2013-07-18|2014-06-30|Rollover warning for vehicles|
    PCT/SE2014/050818| WO2015009222A1|2013-07-18|2014-06-30|Overturn warning in vehicles|
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