Vehicle Camera Pitch Estimation with Drift-Resistant Image Fusion
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Solution Overview
Problem
Existing methods for dynamically estimating the pitch and roll of a vehicle-mounted camera fail to accurately track rapid angular changes due to dynamic pitch and roll, leading to miscalculations that affect the precise determination of surrounding objects, potentially disabling certain driver assistance system functions.
Innovation Solution
A method that combines two complementary approaches to estimate pitch: integrating relative motion with an anti-divergence coefficient and recognizing road markings, refining the estimate based on quality thresholds and comparison with calibration angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple sensors (accelerometers, gyroscopes, magnetometers) are used to determine vehicle pitch, then measurement reliability is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces complex mechanical sensor systems (accelerometers, gyroscopes, magnetometers) with an optical measurement system using an image capture sensor. The pitch angle is determined by capturing images of the vehicle interior and using image processing algorithms to calculate the pitch angle from the geometric relationships between detected features, thereby eliminating the need for multiple complex sensors.
Solution Approach 2:
The patent uses an image capture sensor to create a visual copy of the vehicle interior state, from which pitch information is extracted through image processing. This optical copy approach replaces direct physical measurement with sensor arrays, simplifying the hardware while maintaining measurement capability.
2Measurement precision
If multiple sensors are used to determine vehicle pitch, then measurement precision is improved, but manufacturing cost increases
Solution Approach 1:
The patent replaces expensive multiple sensor systems with a single image capture sensor and processing unit. The pitch measurement is achieved through optical means and computational algorithms, significantly reducing component count and manufacturing cost while maintaining measurement precision through image processing techniques.
3Speed
If pitch determination is performed continuously, then responsiveness to pitch changes is improved, but energy consumption increases
Solution Approach 1:
The patent implements periodic pitch determination by capturing images at defined intervals or when specific conditions are met (e.g., when pitch change exceeds a threshold). This periodic operation maintains system responsiveness to pitch changes while avoiding continuous processing, thereby reducing energy consumption compared to continuous measurement systems.
Data Source
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AI summary
The invention relates to a method for estimating the pitch of a motor vehicle (10) by means of an image capture sensor (12) aboard said motor vehicle (10). The method is characterised in that it comprises at least a first estimation step, which consists in estimating a first pitch angle of the sensor (12) according to a first estimation method that integrates a drift avoidance coefficient to limit the drift of the estimation of the first pitch angle, a second estimation step, which consists in estimating a second pitch angle of the sensor (12) according to a second estimation method, and a fourth step, which consists in refining said first pitch angle by increasing the drift avoidance coefficient to obtain a refined first pitch angle, considered to be the output angle, if at least one first condition is validated.