Vehicle Camera Pitch and Roll Estimation Under Dynamic Acceleration
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Solution Overview
Problem
Existing methods for dynamically estimating the pitch and roll of a vehicle's camera fail to accurately track rapid angular changes due to dynamic movements, leading to temporary miscalculations that affect the precise determination of surrounding objects, thereby disabling or limiting the functionality of driver assistance systems.
Innovation Solution
A method for dynamically estimating pitch and roll using an anti-divergence coefficient that accounts for both the movement and acceleration of the vehicle's camera, incorporating equations to adjust the estimation based on relative and acceleration-dependent anti-divergence coefficients, ensuring accurate angle estimation during varying driving conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If dynamic estimation methods are used to track camera orientation during vehicle movement, then the system can respond to rapid changes in pitch and roll, but the estimation accuracy deteriorates due to accumulation of errors and divergence from true values
Solution Approach 1:
The patent implements a feedback mechanism by continuously comparing the dynamically estimated pitch and roll angles with the calibrated nominal values. The anti-divergence coefficient is calculated based on the deviation between the integrated angle and the calibrated angle, creating a closed-loop system that corrects estimation drift and maintains accuracy while responding to dynamic changes.
Solution Approach 2:
The patent dynamically adjusts the anti-divergence coefficient as a control parameter based on the current motion state and deviation from calibrated values. This parameter changes adaptively to balance between tracking rapid changes and maintaining accuracy, resolving the contradiction between response speed and measurement precision.
2Measurement precision
If the anti-divergence coefficient is increased to maintain accuracy near calibrated values, then measurement precision improves, but the system becomes less responsive to rapid dynamic changes
Solution Approach 1:
The patent makes the anti-divergence coefficient dynamic rather than static. It adapts its value based on the current motion conditions, calibrated angle deviation, and integration time. This dynamic adjustment allows the system to maintain high accuracy during slow movements while responding quickly to rapid dynamic changes, resolving the contradiction between precision and responsiveness.
Solution Approach 2:
The anti-divergence coefficient is changed as a variable parameter that responds to motion state. By adjusting this parameter dynamically based on deviation from calibrated values and current motion characteristics, the system optimizes the balance between maintaining accuracy and responding to changes.
3Measurement precision
If calibration is performed regularly to maintain accurate camera positioning, then the spatial localization of objects improves, but the system cannot track rapid dynamic changes in camera orientation
Solution Approach 1:
The patent creates a dynamic estimation system that operates continuously without requiring periodic recalibration. The anti-divergence mechanism automatically adapts to changing conditions, enabling the system to track rapid dynamic changes while maintaining localization accuracy, thus resolving the contradiction between calibration stability and dynamic adaptability.
Solution Approach 2:
The patent enables continuous operation by maintaining accurate pitch and roll estimation through continuous integration with anti-divergence correction. This eliminates the need to stop or recalibrate during dynamic events, providing continuous and accurate spatial localization throughout the entire operation period.
Data Source
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AI summary
The invention relates to a method for dynamically estimating the pitch and the roll of a motor vehicle (10) by means of at least one image capture sensor (12) aboard said motor vehicle (10). The method comprises at least one step of estimating an absolute extrinsic angle of inclination of said sensor (12), using an equation including a drift avoidance coefficient that is partially dependent on the acceleration to which the image capture sensor (12) is subjected during movement of the motor vehicle (10).