Patent ID: 9187051
Filing Date: 2015-11-17
Classification: B60R,G01S

Abstract:
1. A method for detecting an imminent rollover of a vehicle, comprising: a) taking a series of stereo images of the surroundings of the vehicle with a stereo camera that includes two cameras, b) determining and tracking, by an image processor, point features in the series of stereo images, c) eliminating, by the image processor, point features which are located on objects that move relative to the stationary surroundings of the vehicle, d) computing, by the image processor, rotational parameters of the stereo camera movement (roll rate (φ′), pitch rate (θ′) and yaw rate (ψ′)) taking into account the remaining point features, e) estimating, by the image processor, a roll angle (φ) separately for each of the two cameras based on the roll rate (φ′) of the stereo camera, and f) comparing, by the image processor, the roll angle (φ) for each of the two cameras to a threshold to detect the imminent rollover.