Provided are a method for estimating a road gradient based on a stereo camera, which estimates the gradient of a road in advance to actively use the estimated gradient to chassis control of a vehicle, and a system thereof. According to one embodiment of the present invention, the method for estimating a road gradient comprises the steps of: using a stereo camera to extract depth information about a front road; and estimating gradient information of the road based on the extracted depth information. Accordingly, the gradient information of a road can be estimated in advance during drive for the presence/absence of a speed bump, the height of the speed bump, the presence/absence of a pothole, the height of the pothole, the inclination of an uphill road, the inclination of a downhill road, and the like to be determined in advance to use active chassis control based on the gradient information, thereby increasing stability and ride comfort of a vehicle.
도로의 구배를 선행 예측하여 차량의 새시 제어 등에 능동적으로 활용하기 위한 방안으로, 스테레오 카메라 기반 도로 구배 예측방법 및 시스템이 제공된다. 본 발명의 실시예에 따른 구배 예측방법은 스테레오 카메라를 이용하여 전방 도로에 대한 깊이 정보를 추출하는 단계; 및 추출한 깊이 정보를 기반으로, 도로의 구배 정보를 추정하는 단계;를 포함한다. 이에 의해, 주행중에 도로의 구배정보를 선행하여 예측할 수 있어, 방지턱의 유무, 방지턱의 높낮이, 포트홀의 유무, 포트홀의 높낮이, 경사로의 경사정도, 내리막의 경사도 등을 미리 선행하여 알아낼 수 있으므로, 아를 기반으로 능동형 새시 제어에 활용하여 차량의 안정성 및 승차감을 더욱 향상시킬 수 있다.
Road Gradient Estimation Method and System based on Stereo Camera
스테레오 카메라 기반 도로 구배 예측방법 및 시스템
2019-06-26
Patent
Electronic Resource
Korean
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
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