A method for camera based determination of a natural motion and / or a rotary movement about a vertical vehicle axis of a vehicle

摘要

The invention relates to a method for camera based determination of a natural motion and / or a rotary movement about a vertical vehicle axis of a vehicle (2) on the basis of an optical flow, wherein by means of at least one camera directed in the direction of a roadway (3, 5) in chronological succession images (b1, b2) are absorbed, and in the temporally successively acquired images (b1, b2) correspondences of image characteristics (m) on the basis of flow vectors (v1.1 to v1.n, v2.1 to be evaluated v2.m). According to the invention, a to a defined first point in time (t₀ to t_i) currently detected image (b1, b2) as a reference image (rb) is predetermined. Furthermore, correspondences temporally according to the reference image (rb) acquired images (b1, b2) in relation to the reference image (rb) is determined, and, after traversing a predetermined path (d) by means of the vehicle (2), a to a to the first point in time (t₀ to t_i) the following further point in time (t₁ to t_i) currently detected further image (b1, b2) as a reference image (rb) is predetermined.n="18"