Procedure for warning of mass movements on sloping terrain

摘要

In a method (V) for warning of mass movements on sloping terrain (2) for a vehicle (1), the sloping terrain (2) is recorded by means of at least one camera (3) so that image data (B) are generated. Driving dynamics (F) of the vehicle (1) are determined. An optical flow (5) of at least one object (4; 4 *) located on the sloping terrain (2) is determined from the image data (B). It is evaluated whether the at least one object (4; 4 *) fulfills an epipolar condition (E). The at least one object (4; 4 *) is marked as a critical object in the image data if the at least one object (4; 4 *) does not meet the epipolar condition (E). A trajectory (I) of the vehicle (1) is determined from the driving dynamics (F). A trajectory (II) of the at least one critical object (4; 4 *) is determined on the basis of the image data (B). Based on the trajectory (I) of the vehicle (1) and the trajectory (II) of the at least one critical object (4; 4 *), a collision probability (K) between the vehicle (1) and the at least one critical object (4; 4 *) calculated. A warning (W) is issued when the collision probability (K) reaches or exceeds a threshold value (S).