System and method for preventing rolling-over of vehicles

1. A system for preventing rolling-over of vehicles, comprising:

at least one camera attached to a portion of the vehicle such that images captured by the at least one camera includes a portion of the vehicle and a portion of a surrounding area;

a communication module; and

a controller configured to:

receive from the at least one camera, via the communication module, a stream of images comprising both a portion of the vehicle and a portion of a surrounding area;

receive data related to parameters of the vehicle;

calculate a relative temporal position between the vehicle and the ground, based on the received stream of images comprising both a portion of the vehicle and a portion of a surrounding area;

calculate a temporal location of the vehicle's center of gravity (CoG) based on the received stream of images and the data related to the parameters of the vehicle, wherein the calculating comprises:

receiving a location of the CoG of vehicle's mobility unit from a database;

estimating a posture of the vehicle task-preforming unit, relative to one of: a fixed portion of the vehicle and the ground, from the stream of images;

estimating a payload mass from the stream of images; and

calculating a temporal change in the location of the vehicle's center of gravity based on the location of the CoG of vehicle's mobility unit, the posture of the vehicle task-preforming unit and payload mass; and

determine a probability of rolling-over of the vehicle by calculating an energy of rolling the vehicle by, determining a temporal tilting angle between a normal to the ground area passing through the temporal CoG and a gravity vector passing through the temporal CoG, the mass of the payload, a mass of the vehicle, and the relative temporal position between the vehicle and the ground,

when the probability exceeds a threshold value, execute at least one of: sending a message to an external device associated with an operator of the vehicle, and controlling at least one of: the vehicle or at least one of the vehicle's parts.

2. The system of claim 1 , wherein the received at least one image further includes a portion of a load carried by the vehicle and the received parameters include parameters related to the load.

3. The system of claim 1 , wherein the controller is further configured to:

calculate a velocity of the vehicle's center of gravity based on the received at least one image and the data related to the parameters of the vehicle; and

determine the probability of rolling-over the vehicle also based on the calculated center of gravity's velocity.

4. The system of claim 1 , wherein the controller is further configured to:

receive a stream of images from the at least one camera, while the vehicle is on the move travelling;

identify temporal changes in at least one of: the relative position and the location of the vehicle's center of gravity, a relative posture of the vehicle and a position and posture of a load carried by the vehicle;

determine the probability of rolling-over of the vehicle based on the temporal changes; and

preventing the vehicle from rolling-over, while the vehicle is travelling, if the probability is higher than a threshold value.

5. The system of claim 1 , wherein the controller is configured to calculate the location of the center of gravity from the analyzed images by:

estimating a posture of the vehicle;

receive data related to dimensions of the vehicle; and

estimating a load of the vehicle.

6. The system of claim 1 , wherein the vehicle's parameters comprises at least one of: dimensions of the vehicle; dimensions of a load carried by the vehicle; a moment of inertia of the vehicle; mass of each part; motor parameters; and a mathematical model representing the dynamics between inputs and output of the dynamic elements of the vehicle.

7. The system of claim 6 , wherein at least some of the vehicle's parameters are received from a database.

8. The system of claim 6 , wherein at least some of the vehicle's parameters are extracted from the received at least one image.

9. The system of claim 1 , wherein the controller is configured to calculate the relative position between the vehicle and the ground from the analyzed images by:

determining a tilting angle of the vehicle with respect to the ground; and

calculating a swing angle.

10. The system of claim 1 , further comprising one or more sensor, and wherein the controller is configured to determine the probability of rolling-over of the vehicle based on data received from the one or more sensors.

11. The system of claim 1 , wherein the at least one camera is located on a portion of the vehicle, affixed in a static configuration when the vehicle is stationary.

12. The system of claim 1 , wherein the at least one camera is located at a predetermined location on the vehicle.

13. The system of claim 1 , wherein the controller is configured to:

detect an input from a user operating the vehicle.

14. A method of preventing rolling-over of vehicles, comprising:

receiving from at least one camera attached to a portion of the vehicle, a stream of images that includes a portion of the vehicle and a portion of surrounding area;

receiving data related to parameters of the vehicle;

calculating a relative temporal position between the vehicle and the ground, based on the received stream of images comprising both a portion of the vehicle and a portion of a surrounding area;

calculating a temporal location of the vehicle's center of gravity (CoG) based on the received stream of images and the data related to the parameters of the vehicle, wherein the calculating comprises:

receiving a location of the CoG of vehicle's mobility unit from a database;

estimating a posture of the vehicle task-preforming unit, relative to one of: a fixed portion of the vehicle and the ground, from the stream of images;

estimating a payload mass from the stream of images; and

calculating a temporal change in the location of the vehicle's center of gravity based on the location of the CoG of vehicle's mobility unit, the posture of the vehicle task-preforming unit and payload mass; and

determining a probability of rolling-over of the vehicle by calculating an energy of rolling the vehicle by, determining a temporal tilting angle between a normal to the ground area passing through the temporal CoG and a gravity vector passing through the temporal CoG, the mass of the payload, a mass of the vehicle, and the relative temporal position between the vehicle and the ground,

when the probability exceeds a threshold value, executing at least one of: sending a message to an external device associated with an operator of the vehicle, and controlling at least one of: the vehicle or at least one of the vehicle's parts.

15. The method of claim 14 , wherein the received at least one image further includes a portion of a load and the received parameters include parameters related to the load.

16. The method of claim 14 , further comprising:

calculating a velocity of the vehicle's center of gravity based on the received at least one image and the data related to the parameters of the vehicle; and

determining the probability of rolling-over the vehicle also based on the calculated center of gravity's velocity.

17. The method of claim 14 , further comprising:

receiving a stream of images from the at least one camera, whilst the vehicle is travelling;

identifying temporal changes in the relative position and the location of the vehicle's center of gravity, the relative posture of the vehicle and the position and posture of a load carried by the vehicle;

determining the probability of rolling-over of the vehicle based on temporal changes; and

preventing the vehicle from rolling-over, while the vehicle is travelling, if the probability is higher than a threshold value.

18. The method of claim 14 , further comprising:

receiving a stream of images from the at least one camera, while the vehicle is travelling;

identifying temporal changes in the relative position and the location of the vehicle's center of gravity;

determine the probability of rolling-over of the vehicle based on temporal changes; and

preventing the vehicle from rolling-over, while the vehicle is travelling, if the probability is higher than a threshold value.

19. The method of claim 14 , wherein the controller is configured to calculate the location of the center of gravity from the analyzed images by:

estimating a posture of the vehicle;

receiving data related to dimensions of the vehicle; and

estimating a load of the vehicle.