Trailer wheel targetless trailer angle detection
First Claim
Patent Images
1. A backup assist system for a vehicle and trailer combination, comprising:
- a steering system;
a camera generating an image of the trailer; and
a controller;
receiving the image and identifying a wheel therein;
determining a value in a kinematic model of the vehicle and trailer combination using an aspect ratio of the wheel in the image; and
using the value in the kinematic model to control the steering system.
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Abstract
A backup assist system for a vehicle and trailer combination includes a steering system, a camera generating an image of the trailer, and a controller. The controller receives the image and identifying a wheel therein, determines a value in a kinematic model of the vehicle and trailer combination using at least one of an aspect ratio or location of the wheel in the image, and uses the value in the kinematic model to control the steering system.
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Citations
20 Claims
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1. A backup assist system for a vehicle and trailer combination, comprising:
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a steering system; a camera generating an image of the trailer; and a controller; receiving the image and identifying a wheel therein; determining a value in a kinematic model of the vehicle and trailer combination using an aspect ratio of the wheel in the image; and using the value in the kinematic model to control the steering system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A vehicle, comprising:
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a steering system; a camera generating images of a predetermined area to a rear of the vehicle; and a system for assisting in reversing the vehicle with a trailer coupled therewith and including a controller; processing sequential images received from the camera to identify a wheel and determine an aspect ratio of a wheel therein; determining a value for an unknown in a kinematic model of the vehicle and trailer combination using the aspect ratio; and using the value in the kinematic model to control the steering system. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. A method for assisting a vehicle in reversing a trailer, comprising:
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using a processor to; identify a wheel of the trailer and to determine an aspect ratio thereof within an image received from a camera; and determine a value in a kinematic model of the vehicle and trailer combination using the aspect ratio; and using the value in the kinematic model to control a steering system of the vehicle. - View Dependent Claims (17, 18, 19, 20)
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Specification