Trailer parking assist system for vehicle

• US 10,086,870 B2
• Filed: 08/16/2016
• Issued: 10/02/2018
• Est. Priority Date: 08/18/2015
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Gieseke, Achim, Latotzki, Ralph, Boegel, Ruediger
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/238,005
• Publication Number:
  US 20170050672A1
• Time in Patent Office: 777 Days
• Field of Search: 701 48
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60R 2300/8086 for vehicle path indication
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2300/14 Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/42 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2520/06 Direction of travel
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/0295 by overlaying a vehicle path based on present steering angle over an image without processing that image

Abstract

A driver assist system for a vehicle includes a plurality of vehicle cameras and at least one trailer camera, with the vehicle cameras configured to be disposed at a vehicle and having respective fields of view exterior of the vehicle and the trailer camera configured to be disposed at a trailer towed by the vehicle. An image processor is operable to process image data captured by the vehicle cameras and the trailer camera. Responsive to processing of captured image data during forward or rearward motion of the vehicle and trailer, the image processor is operable to calibrate the trailer camera with the vehicle cameras. Responsive to processing of captured image data during forward or rearward motion of the vehicle and trailer, the image processor is operable to determine objects rearward of the trailer that are not in the fields of view of the vehicle cameras.

Claims

1. A driver assist system for a vehicle, said driver assist system comprising:

a plurality of vehicle cameras configured to be disposed at a vehicle and having respective fields of view exterior of the vehicle;

at least one trailer camera configured to be disposed at a trailer towed by the vehicle;

an image processor operable to process image data captured by said plurality of vehicle cameras and by said at least one trailer camera;

wherein, with said plurality of vehicle cameras disposed at the vehicle and with said at least one trailer camera disposed at the trailer towed by the vehicle, and responsive to processing of image data captured by said plurality of vehicle cameras and by said at least one trailer camera during forward or rearward motion of the vehicle towing the trailer, said driver assist system calibrates said at least one trailer camera to be in accordance with calibration of said plurality of vehicle cameras;

wherein, responsive to processing of image data captured by said plurality of vehicle cameras and by said at least one trailer camera during forward or rearward motion of the vehicle towing the trailer, said driver assist system determines objects rearward of the trailer that are present in the field of view of said at least one trailer camera and not present in the fields of view of said plurality of vehicle cameras;

a display screen disposed in the vehicle for viewing by a driver of the vehicle, and wherein said display screen displays video images derived from image data captured by at least one camera selected from the group consisting of said plurality of vehicle cameras and said at least one trailer camera;

wherein said driver assist system generates graphic overlays at said display screen overlaying the displayed video images, the graphic overlays indicating a projected path of the vehicle towing the trailer for maneuvering the vehicle and trailer towards a target parking space; and

wherein, during a reversing maneuver, and responsive to a determination of an object rearward of the trailer, said driver assist system adjusts the projected path to avoid the object.

2. The driver assist system of claim 1, wherein, responsive to processing of image data captured by said plurality of vehicle cameras and by said at least one trailer camera during forward or rearward motion of the vehicle towing the trailer, said driver assist system initializes said at least one trailer camera in coordinates that correspond to coordinates of said plurality of vehicle cameras.

3. The driver assist system of claim 1, wherein said driver assist system calibrates said at least one trailer camera in accordance with said plurality of vehicle cameras responsive at least in part to a determination of a trailer angle of the trailer relative to the vehicle.

4. The driver assist system of claim 3, wherein said driver assist system determines the trailer angle responsive at least in part to image processing of image data captured by said plurality of vehicle cameras and by said at least one trailer camera.

5. The driver assist system of claim 1, wherein, responsive to determination of an object rearward of the trailer, said driver assist system at least one of (i) generates an alert to the driver of the vehicle, (ii) controls a braking system of the vehicle and (iii) controls a steering system of the vehicle.

6. The driver assist system of claim 1, wherein said driver assist system utilizes a trailer identifying and angle detection algorithm.

7. The driver assist system of claim 1, wherein said driver assist system uses a two stage path planner having a geometric planning with consecutive optimal control minimization algorithm.

8. A driver assist system for a vehicle, said driver assist system comprising:

a plurality of vehicle cameras configured to be disposed at a vehicle and having respective fields of view exterior of the vehicle;

at least one trailer camera configured to be disposed at a trailer towed by the vehicle;

an image processor operable to process image data captured by said plurality of vehicle cameras and by said at least one trailer camera;

wherein, with said plurality of vehicle cameras disposed at the vehicle and with said at least one trailer camera disposed at the trailer towed by the vehicle, and responsive to processing of image data captured by said plurality of vehicle cameras and by said at least one trailer camera during forward or rearward motion of the vehicle towing the trailer, said driver assist system calibrates said at least one trailer camera to be in accordance with calibration of said plurality of vehicle cameras;

wherein, responsive to processing of image data captured by said plurality of vehicle cameras and by said at least one trailer camera during forward or rearward motion of the vehicle towing the trailer, said driver assist system initializes said at least one trailer camera in coordinates that correspond to coordinates of said plurality of vehicle cameras;

wherein, responsive to processing of image data captured by said plurality of vehicle cameras and by said at least one trailer camera during forward or rearward motion of the vehicle towing the trailer, said driver assist system determines objects rearward of the trailer that are present in the field of view of said at least one trailer camera and not present in the fields of view of said plurality of vehicle cameras;

a display screen disposed in the vehicle for viewing by a driver of the vehicle, and wherein said display screen displays video images derived from image data captured by at least one camera selected from the group consisting of said plurality of vehicle cameras and said at least one trailer camera; and

wherein the displayed video images include patched image portions derived from previously captured frames of image data to fill in areas in the displayed video images that were previously encompassed by a field of view of at least one of said plurality cameras and said at least one trailer camera and that are not presently encompassed by the fields of view of any of said plurality of vehicle cameras and said at least one trailer camera.

9. The driver assist system of claim 8, wherein said driver assist system generates graphic overlays at said display screen overlaying the displayed video images, the graphic overlays indicating a projected path of the vehicle and trailer for maneuvering the vehicle towing the trailer towards a target parking space, and wherein, during a reversing maneuver, and responsive to a determination of an object rearward of the trailer, said driver assist system adjusts the projected path to avoid the object.

10. The driver assist system of claim 8, wherein said driver assist system calibrates said at least one trailer camera to be in accordance with calibration of said plurality of vehicle cameras responsive at least in part to a determination of a trailer angle of the trailer relative to the vehicle, and wherein said driver assist system determines the trailer angle responsive at least in part to image processing of image data captured by said plurality of vehicle cameras and by said at least one trailer camera.

11. The driver assist system of claim 8, wherein, responsive to a determination of an object rearward of the trailer, said driver assist system at least one of (i) generates an alert to the driver of the vehicle, (ii) controls a braking system of the vehicle and (iii) controls a steering system of the vehicle.

12. The driver assist system of claim 8, wherein said driver assist system utilizes a trailer identifying and angle detection algorithm.

13. The driver assist system of claim 8, wherein said driver assist system highlights the patched image portions of the displayed images to alert the driver that those areas are not encompassed by the field of view of any of said plurality of vehicle cameras and said at least one trailer camera.

14. A driver assist system for a vehicle, said driver assist system comprising:

a plurality of vehicle cameras configured to be disposed at a vehicle and having respective fields of view exterior of the vehicle;

at least one trailer camera configured to be disposed at a trailer towed by the vehicle;

an image processor operable to process image data captured by said plurality of vehicle cameras and said at least one trailer camera;

wherein, with said plurality of vehicle cameras disposed at the vehicle and said at least one trailer camera disposed at the trailer towed by the vehicle, and responsive to processing of image data captured by said plurality of vehicle cameras and by said at least one trailer camera during forward or rearward motion of the vehicle towing the trailer, said driver assist system calibrates said at least one trailer camera to be in accordance with calibration of said plurality of vehicle cameras;

wherein, responsive to processing of image data captured by said plurality of vehicle cameras and by said at least one trailer camera during forward or rearward motion of the vehicle towing the trailer, said driver assist system determines objects rearward of the trailer that are present in the field of view of said at least one trailer camera and not present in the fields of view of said plurality of vehicle cameras;

a display screen disposed in the vehicle for viewing by a driver of the vehicle, wherein said display screen displays video images derived from image data captured by at least one camera selected from the group consisting of said plurality of vehicle cameras and said at least one trailer camera;

wherein said driver assist system generates graphic overlays at said display screen overlaying the displayed video images, the graphic overlays indicating a projected path of the vehicle towing the trailer for maneuvering the vehicle and trailer towards a target parking space;

wherein, during a reversing maneuver, and responsive to a determination of an object rearward of the trailer via processing by said image processor of image data captured by said plurality of vehicle cameras and by said at least one trailer camera, said driver assist system adjusts the projected path to avoid the object; and

wherein, responsive to a determination of the object rearward of the trailer via processing by said image processor of image data captured by said plurality of vehicle cameras and by said at least one trailer camera, said driver assist system at least one of (i) generates an alert to the driver of the vehicle, (ii) controls a braking system of the vehicle and (iii) controls a steering system of the vehicle.

15. The driver assist system of claim 14, wherein, responsive to processing of image data captured by said plurality of vehicle cameras and by said at least one trailer camera during forward or rearward motion of the vehicle towing the trailer, said driver assist system initializes said at least one trailer camera in coordinates that correspond to coordinates of said plurality of vehicle cameras.

16. The driver assist system of claim 14, wherein said driver assist system calibrates said at least one trailer camera in accordance with said plurality of vehicle cameras responsive at least in part to a determination of a trailer angle of the trailer relative to the vehicle, and wherein said driver assist system determines the trailer angle responsive at least in part to image processing of image data captured by said plurality of vehicle cameras and by said at least one trailer camera.

17. The driver assist system of claim 14, wherein said driver assist system utilizes a trailer identifying and angle detection algorithm, and wherein said driver assist system uses a two stage path planner having a geometric planning with consecutive optimal control minimization algorithm.