Driver assistance system for vehicle

• US 10,169,926 B2
• Filed: 07/09/2018
• Issued: 01/01/2019
• Est. Priority Date: 05/18/2011
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Gibson, Joel S., Byrne, Steven V., Shriner, Richard D.
• Primary Examiner(s): Lhymn, Sarah
• Application Number:
  US16/029,750
• Publication Number:
  US 20180315252A1
• Time in Patent Office: 176 Days
• Field of Search: 345619, 345632, 345633
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/305 merging camera image with lines or icons
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: G06T 19/006 Mixed reality object pose determination, tracking or camera calibration for mixed reality G06T7/00
• CPC Class Codes: H04N 17/002 for television cameras

Abstract

A method for providing backup assistance includes providing a rear backup camera and a processor at a vehicle, and storing a plurality of sets of overlays in memory, with each set of the stored plurality of sets of overlays associated with a respective vehicle wheelbase configuration. A wheelbase configuration input is provided that is representative of the vehicle wheelbase configuration of the vehicle. Responsive at least in part to the input, a particular set of overlays from the stored sets of overlays is selected, with the selected set including a plurality of individual predicted vehicle trajectory overlays that correspond to respective steering angle ranges for the vehicle wheelbase configuration of the vehicle. Responsive at least in part to a steering angle of the vehicle during a reversing maneuver of the vehicle, an individual predicted vehicle trajectory overlay is selected for displaying for viewing by the vehicle driver.

Claims

1. A method for providing backup assistance for a driver of a vehicle, said method comprising:

providing a rear backup camera at a vehicle so as to have a field of view at least rearward of the vehicle;

providing a processor at the vehicle;

storing a plurality of sets of overlays in memory, wherein each set of the stored plurality of sets of overlays is associated with a respective vehicle wheelbase configuration of a plurality of different vehicle wheelbase configurations;

providing a wheelbase configuration input to the processor that is representative of the vehicle wheelbase configuration of the vehicle;

selecting, via the processor, and responsive at least in part to the wheelbase configuration input, a particular set of stored overlays from the stored plurality of sets of overlays, wherein the selected set of stored overlays comprises a plurality of individual predicted vehicle trajectory overlays that correspond to respective steering angle ranges for the vehicle wheelbase configuration of the vehicle; and

selecting, via the processor, and responsive at least in part to a steering angle of the vehicle during a reversing maneuver of the vehicle, an individual predicted vehicle trajectory overlay of the selected set of stored overlays for displaying at a display of the vehicle for viewing by a driver of the vehicle during the reversing maneuver of the vehicle.

2. The method of claim 1, wherein providing a wheelbase configuration input to the processor comprises providing, via a bus communication of the vehicle, a wheelbase configuration input to the processor that is representative of the vehicle wheelbase configuration of the vehicle.

3. The method of claim 1, comprising receiving, at the processor, a steering wheel angle input corresponding to a steering wheel angle of the vehicle, wherein the processor selects an individual predicted vehicle trajectory overlay from the selected set of stored overlays for displaying at the display based at least in part on the received steering wheel angle input.

4. The method of claim 3, wherein, if the vehicle wheelbase configuration of the vehicle is available with different steering gear ratios, said method comprises (i) providing a value in the steering wheel angle input that is representative of when the steering wheel of the vehicle is at full lock, and (ii) determining, via the processor, information regarding the steering gear ratio of the vehicle based at least in part on the received steering wheel angle input.

5. The method of claim 1, wherein the plurality of stored overlays stored in memory includes a first set of a plurality of first predicted vehicle trajectory overlays corresponding to a first vehicle wheelbase configuration and a second set of a plurality of second predicted vehicle trajectory overlays corresponding to a second vehicle wheelbase configuration.

6. The method of claim 5, wherein selecting, via the processor, a particular set of stored overlays from the stored plurality of sets of overlays comprises selecting the first set of the plurality of first predicted vehicle trajectory overlays responsive to the provided wheelbase configuration input being indicative of the vehicle having the first vehicle wheelbase configuration.

7. The method of claim 6, wherein selecting, via the processor, a particular set of stored overlays from the stored plurality of sets of overlays comprises selecting the second set of the plurality of second predicted vehicle trajectory overlays responsive to the provided wheelbase configuration input being indicative of the vehicle having the second vehicle wheelbase configuration.

8. The method of claim 5, wherein at least one of the first predicted vehicle trajectory overlays is common with at least one of the second predicted vehicle trajectory overlays.

9. The method of claim 1, wherein the plurality of sets of overlays stored in memory includes at least one common predicted vehicle trajectory overlay corresponding to two or more vehicle wheelbase configurations.

10. The method of claim 1, comprising, during the reversing maneuver of the vehicle, determining, via the processor, which individual predicted vehicle trajectory overlay of the selected set of stored overlays for displaying at the display by accessing a look up table based at least in part on a trajectory of the vehicle.

11. The method of claim 10, wherein the trajectory is determined at least in part responsive to a steering angle of the vehicle.

12. The method of claim 11, wherein the look up table comprises a plurality of predicted vehicle trajectory overlays associated with a plurality of vehicle wheelbase configurations and a plurality of steering angles for each vehicle wheelbase configuration.

13. The method of claim 12, wherein determining the individual predicted vehicle trajectory overlay comprises selecting, from the look up table, an individual predicted vehicle trajectory overlay that is closest to the steering angle of the vehicle for the vehicle wheelbase configuration of the vehicle.

14. The method of claim 1, wherein, during the reversing maneuver of the vehicle, selecting, via the processor, a particular individual predicted vehicle trajectory overlay from the selected set of stored overlays for displaying at the display based at least in part on a steering wheel angle of the vehicle.

15. A method for providing backup assistance for a driver of a vehicle, said method comprising:

providing a rear backup camera at a vehicle so as to have a field of view at least rearward of the vehicle;

providing a processor at the vehicle;

storing a plurality of sets of overlays in memory, wherein each set of the stored plurality of sets of overlays is associated with a respective vehicle wheelbase configuration of a plurality of different vehicle wheelbase configurations;

providing, via a bus communication of the vehicle, a wheelbase configuration input to the processor that is representative of the vehicle wheelbase configuration of the vehicle;

selecting, via the processor, and responsive at least in part to the wheelbase configuration input, a particular set of stored overlays from the stored plurality of sets of overlays, wherein the selected set of stored overlays comprises a plurality of individual predicted vehicle trajectory overlays that correspond to respective steering angle ranges for the vehicle wheelbase configuration of the vehicle;

providing a steering angle input to the processor that is representative of a steering wheel angle of the vehicle; and

selecting, via the processor, and responsive at least in part to the steering angle input during a reversing maneuver of the vehicle, an individual predicted vehicle trajectory overlay of the selected set of stored overlays for displaying at a display of the vehicle for viewing by a driver of the vehicle during the reversing maneuver of the vehicle.

16. The method of claim 15, wherein the plurality of stored overlays stored in memory includes a first set of a plurality of first predicted vehicle trajectory overlays corresponding to a first vehicle wheelbase configuration and a second set of a plurality of second predicted vehicle trajectory overlays corresponding to a second vehicle wheelbase configuration, and wherein selecting, via the processor, a particular set of stored overlays from the stored plurality of sets of overlays comprises selecting the first set of the plurality of first predicted vehicle trajectory overlays responsive to the provided wheelbase configuration input being indicative of the vehicle having the first vehicle wheelbase configuration, and wherein selecting, via the processor, a particular set of stored overlays from the stored plurality of sets of overlays comprises selecting the second set of the plurality of second predicted vehicle trajectory overlays responsive to the provided wheelbase configuration input being indicative of the vehicle having the second vehicle wheelbase configuration.

17. The method of claim 16, wherein at least one of the first predicted vehicle trajectory overlays is common with at least one of the second predicted vehicle trajectory overlays.

18. A method for providing backup assistance for a driver of a vehicle, said method comprising:

providing a rear backup camera at a vehicle so as to have a field of view at least rearward of the vehicle;

providing a processor at the vehicle;

storing a plurality of sets of overlays in memory, wherein each set of the stored plurality of sets of overlays is associated with a respective vehicle wheelbase configuration of a plurality of different vehicle wheelbase configurations;

providing a wheelbase configuration input to the processor that is representative of the vehicle wheelbase configuration of the vehicle;

selecting, via the processor, and responsive at least in part to the wheelbase configuration input, a particular set of stored overlays from the stored plurality of sets of overlays, wherein the selected set of stored overlays comprises a plurality of individual predicted vehicle trajectory overlays that correspond to respective steering angle ranges for the vehicle wheelbase configuration of the vehicle;

providing a steering angle input to the processor that is representative of a steering angle of the vehicle;

selecting, via the processor, an individual predicted vehicle trajectory overlay of the selected set of stored overlays for displaying at a display of the vehicle for viewing by a driver of the vehicle during the reversing maneuver of the vehicle; and

wherein selecting the individual predicted vehicle trajectory overlay of the selected set of stored overlays comprises selecting the individual predicted vehicle trajectory overlay from a look up table based at least in part on the wheelbase configuration input and the steering angle input of the vehicle.

19. The method of claim 18, wherein the look up table comprises a plurality of predicted vehicle trajectory overlays associated with a plurality of vehicle wheelbase configurations and a plurality of steering angles for each vehicle wheelbase configuration.

20. The method of claim 19, wherein selecting the individual predicted vehicle trajectory overlay comprises selecting an individual predicted vehicle trajectory overlay that is closest to the steering angle of the vehicle for the vehicle wheelbase configuration of the vehicle.