Trailer tracking apparatus and method

• US 10,181,196 B2
• Filed: 02/26/2016
• Issued: 01/15/2019
• Est. Priority Date: 02/27/2015
• Status: Active Grant

• Current Assignee: Jaguar Land Rover Limited (TATA Motors Limited)
• Original Assignee: Jaguar Land Rover Limited (TATA Motors Limited)
• Inventors: Strano, Giovanni, Greenwood, Jeremy
• Primary Examiner(s): Bolourchi, Nader
• Application Number:
  US15/550,328
• Publication Number:
  US 20180025499A1
• Time in Patent Office: 1,054 Days
• CPC Class Codes: B60D 1/245 for facilitating push back or parking of trailers
• CPC Class Codes: B60D 1/327 using cables
• CPC Class Codes: B60R 1/003 for viewing trailer hitches
• CPC Class Codes: B60R 2300/101 using cameras with adjustable capturing direction
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60W 2520/22 Articulation angle, e.g. between tractor and trailer
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/20104 Interactive definition of region of interest [ROI]
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/215 Motion-based segmentation
• CPC Class Codes: G06T 7/277 involving stochastic approaches, e.g. using Kalman filters

Abstract

The present disclosure relates to a trailer tracking apparatus (2) for monitoring movement of a trailer (3) connected to a vehicle (1). The trailer tracking apparatus (2) has a controller (5) comprising an electronic processor (6) having an electrical input for receiving image data (DAT) from an imaging sensor (10) disposed on the vehicle (1). An electronic memory device (7) having instructions stored therein is electrically coupled to the electronic processor (6). The electronic processor (6) is configured to access the memory device (7) and to execute the instructions stored therein. The electronic processor (6) is operable to select a subset of said image data (DAT_SUB1). One or more element (16) are detected and monitored within the selected subset (DAT_SUB1) of said image data (DAT). The electronic processor (6) determines movement of the trailer (3) relative to the vehicle (1) in dependence on evolution of said one or more detected element (16) with respect to time. The present disclosure also relates to a method of tracking a trailer (3); and to a vehicle (1) incorporating the trailer tracking apparatus (2).

Claims

1. A trailer tracking apparatus for monitoring movement of a trailer connected to a vehicle, the trailer tracking apparatus comprising:

a controller comprising an electronic processor having an electrical input for receiving image data from an imaging sensor disposed on the vehicle; and

an electronic memory device electrically coupled to the electronic processor and having instructions stored therein;

wherein the electronic processor is configured to access the memory device and execute the instructions stored therein such that it is operable to;

select a subset of the image data;

detect and monitor one or more elements within the selected subset of the image data;

characterize each of the one or more detected elements as a persistent element or a transient element; and

determine movement of the trailer relative to the vehicle in dependence on evolution of the one or more detected persistent elements with respect to time;

wherein the electronic processor is configured automatically to redefine the selected subset of the image data to include image data representing one or more persistent elements of said image data.

2. A vehicle comprising a trailer tracking apparatus as claimed in claim 1.

3. The trailer tracking apparatus as claimed in claim 1, wherein the electronic processor is operable to characterize each of the one or more elements identifiable within the image data for a time period longer than a predetermined time threshold as the persistent element and characterize each of the one or more elements identifiable within the image data for a time period less than the predetermined time threshold as the transient element.

4. A trailer tracking apparatus for monitoring movement of a trailer connected to a vehicle, the trailer tracking apparatus comprising:

a controller comprising an electronic processor having an electrical input for receiving image data from an imaging sensor disposed on the vehicle; and

an electronic memory device electrically coupled to the electronic processor and having instructions stored therein;

wherein the electronic processor is configured to access the memory device and execute the instructions stored therein such that it is operable to;

detect one or more elements within the image data;

monitor the one or more elements and characterize each of the one or more elements identifiable within the image data for a time period longer than a predetermined time threshold as a persistent element and characterize each of the one or more elements identifiable within the image data for a time period less than the predetermined time threshold as a transient element; and

determine movement of the trailer relative to the vehicle in dependence on evolution of each persistent element with respect to time.

5. The trailer tracking apparatus as claimed in claim 4, wherein the evolution of each persistent element comprises a movement trajectory including direction and magnitude, wherein the movement trajectory is used to track the movement of the trailer.

6. The trailer tracking apparatus as claimed in claim 5, wherein the electronic processor is further configured to compare relative movement trajectories of several of the persistent elements.

7. A vehicle comprising the trailer tracking apparatus as claimed in claim 4.

8. The trailer tracking apparatus as claimed in claim 4, the electronic processor is operable to select a subset of the image data;

and to detect and monitor the one or more element within the selected subset of the image data.

9. The trailer tracking apparatus as claimed in claim 8, wherein the electronic processor is configured to modify the selected subset of the image data to include image data representing one or more persistent element;

and/or

modify the selected subset of the image data to exclude each transient element.

10. The trailer tracking apparatus as claimed in claim 4, wherein the evolution of the one or more element comprises one or more of the following:

acceleration, velocity, angular velocity, angular acceleration, movement, size, shape and orientation.

12. The trailer tracking apparatus as claimed in claim 8, wherein the electronic processor is configured automatically to select the subset of the image data.

11. The trailer tracking apparatus as claimed in 34, wherein the electronic processor is configured to receive a user input to select the subset of the image data.

13. A method of monitoring movement of a trailer connected to a vehicle, the method comprising:

receiving image data from an imaging sensor;

detecting one or more elements within the image data;

characterizing each of the one or more elements identifiable within the image data for a time period longer than a predetermined time threshold as a persistent element and characterizing each of the one or more elements identifiable within the image data for a time period less than the predetermined time threshold as a transient element; and

determining movement of the trailer relative to the vehicle in dependence on evolution of each persistent element with respect to time.

14. The method as claimed in claim 13, further comprising:

selecting a subset of the image data; and

detecting and monitoring the one or more elements within the selected subset of the image data.

15. The method as claimed in claim 14, further comprising:

modifying the selected subset of the image data to include image data representing one or more persistent elements; and

/or

modifying the selected subset of the image data to exclude each transient element.

16. The method as claimed in claim 13, wherein the evolution of each persistent element comprises one or more of the following:

acceleration, velocity, angular velocity, angular acceleration, movement, size, shape and orientation.

17. The method as claimed in claim 13, wherein the evolution of each persistent element comprises a movement trajectory including direction and magnitude, wherein the movement trajectory is used to track the movement of the trailer.

18. The method as claimed in claim 17, further comprising comparing relative movement trajectories of several of the persistent elements.

20. The method as claimed in claim 13, further comprising automatically selecting the subset of the image data.

19. The method as claimed in 26, further comprising selecting the subset of the image data in dependence on a user input.