Systems and methods for towing vehicle and trailer with surround view imaging devices
First Claim
1. A method for a towing vehicle towing a trailer having at least one imaging device, comprising:
- receiving, from a first imaging device coupled to the trailer, a first image stream having a plurality of first images;
receiving, from a second imaging device coupled to the towing vehicle, a second image stream having a plurality of second images;
determining, by a processor onboard the towing vehicle, at least one common feature between a first image of the plurality of first images and a second image of the plurality of second images;
determining, by the processor onboard the towing vehicle, a first distance from the first imaging device coupled to the trailer to the at least one common feature and a second distance from the second imaging device coupled to the towing vehicle to the at least one common feature; and
determining, by the processor onboard the towing vehicle, a position of the first imaging device relative to the towing vehicle based on the first distance, the second distance and a known position and pose of the second imaging device on the towing vehicle.
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Accused Products
Abstract
Systems and method are provided for a towing vehicle towing a trailer having at least one imaging device. A method includes: receiving, from a first imaging device coupled to the trailer, a first image stream having a plurality of first images; receiving, from a second imaging device coupled to the vehicle, a second image stream having a plurality of second images; determining, at least one common feature between a first image of the first images and a second image of the second images; determining a first distance from the first imaging device to the at least one common feature and a second distance from the second imaging device to the at least one common feature; and determining, a position of the first imaging device relative to the vehicle based on the first distance, the second distance and a known position and pose of the second imaging device.
19 Citations
20 Claims
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1. A method for a towing vehicle towing a trailer having at least one imaging device, comprising:
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receiving, from a first imaging device coupled to the trailer, a first image stream having a plurality of first images; receiving, from a second imaging device coupled to the towing vehicle, a second image stream having a plurality of second images; determining, by a processor onboard the towing vehicle, at least one common feature between a first image of the plurality of first images and a second image of the plurality of second images; determining, by the processor onboard the towing vehicle, a first distance from the first imaging device coupled to the trailer to the at least one common feature and a second distance from the second imaging device coupled to the towing vehicle to the at least one common feature; and determining, by the processor onboard the towing vehicle, a position of the first imaging device relative to the towing vehicle based on the first distance, the second distance and a known position and pose of the second imaging device on the towing vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for a towing vehicle towing a trailer having at least one imaging device, comprising:
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a first imaging device coupled to the trailer that provides a first image stream having a plurality of first images; a second imaging device coupled to the towing vehicle that provides a second image stream having a plurality of second images; a controller onboard the towing vehicle in communication with the first imaging device and the second imaging device, the controller having a processor that is configured to; determine, based on a calibrated position of the first imaging device relative to the towing vehicle and a known position and pose of the second imaging device on the towing vehicle, an area of overlap of at least one of the plurality of first images with at least one of the plurality of second images; define one or more boundary lines based on the area of overlap; determine, based on a speed of the towing vehicle, a blending coefficient that defines a blending zone around the one or more boundary lines; stitch the at least one of the plurality of first images and the at least one of the plurality of second images along the one or more boundary lines and blends the at least one of the plurality of first images and the at least one of the plurality of second images in the blending zone to generate a seamless image of a surround view of an environment surrounding the towing vehicle and the trailer; and generate a user interface that includes the surround view for rendering on a display associated with the towing vehicle. - View Dependent Claims (14, 15, 16, 17)
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18. A towing vehicle for coupling to a trailer and towing a trailer, having a trailer imaging system, the towing vehicle comprising:
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a source of a first image stream having a plurality of first images from a first camera coupled to the trailer; a second camera coupled to the towing vehicle that provides a second image stream having a plurality of second images; a controller in communication with the first camera and the second camera, the controller having a processor that is configured to; determine at least one common feature between a first image of the plurality of first images and a second image of the plurality of second images; determine a first distance from the first camera coupled to the trailer to the at least one common feature and a second distance from the second camera coupled to the towing vehicle to the at least one common feature; and determine a position of the first camera relative to the towing vehicle based on the first distance, the second distance and a known position and pose of the second camera on the towing vehicle, wherein based on the position of the first camera and the known position and pose of the second camera, the controller is configured to at least one of generate a seamless image of a surround view of an environment surrounding the towing vehicle and the trailer, and generate a seamless image of a full view of a rear of the towing vehicle devoid of the trailer. - View Dependent Claims (19, 20)
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Specification