Dynamic camera view to aid with trailer attachment

• US 10,384,612 B2
• Filed: 07/09/2014
• Issued: 08/20/2019
• Est. Priority Date: 05/06/2014
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Bochenek, Jeffrey A.
• Primary Examiner(s): Wong, Allen C
• Application Number:
  US15/307,259
• Publication Number:
  US 20170050567A1
• Time in Patent Office: 1,868 Days
• Field of Search: 348118
• CPC Class Codes: B60K 2360/1438 Touch screens
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60R 1/003 for viewing trailer hitches
• CPC Class Codes: B60R 2300/808 for facilitating docking to a trailer
• CPC Class Codes: G06F 3/04842 Selection of displayed objects or displayed text elements G06F3/0482 takes precedence
• CPC Class Codes: G06F 3/0488 using a touch-screen or digitiser, e.g. input of commands through traced gestures
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: H04N 23/69 Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

Methods and systems for assisting a driver when coupling a vehicle to a trailer. One method includes (a) obtaining image data of an area to the rear of the vehicle, (b) identifying at least a portion of the trailer based on the image data, (c) determining a distance between the vehicle and the identified portion of the trailer, (d) determining a perspective based on the determined distance, (e) generating, with a controller included in the vehicle, a view of the trailer based on the image data, the view having the determined perspective, and (f) displaying the generated view. The method also includes (g) repeating (c) through (f) as the vehicle nears the trailer, wherein the determined perspective changes as the vehicle gets closer to the trailer.

Claims

1. A method of assisting a driver when coupling a vehicle to a trailer, the method comprising:

(a) obtaining image data of an area to the rear of the vehicle;

(b) identifying at least a portion of the trailer based on the image data;

(c) determining a distance between the vehicle and the identified portion of the trailer;

(d) determining a perspective based on the determined distance;

(e) generating, with a controller included in the vehicle, a view of the trailer based on the image data, the view having the determined perspective;

(f) displaying the generated view; and

(g) repeating (c) through (f) as the vehicle nears the trailer, wherein an angle of the determined perspective relative to a driving surface of the vehicle changes as the vehicle gets closer to the trailer,

wherein (e) includes generating a first view having a first perspective of approximately 45°

from the driving surface of the vehicle and repeating (e) includes generating a second view having a second perspective of approximately 0°

from the driving surface of the vehicle.

2. The method of claim 1, wherein identifying the portion of the trailer includes

displaying the image data;

and

receiving a manual selection of the portion of the trailer.

3. The method of claim 1, wherein identifying the portion of the trailer includes automatically, with the controller, identifying the portion of the trailer by identifying a predetermined shape within the image data.

4. The method of claim 1, wherein identifying the portion of the trailer includes automatically, with the controller, identifying a predefined marker within the image data.

5. The method of claim 1, wherein repeating (c) through (f) includes repeating (c) through (f) until the determined distance is equal to or less than a predetermined minimum distance.

6. The method of claim 1, further comprising displaying the identified portion of the trailer and receiving confirmation of the identified portion.

7. The method of claim 1, wherein determining the distance between the vehicle and the identified portion of the trailer includes determining the distance based on the image data.

8. The method of claim 1, wherein repeating (c) includes automatically adjusting the determined distance based on movement of the vehicle.

9. The method of claim 1, wherein determining the perspective includes accessing a table mapping each of a plurality of distances to a predetermined perspective and generating the view based on the predetermined perspective included in the table for the one of the plurality of distances corresponding to the determined distance.

10. The method of claim 1, wherein (e) includes generating the first view when the vehicle is located more 5.0 meters from the trailer and repeating (e) includes generating the second view when the vehicle is located less than 1.0 meter from the trailer.

11. The method of claim 1, wherein repeating (e) includes continuously generating the view as the vehicle gets closer to the trailer.

12. The method of claim 1, wherein generating the view includes modifying the image data without modifying a physical position of an image capture device capturing the image data.

13. A system for assisting a driver when coupling a vehicle to a trailer, the system comprising:

an image capture device configured to capture image data of an area to the rear of the vehicle;

a user interface included in the vehicle; and

at least one controller configured to

(a) obtain the image data,

(b) identify at least a portion of the trailer based on the image data,

(c) determine a distance between the vehicle and the identified portion of the trailer,

(d) determine a perspective based on the determined distance,

(e) generate a view of the trailer based on the image data, the view having the determined perspective, and

(f) display the view on the user interface,

wherein the at least one controller is configured to repeat (c) through (f) as the vehicle nears the trailer, wherein an angle of the determined perspective relative to a driving surface of the vehicle changes as the vehicle gets closer to the trailer,

wherein the at least one controller is configured to generate the view by generating a first view having a first perspective of approximately 45°

from the driving surface of the vehicle and is configured to repeat (e) by generating a second view having a second perspective of approximately 0°

from the driving surface of the vehicle.

14. The system of claim 13, wherein the user interface includes a touchscreen and wherein the at least one controller is configured to identify the portion of the trailer by displaying the image data on the touchscreen and receiving a manual selection of the portion of the trailer from the touchscreen.

15. The system of claim 13, wherein the at least one controller is configured to determine the perspective by accessing a table mapping each of a plurality of distances to a predetermined perspective and selecting the perspective based on one predetermined perspective included in the table associated with one of the plurality of distances corresponding to the determined distance.

16. The system of claim 13, wherein the at least one controller is configured to generate the first view when the vehicle is located more 5.0 meters from the trailer and generate the second view when the vehicle is located less than 1.0 meter from the trailer.

17. The system of claim 13, wherein the at least one controller is configured to repeat (d) by continuously changing the perspective as the vehicle gets closer to the trailer.

18. The system of claim 13, wherein the at least one controller is configured to generate the view of the trailer by modifying the image data without modifying a physical position of the image capture device.

19. A system for assisting a driver when coupling a vehicle to a trailer, the system comprising:

an image capture device configured to capture image data of an area to the rear of the vehicle;

a user interface included in the vehicle; and

at least one controller configured to

(a) obtain the image data,

(b) identify at least a portion of the trailer based on the image data,

(c) determine a distance between the vehicle and the identified portion of the trailer,

(d) determine a perspective based on the determined distance,

(e) generate a view of the trailer based on the image data, the view having the determined perspective, and

(f) display the view on the user interface,

wherein the at least one controller is configured to repeat (c) through (f) as the vehicle nears the trailer, wherein an angle of the determined perspective relative to a driving surface of the vehicle changes as the vehicle gets closer to the trailer,

wherein the at least one controller is configured to generate the view by generating a first view having a first perspective of approximately 45°

to approximately 90°

from the driving surface of the vehicle and is configured to repeat (e) by generating a second view having a second perspective of approximately 0°

from the driving surface of the vehicle.