Method and apparatus to determine trailer pose

• US 10,391,939 B2
• Filed: 09/01/2016
• Issued: 08/27/2019
• Est. Priority Date: 09/01/2016
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Naserian, Mohammad, Zeng, Shuqing, Sim, Jay H.
• Primary Examiner(s): Hallenbeck-Huber, Jeremiah C
• Application Number:
  US15/254,191
• Publication Number:
  US 20180056868A1
• Time in Patent Office: 1,090 Days
• Field of Search: 348148
• CPC Class Codes: B60R 1/002 specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like integrated in the windows B60R1/001; combined with rear-view mirrors B60R1/08
• CPC Class Codes: B60R 1/003 for viewing trailer hitches
• CPC Class Codes: B60R 1/078 easily removable; mounted for bodily outward movement, e.g. when towing
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/80 characterised by the intended use of the viewing arrangement
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates

Abstract

A system and method to determine trailer pose includes imaging first and second telltales affixed to a trailer to provide trailer image data. A controller is operable to determine trailer pose from the trailer image data. The trailer pose information may be provided to one or more controllers of a vehicle towing the trailer.

Claims

1. A system to determine trailer pose comprising:

first, second and third telltales affixable to a trailer, the first and second telltales being affixed to the trailer at respective outer edges of a front surface of the trailer such that the first telltale is affixed at a first outer edge and the second telltale is affixed at a second outer edge, different from the first outer edge, the first and second outer edges defining a width of the front surface and hence a width of the trailer, and the third telltale is affixed to a side surface of the trailer at a rear portion of the trailer defining a length of the trailer between one of the first and second telltales and the third telltale;

an imaging system operable to detect the first, second and third telltales and to indicate at least one geometric relationship between the telltales and the imaging system and to provide trailer image date;

a controller coupled to the imaging system to receive the trailer image data, the controller configured to determine from the trailer image data the trailer pose,

wherein the controller is configured to determine a trailer width, w, based upon an imaged first distance of the image data from a first point on a tow vehicle to the first telltale and a second imaged distance of the image data from the first point on the tow vehicle and the second telltale, and to determine a trailer length, l, based upon the width, w, and a third imaged distance of the image data from a second point on a tow vehicle and the third telltale;

the controller is further configured to determine trailer pose as an angle of a longitudinal axis of the trailer relative to the first point on the tow vehicle using at least the width, w, and,

the controller is further configured to provide in real time the trailer pose and the trailer length, l, to a controller operably associated with the tow vehicle.

2. The system of claim 1, wherein the telltales include an identifiable image or shape.

3. The system of claim 1, wherein the telltales have a unique identifiable color.

4. The system of claim 1, wherein the imaging system comprises a camera.

5. The system of claim 1, wherein the imaging system and the controller are disposed on or within the tow vehicle.

6. The system of claim 1, wherein the imaging system comprises a first camera associated with the tow vehicle and arranged to detect the first and second telltales, and a second camera associated with the vehicle and arranged to detect the third telltale.

7. The system of claim 5, the telltales being provided with the tow vehicle as a kit.

8. A method to determine trailer pose comprising:

affixing first, second and third telltales to a trailer, the first and second telltales being affixed to the trailer at respective outer edges of a front surface of the trailer such that the first telltale is affixed at a first outer edge and the second telltale is affixed at a second outer edge, different from the first outer edge, the first and second outer edges defining a width of the front surface and hence a width of the trailer, and the third telltale is affixed to a side surface of the trailer at a rear portion of the trailer defining a length of the trailer between one of the first and second telltales and the third telltale;

providing a controller coupled to an imaging device;

imaging via the imaging device the first, second and third telltales affixed to the trailer to provide trailer image data;

determining using the controller from the trailer image data the trailer pose by;

determining using the controller a trailer width, w, based upon an imaged first distance of the image data from a first point on a tow vehicle to the first telltale and a second imaged distance of the image data from the first point on the tow vehicle and the second telltale;

determining a trailer length, l, based upon the width, w, and a third imaged distance of the image data from a second point on a tow vehicle and the third telltale,

determining using the controller trailer pose as an angle of a longitudinal axis of the trailer relative to the first point on the tow vehicle at least using the trailer width, w, and

providing the trailer pose and the trailer length, l to at least one additional controller in real time.

9. The method of claim 8, wherein the telltales include an identifiable image or shape, and imaging comprises identifying the unique image or shape.

10. The method of claim 8, wherein the telltales include an identifiable color, and imaging comprises identifying the color.

11. The method of claim 8, wherein imaging comprises optically imaging.