Driver backup assistance system for vehicle

• US 10,559,134 B2
• Filed: 12/28/2018
• Issued: 02/11/2020
• 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:
  US16/234,760
• Publication Number:
  US 20190139316A1
• Time in Patent Office: 410 Days
• 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 mathematical formulas in memory, with each stored formula associated with a respective vehicle wheelbase configuration. A wheelbase configuration input is provided that is representative of the wheelbase configuration of the vehicle. Responsive at least in part to the input, a mathematical formula is selected from the stored formulas. Responsive to a steering angle input, the processor selects a value to be input into the selected mathematical formula. During the reversing maneuver of the vehicle, a predicted vehicle trajectory overlay is generated by calculating, via the selected mathematical formula and using the selected value, an overlay representative of the predicted vehicle trajectory of the vehicle. The predicted vehicle trajectory overlay is superimposed over displayed video images for viewing by the driver of the vehicle during the reversing maneuver.

Claims

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

equipping a vehicle with a rear backup camera having a field of view at least rearward of the equipped vehicle;

providing a processor at the equipped vehicle;

wherein the processor is operable to generate an overlay for superimposing over video images displayed at a video display screen of the equipped vehicle for viewing by a driver of the equipped vehicle during a reversing maneuver of the equipped vehicle, wherein the displayed video images are derived from image data captured by said rear backup camera during the reversing maneuver of the equipped vehicle;

wherein the overlay comprises a pair of spaced apart guidelines representative of a predicted vehicle trajectory during the reversing maneuver of the equipped vehicle;

storing a plurality of mathematical formulas in memory, wherein each stored mathematical formula 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 equipped vehicle;

selecting, via the processor, and responsive at least in part to the wheelbase configuration input, a selected mathematical formula from the stored plurality of mathematical formulas;

providing a steering angle input to the processor that is representative of a steering angle of the equipped vehicle during the reversing maneuver of the equipped vehicle;

selecting, via the processor, and responsive at least in part to steering angle of the equipped vehicle during the reversing maneuver of the equipped vehicle, a value to be input into the selected mathematical formula based at least in part on the provided steering angle input;

generating a predicted vehicle trajectory overlay by calculating, via the selected mathematical formula and using the selected value, an overlay that is representative of the predicted vehicle trajectory of the equipped vehicle based on the current steering angle of the equipped vehicle, wherein the predicted vehicle trajectory overlay comprises a pair of spaced apart guidelines; and

during the reversing maneuver of the equipped vehicle, (i) displaying video images at the video display screen of the equipped vehicle derived from image data captured by the rear backup camera for viewing by the driver of the equipped vehicle and (ii) superimposing the generated predicted vehicle trajectory overlay over the displayed video images for viewing by the driver of the equipped vehicle.

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

3. The method of claim 1, wherein providing a steering angle input to the processor comprises providing a steering wheel angle input to the processor that corresponds to a steering wheel angle of a steering wheel of the equipped vehicle.

4. The method of claim 3, wherein, if the vehicle wheelbase configuration of the equipped 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 equipped vehicle is at full lock, and (ii) determining, via the processor, information regarding the steering gear ratio of the equipped vehicle based at least in part on the provided steering wheel angle input.

5. The method of claim 1, wherein selecting a value to be input into the selected mathematical formula comprises selecting a value for at least one constant in the selected mathematical formula.

6. The method of claim 1, wherein selecting the selected mathematical formula comprises selecting a selected mathematical formula from a lookup table of mathematical formulas stored in memory.

7. The method of claim 1, wherein the plurality of mathematical formulas stored in memory includes a first mathematical formula corresponding to a first vehicle wheelbase configuration and a second mathematical formula corresponding to a second vehicle wheelbase configuration.

8. The method of claim 7, wherein selecting, via the processor, a selected mathematical formula from the stored plurality of mathematical formulas comprises selecting the first mathematical formula responsive to the provided wheelbase configuration input being indicative of the equipped vehicle having the first vehicle wheelbase configuration.

9. The method of claim 7, wherein selecting, via the processor, a selected mathematical formula from the stored plurality of mathematical formulas comprises selecting the second mathematical formula responsive to the provided wheelbase configuration input being indicative of the equipped vehicle having the second vehicle wheelbase configuration.

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

equipping a vehicle with a rear backup camera having a field of view at least rearward of the equipped vehicle;

providing a processor at the equipped vehicle;

wherein the processor is operable to generate an overlay for superimposing over video images displayed at a video display screen of the equipped vehicle for viewing by a driver of the equipped vehicle during a reversing maneuver of the equipped vehicle,

wherein the displayed video images are derived from image data captured by said rear backup camera during the reversing maneuver of the equipped vehicle;

wherein the overlay comprises a pair of spaced apart guidelines representative of a predicted vehicle trajectory during the reversing maneuver of the equipped vehicle;

storing a plurality of mathematical formulas in memory, wherein each stored mathematical formula is associated with a respective vehicle wheelbase configuration of a plurality of different vehicle wheelbase configurations;

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

selecting, via the processor, and responsive at least in part to the wheelbase configuration input, a selected mathematical formula from the stored plurality of mathematical formulas;

providing a steering angle input to the processor that is representative of a steering angle of the equipped vehicle during the reversing maneuver of the equipped vehicle;

selecting, via the processor, and responsive at least in part to steering angle of the equipped vehicle during the reversing maneuver of the equipped vehicle, a value to be input into the selected mathematical formula based at least in part on the provided steering angle input;

wherein selecting a value to be input into the selected mathematical formula comprises selecting a value for at least one constant in the selected mathematical formula;

generating a predicted vehicle trajectory overlay by calculating, via the selected mathematical formula and using the selected value, an overlay that is representative of the predicted vehicle trajectory of the equipped vehicle based on the current steering angle of the equipped vehicle, wherein the predicted vehicle trajectory overlay comprises a pair of spaced apart guidelines; and

during the reversing maneuver of the equipped vehicle, (i) displaying video images at the video display screen of the equipped vehicle derived from image data captured by the rear backup camera for viewing by the driver of the equipped vehicle and (ii) superimposing the generated predicted vehicle trajectory overlay over the displayed video images for viewing by the driver of the equipped vehicle.

11. The method of claim 10, wherein providing a steering angle input to the processor comprises providing a steering wheel angle input to the processor that corresponds to a steering wheel angle of a steering wheel of the equipped vehicle.

12. The method of claim 11, wherein, if the vehicle wheelbase configuration of the equipped 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 equipped vehicle is at full lock, and (ii) determining, via the processor, information regarding the steering gear ratio of the equipped vehicle based at least in part on the provided steering wheel angle input.

13. The method of claim 10, wherein selecting the selected mathematical formula comprises selecting a selected mathematical formula from a lookup table of mathematical formulas stored in memory.

14. The method of claim 10, wherein the plurality of mathematical formulas stored in memory includes a first mathematical formula corresponding to a first vehicle wheelbase configuration and a second mathematical formula corresponding to a second vehicle wheelbase configuration.

15. The method of claim 14, wherein selecting, via the processor, a selected mathematical formula from the stored plurality of mathematical formulas comprises selecting the first mathematical formula responsive to the provided wheelbase configuration input being indicative of the equipped vehicle having the first vehicle wheelbase configuration.

16. The method of claim 14, wherein selecting, via the processor, a selected mathematical formula from the stored plurality of mathematical formulas comprises selecting the second mathematical formula responsive to the provided wheelbase configuration input being indicative of the equipped vehicle having the second vehicle wheelbase configuration.

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

equipping a vehicle with a rear backup camera having a field of view at least rearward of the equipped vehicle;

providing a processor at the equipped vehicle;

wherein the processor is operable to generate an overlay for superimposing over video images displayed at a video display screen of the equipped vehicle for viewing by a driver of the equipped vehicle during a reversing maneuver of the equipped vehicle,

wherein the displayed video images are derived from image data captured by said rear backup camera during the reversing maneuver of the equipped vehicle;

wherein the overlay comprises a pair of spaced apart guidelines representative of a predicted vehicle trajectory during the reversing maneuver of the equipped vehicle;

storing a plurality of mathematical formulas in memory, wherein each stored mathematical formula is associated with a respective vehicle wheelbase configuration of a plurality of different vehicle wheelbase configurations;

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

selecting, via the processor, and responsive at least in part to the wheelbase configuration input, a selected mathematical formula from the stored plurality of mathematical formulas;

wherein selecting the selected mathematical formula comprises selecting a selected mathematical formula from a lookup table of mathematical formulas stored in memory;

providing, via the bus communication of the equipped vehicle, a steering angle input to the processor that is representative of a steering angle of the equipped vehicle during the reversing maneuver of the equipped vehicle;

selecting, via the processor, and responsive at least in part to steering angle of the equipped vehicle during the reversing maneuver of the equipped vehicle, a value to be input into the selected mathematical formula based at least in part on the provided steering angle input;

generating a predicted vehicle trajectory overlay by calculating, via the selected mathematical formula and using the selected value, an overlay that is representative of the predicted vehicle trajectory of the equipped vehicle based on the current steering angle of the equipped vehicle, wherein the predicted vehicle trajectory overlay comprises a pair of spaced apart guidelines; and

during the reversing maneuver of the equipped vehicle, (i) displaying video images at the video display screen of the equipped vehicle derived from image data captured by the rear backup camera for viewing by the driver of the equipped vehicle and (ii) superimposing the generated predicted vehicle trajectory overlay over the displayed video images for viewing by the driver of the equipped vehicle.

18. The method of claim 17, wherein providing a steering angle input to the processor comprises providing a steering wheel angle input to the processor that corresponds to a steering wheel angle of a steering wheel of the equipped vehicle.

19. The method of claim 17, wherein the lookup table of mathematical formulas stored in memory includes a first mathematical formula corresponding to a first vehicle wheelbase configuration and a second mathematical formula corresponding to a second vehicle wheelbase configuration.

20. The method of claim 19, wherein selecting, via the processor, a selected mathematical formula from the lookup table of mathematical formulas stored in memory comprises selecting the first mathematical formula responsive to the provided wheelbase configuration input being indicative of the equipped vehicle having the first vehicle wheelbase configuration.

21. The method of claim 17, wherein the bus communication comprises a LIN bus of the equipped vehicle.