Trailer backup assist system with predictive hitch angle functionality
First Claim
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1. A method of determining an offset for calibrating an imaging device comprising the steps of:
- using the imaging device to capture an image of a rear bumper; and
providing a controller configured to;
process the captured image;
identify a boundary separating the rear bumper from a ground based on the captured image;
compare the identified boundary to an ideal boundary;
determine an offset between the identified boundary and the ideal boundary, wherein the offset is defined by a vector having a horizontal component, a vertical component, and a rotational component, and the controller determines the offset by iterating on candidates for each of the horizontal, vertical, and rotational components until the identified boundary overlaps with the ideal boundary; and
calibrating the imaging device based on the determined offset.
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Abstract
A trailer backup assist system is provided herein. The system includes a calibration feature for calibrating an imaging device used for hitch angle detection. The system also employs multiple hitch angle detection methods, a number of which may run in parallel to increase the intervals at which a hitch angle can be measured. The system additionally includes a predictive feature in which a hitch angle can be predicted in instances where a trailer sensing device fails. The system is further configured to estimate a trailer length and generate steering commands that are invariant to the estimated trailer length under certain conditions.
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Citations
6 Claims
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1. A method of determining an offset for calibrating an imaging device comprising the steps of:
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using the imaging device to capture an image of a rear bumper; and providing a controller configured to; process the captured image; identify a boundary separating the rear bumper from a ground based on the captured image; compare the identified boundary to an ideal boundary; determine an offset between the identified boundary and the ideal boundary, wherein the offset is defined by a vector having a horizontal component, a vertical component, and a rotational component, and the controller determines the offset by iterating on candidates for each of the horizontal, vertical, and rotational components until the identified boundary overlaps with the ideal boundary; and calibrating the imaging device based on the determined offset. - View Dependent Claims (2, 3, 4, 5)
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6. A calibration method, comprising the steps of:
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using an imaging device to capture an image of a rear bumper; and providing a controller configured to; process the captured image; identify a boundary separating the rear bumper from a ground based on the captured image; compare the identified boundary to an ideal boundary; and calibrate the imaging device by determining an offset between the identified boundary and the ideal boundary, wherein the offset is defined by a vector having a horizontal component, a vertical component, and a rotational component, and the controller determines the offset by iterating on candidates for each of the horizontal, vertical, and rotational components until the identified boundary overlaps with the ideal boundary.
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Specification