TRAILER ANGLE DETECTION SYSTEM

• US 20140085472A1
• Filed: 09/25/2013
• Published: 03/27/2014
• Est. Priority Date: 09/26/2012
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Lu, Yuesheng, Byrne, Steven V., VanOphem, Paul A., Harris, James D.
• Granted Patent: US 9,446,713 B2
• Time in Patent Office: Days
• US Class Current: 348/148
• 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 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 1/28 with an adjustable field of view
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/307 virtually distinguishing relevant parts of a scene from the background of the scene
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/80 characterised by the intended use of the viewing arrangement

Abstract

A vision system for a vehicle includes a rearward facing camera disposed at a rearward portion of a vehicle. With a trailer attached to the vehicle and rearward of the vehicle, a processor is operable to process captured images and, responsive at least in part to the processing, is operable to determine a plurality of trailer and vehicle-trailer interface parameters. The system is operable to calculate a calculated trailer angle based at least in part on calculations involving the parameters and a steering angle of the vehicle. Responsive to processing of images captured by the camera, the system is operable to determine a determined trailer angle of the trailer relative to a longitudinal axis of the vehicle. Responsive to the determined trailer angle and the calculated trailer angle, the system is operable to determine a degree of offset between the calculated trailer angle and the detected trailer angle.

Claims

1. A vision system for a vehicle, said vision system comprising:

a rearward facing camera disposed at a rearward portion of a vehicle equipped with said vision system and having a rearward field of view;

wherein said rearward facing camera is operable to captures images rearward of the equipped vehicle;

wherein, with a trailer attached to the equipped vehicle and rearward of the equipped vehicle, a processor is operable to process captured images captured as the equipped vehicle is driven forwardly and, responsive at least in part to said processing, said processor is operable to determine a plurality of trailer parameters and vehicle-trailer interface parameters;

wherein said vision system is operable to calculate a calculated trailer angle based at least in part on calculations involving said parameters and a steering angle of the equipped vehicle as the equipped vehicle is being driven along a road;

wherein said vision system, responsive to processing of images captured by said rearward facing camera, is operable to determine a determined trailer angle of the trailer relative to a longitudinal axis of the equipped vehicle; and

wherein, responsive to the determined trailer angle and the calculated trailer angle, said vision system is operable to determine a degree of offset between the calculated trailer angle and the determined trailer angle.

2. The vision system of claim 1, wherein said processor determines a location of a target at the trailer relative to the equipped vehicle and determines the determined trailer angle of the trailer at least responsive to the determined location of said target.

3. The vision system of claim 2, wherein said target has opposite side portions, and wherein, responsive to said processor, said trailer angle detection system is operable to determine an amount of a side portion of said target that is exposed to and viewable by said camera, and wherein, responsive to the determination of the exposed amount, said trailer angle detection system is operable to determine an estimated trailer angle relative to the equipped vehicle.

4. The vision system of claim 3, wherein the opposite side portions of said target comprise colored side portions.

5. The vision system of claim 3, wherein said target extends above the portion of the trailer at which said target is disposed.

6. The vision system of claim 3, wherein said camera is disposed at a centerline of the equipped vehicle and wherein said target is disposed generally at a longitudinal axis of the trailer.

7. The vision system of claim 1, wherein said trailer parameters and said vehicle-trailer interface parameters include at least one of (i) a distance between a rear bumper of the equipped vehicle and a tow ball of the equipped vehicle at which the trailer is attached, (ii) a distance between the tow ball and an axle of the trailer, (iii) a distance between the tow ball and a portion of the trailer, and (iv) a distance between a portion of the trailer and a longitudinal axis of the trailer.

8. The vision system of claim 1, wherein said vision system is operable to calculate the calculated trailer angle based on vehicle parameters.

9. The vision system of claim 8, wherein said vehicle parameters include (i) a distance between a front wheel axle of the equipped vehicle and the bumper of the equipped vehicle, (ii) a distance between a rear wheel axle of the equipped vehicle and the bumper of the equipped vehicle and (iii) a steering angle of the equipped vehicle.

10. The vision system of claim 1, wherein said vision system is operable to calibrate the trailer angle detection when the determined offset is greater than a threshold level.

11. The vision system of claim 10, wherein said vision system is operable to calibrate the trailer angle detection via at least one of (i) adjusting image processing by said processor, (ii) adjusting the rearward field of view of said rearward facing camera and (iii) applying an offset correction to the determined trailer angle.

12. The vision system of claim 1, wherein said vision system generates an alert signal to alert the driver of a potentially hazardous situation while the equipped vehicle is towing the trailer.

13. A vision system for a vehicle, said vision system comprising:

a plurality of vehicle cameras disposed at portions of a vehicle equipped with said vision system;

wherein said vehicle cameras view exterior of the equipped vehicle and are operable to capture image data;

at least one trailer camera disposed at a rearward portion of a trailer that can be towed by the equipped vehicle;

wherein said trailer camera views generally rearwardly of the trailer and is operable to capture image data;

wherein, with the trailer attached to the equipped vehicle and rearward of the equipped vehicle, a processor is operable to process captured image data; and

wherein, at least during a reversing maneuver of the equipped vehicle with the trailer attached thereto, a rearward image derived from image data captured by at least one of said vehicle cameras and said trailer camera is displayed for viewing by the driver of the equipped vehicle;

wherein, responsive to said image processing and responsive, at least in part, to a steering angle of the equipped vehicle, said vision system is operable to provide a dynamic overlay at the displayed image, and wherein said dynamic overlay is representative of a top-down view of the equipped vehicle and the trailer and includes indication of a projected rearward path of the equipped vehicle and a projected rearward path of the trailer; and

wherein said dynamic overlay representative of a top-down view utilizes image data captured by (i) at least one of said vehicle cameras and (ii) said trailer camera.

14. The vision system of claim 13, wherein said dynamic overlay changes responsive to the steering angle of the equipped vehicle.

15. The vision system of claim 13, wherein said dynamic overlay comprises an iconistic representation of a top-down view of a vehicle and trailer.

16. The vision system of claim 13, wherein said dynamic overlay comprises a top-down view of the equipped vehicle and trailer derived from image data captured by at least a forward viewing camera of the equipped vehicle, a driver side viewing camera of at least one of the equipped vehicle and the trailer, a passenger side viewing camera of at least one of the equipped vehicle and the trailer, and said rear viewing camera of the trailer.

17. The vision system of claim 16, wherein said top-down view of the equipped vehicle and trailer is derived from image data captured by said forward viewing camera of the equipped vehicle, a driver side viewing camera of the equipped vehicle, a passenger side viewing camera of the equipped vehicle, a rearward viewing camera of the equipped vehicle, a driver side viewing camera of the trailer, a passenger side viewing camera of the trailer, and said rear viewing camera of the trailer

18. The vision system of claim 13, wherein said vision system generates an alert signal to alert the driver of a potentially hazardous situation while the equipped vehicle is reversing with the trailer.

19. The vision system of claim 13, wherein the displayed image includes a representation or overlay of a portion of the equipped vehicle.

20. A vision system for a vehicle, said vision system comprising:

a rearward facing camera disposed at a rearward portion of a vehicle equipped with said vision system and having a rearward field of view;

wherein said rearward facing camera is operable to captures images rearward of the equipped vehicle;

wherein, with a trailer attached to the equipped vehicle and rearward of the equipped vehicle, a processor is operable to process captured images captured as the equipped vehicle is driven forwardly and, responsive at least in part to said processing, said processor is operable to determine a plurality of trailer parameters and vehicle-trailer interface parameters;

wherein said trailer parameters and vehicle-trailer interface parameters include at least one of (i) a distance between a rear bumper of the equipped vehicle and a tow ball of the equipped vehicle at which the trailer is attached, (ii) a distance between the tow ball and an axle of the trailer, (iii) a distance between the tow ball and a portion of the trailer, and (iv) a distance between a portion of the trailer and a longitudinal axis of the trailer;

wherein said vision system is operable to calculate a calculated trailer angle based at least in part on calculations involving vehicle parameters, said trailer parameters, said trailer-interface parameters and a steering angle of the equipped vehicle as the equipped vehicle is being driven along a road;

wherein said vehicle parameters include (i) a distance between an axle of the equipped vehicle and the bumper of the equipped vehicle and (ii) a steering angle of the equipped vehicle;

wherein said vision system, responsive to processing of images captured by said rearward facing camera, is operable to determine a determined trailer angle of the trailer relative to a longitudinal axis of the equipped vehicle; and

wherein, responsive to the determined trailer angle and the calculated trailer angle, said vision system is operable to determine a degree of offset between the calculated trailer angle and the detected trailer angle.