TRAILER ANGLE DETECTION SYSTEM
First Claim
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.
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Accused Products
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.
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Citations
20 Claims
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1. A vision system for a vehicle, said vision system comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A vision system for a vehicle, said vision system comprising:
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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. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A vision system for a vehicle, said vision system comprising:
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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.
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Specification