REAR VISION SYSTEM WITH TRAILER ANGLE DETECTION
First Claim
Patent Images
1. A rear vision system for a vehicle, said rear vision system comprising:
- at least a rearward facing camera disposed at a rearward portion of a vehicle equipped with said rear vision system;
wherein said rearward facing camera is operable to captures images rearward of the equipped vehicle;
wherein, when a trailer is attached to the equipped vehicle and is rearward of the equipped vehicle, a processor is operable to process the captured images and, responsive at least in part to said processing, is operable to determine a trailer angle of the trailer relative to a longitudinal axis of the equipped vehicle;
wherein said processor determines a location of a target at or of the trailer relative to the equipped vehicle and determines the trailer angle of the trailer responsive to the determined location; and
wherein the target comprises at least one of (a) an icon or shape or indicia disposed at a forward portion of the trailer, (b) an icon or shape or indicia established on a sheet attached at a forward portion of the trailer, (c) an icon or shape or indicia established at a forward portion of the trailer, (d) a target pattern established at a surface of the trailer or trailer tongue, (e) a colored pattern established at a surface of the trailer or trailer tongue and (f) a forward portion of the trailer.
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Abstract
A rear vision system for a vehicle includes a rearward facing camera disposed at a rearward portion of a vehicle equipped with the rear vision system. The rearward facing camera is operable to captures images rearward of the equipped vehicle. When a trailer is near and/or attached to the equipped vehicle and is rearward of the equipped vehicle, a processor is operable to process the captured images and, responsive at least in part to such processing, is operable to determine a trailer angle of the trailer relative to a longitudinal axis of the equipped vehicle.
157 Citations
22 Claims
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1. A rear vision system for a vehicle, said rear vision system comprising:
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at least a rearward facing camera disposed at a rearward portion of a vehicle equipped with said rear vision system; wherein said rearward facing camera is operable to captures images rearward of the equipped vehicle; wherein, when a trailer is attached to the equipped vehicle and is rearward of the equipped vehicle, a processor is operable to process the captured images and, responsive at least in part to said processing, is operable to determine a trailer angle of the trailer relative to a longitudinal axis of the equipped vehicle; wherein said processor determines a location of a target at or of the trailer relative to the equipped vehicle and determines the trailer angle of the trailer responsive to the determined location; and wherein the target comprises at least one of (a) an icon or shape or indicia disposed at a forward portion of the trailer, (b) an icon or shape or indicia established on a sheet attached at a forward portion of the trailer, (c) an icon or shape or indicia established at a forward portion of the trailer, (d) a target pattern established at a surface of the trailer or trailer tongue, (e) a colored pattern established at a surface of the trailer or trailer tongue and (f) a forward portion of the trailer. - View Dependent Claims (4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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2-3. -3. (canceled)
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14. A rear vision system for a vehicle, said rear vision system comprising:
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at least a rearward facing camera disposed at a rearward portion of a vehicle equipped with said rear vision system; wherein said rearward facing camera is operable to captures images rearward of the equipped vehicle; wherein, when a trailer is attached to the equipped vehicle and is rearward of the equipped vehicle, a processor is operable to process the captured images and, responsive at least in part to said processing, is operable to determine a trailer angle of the trailer relative to a longitudinal axis of the equipped vehicle; wherein said processor determines a location of a target at or of the trailer relative to the equipped vehicle and determines the trailer angle of the trailer responsive to the determined location; wherein the target comprises at least one of (a) an icon or shape or indicia disposed at a forward portion of the trailer, (b) an icon or shape or indicia established on a sheet attached at a forward portion of the trailer, (c) an icon or shape or indicia established at a forward portion of the trailer, (d) a target pattern established at a surface of the trailer or trailer tongue, (e) a colored pattern established at a surface of the trailer or trailer tongue and (f) a forward portion of the trailer; wherein said processor determines the location of the target based at least in part by at least one of (a) a regressive 2-D histogram that detects a pattern at the trailer, (b) an image pattern matching algorithm, (c) a color matching algorithm, and (d) an edge detection algorithm; and wherein said rear vision system generates an alert signal to alert the driver of a potentially hazardous situation while the equipped vehicle is pulling the trailer in a forward direction. - View Dependent Claims (15, 16, 17, 18)
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19. A rear vision system for a vehicle, said rear vision system comprising:
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at least a rearward facing camera disposed at a rearward portion of a vehicle equipped with said rear vision system; wherein said rearward facing camera is operable to captures images rearward of the equipped vehicle; wherein, when a trailer is attached to the equipped vehicle and is rearward of the equipped vehicle, a processor is operable to process the captured images and, responsive at least in part to said processing, is operable to determine a trailer angle of the trailer relative to a longitudinal axis of the equipped vehicle; wherein said processor determines a location of a target at or of the trailer relative to the equipped vehicle and determines the trailer angle of the trailer responsive to the determined location; wherein the target comprises at least one of (a) an icon or shape or indicia disposed at a forward portion of the trailer, (b) an icon or shape or indicia established on a sheet attached at a forward portion of the trailer, (c) an icon or shape or indicia established at a forward portion of the trailer, (d) a target pattern established at a surface of the trailer or trailer tongue, (e) a colored pattern established at a surface of the trailer or trailer tongue and (f) a forward portion of the trailer; and wherein at least one of (i) said processor determines a degree of swing or sway of the trailer during forward travel of the equipped vehicle, (ii) during a reversing maneuver of the equipped vehicle, said processor determines a rearward trajectory of the trailer responsive to the determined location of the target, and (iii) during a reversing maneuver of the equipped vehicle, said processor is operable to process the captured images to determine a rearward trajectory of the trailer and wherein said rear vision system provides a display indicative of the determined rearward trajectory to assist the driver in reversing the equipped vehicle and trailer. - View Dependent Claims (20, 21, 22)
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Specification