VEHICLE VISION SYSTEM WITH TRAILER ANGLE DETECTION

• US 20170185852A1
• Filed: 01/24/2017
• Published: 06/29/2017
• 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: Pliefke, Sebastian, Jarmola, Paul, Byrne, Steven V., Wierich, Thomas, Lu, Yuesheng
• Granted Patent: US 9,779,313 B2
• Time in Patent Office: Days
• CPC Class Codes: B60K 2360/173 Reversing assist
• CPC Class Codes: B60K 2360/21 using cameras
• CPC Class Codes: B60K 2360/27 using semi-transparent optical elements
• CPC Class Codes: B60K 2360/29 Holographic features
• CPC Class Codes: B60K 2360/777 on or in sun visors
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/211 producing three-dimensional [3D] effects, e.g. stereoscopic images
• CPC Class Codes: B60K 35/22 Display screens
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60K 35/60 Instruments characterised by their location or relative disposition in or on vehicles arrangements of lighting devices on dashboards B60Q3/10
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/12 Mirror assemblies combined with other articles, e.g. clocks
• CPC Class Codes: B60R 1/23 with a predetermined field of view
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2001/1253 with cameras, video cameras or video screens
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• 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
• CPC Class Codes: B60R 2300/806 : for aiding parking
• CPC Class Codes: B60R 2300/808 : for facilitating docking to a trailer
• CPC Class Codes: B60R 2300/8086 : for vehicle path indication
• CPC Class Codes: B60Y 2400/92 : Driver displays
• CPC Class Codes: B62D 13/06 : for backing a normally drawn trailer
• CPC Class Codes: B62D 15/0295 : by overlaying a vehicle path based on present steering angle over an image without processing that image
• CPC Class Codes: G06V 20/56 : exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/58 : Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/588 : Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: H04N 23/63 : by using electronic viewfinders
• CPC Class Codes: H04N 5/272 : Means for inserting a foreground image in a background image, i.e. inlay, outlay
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source

Abstract

A vehicular vision system includes a camera and an image processor operable to process captured image data. When the vehicle is towing a trailer, and based at least in part on image processing of image data captured by the camera during maneuvering of the vehicle and the trailer, the vision system estimates a length of the trailer. Image data captured during maneuvering of the vehicle and the trailer includes image data captured when the vehicle is maneuvered with the trailer at an angle relative to the vehicle. The vision system, responsive at least in part to image processing of captured image data, determines a trailer angle of the trailer that is towed by the vehicle, and is operable to determine a path of the trailer responsive to a steering angle of the vehicle and the determined trailer angle of the trailer and the estimated length of the trailer.

Claims

1. A vehicular vision system, said vehicular vision system comprising:

a camera disposed at a vehicle and having an exterior field of view at least rearward of the vehicle, wherein said camera is operable to capture image data;

an image processor operable to process captured image data;

wherein, when the vehicle is towing a trailer, and based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vision system estimates a length of the trailer;

wherein image data captured by said camera during maneuvering of the vehicle and the trailer includes image data captured by said camera when the vehicle is maneuvered with the trailer at an angle relative to the vehicle;

wherein said vision system, responsive at least in part to image processing of captured image data, determines a trailer angle of the trailer that is towed by the vehicle;

wherein said vision system is operable to determine a path of the trailer responsive to a steering angle of the vehicle and the determined trailer angle of the trailer and the estimated length of the trailer;

wherein said vision system, with the same force F coming from the torque of the vehicle'"'"'s engine, measures (i) the acceleration a_v when the vehicle is accelerating with the trailer being towed by the vehicle and (ii) the acceleration a_t of the vehicle without the trailer being towed; and

wherein said vision system estimated the mass m of the trailer in accordance with the equation;

m=F/(a_t−

a_v).

2. The vehicular vision system of claim 1, wherein, based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer around a curve, said vision system estimates the height of the center of mass of the trailer by observing the trailer'"'"'s nicking angle while the vehicle steers around the curve.

3. The vehicular vision system of claim 1, wherein, based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vision system distinguishes a drivable surface from a prohibited space.

4. The vehicular vision system of claim 1, wherein, based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vision system distinguishes an object which ought not be hit by the vehicle and the trailer that is towed by the vehicle.

5. The vehicular vision system of claim 4, wherein said vision system distinguishes an object which ought not be hit by the vehicle and the trailer that is towed by the vehicle based at least in part on mapping information.

6. The vehicular vision system of claim 4, wherein said vision system distinguishes an object which ought not be hit by the vehicle and the trailer that is towed by the vehicle based at least in part on data wirelessly transmitted to the vehicle.

7. The vehicular vision system of claim 1, wherein, based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vision system classifies an object viewed by said camera.

8. The vehicular vision system of claim 1, wherein, based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vision system classifies a road surface viewed by said camera.

9. The vehicular vision system of claim 1, wherein, based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vision system forms a three dimensional (3D) world reconstruction and plans a driving path for the vehicle and the trailer in a way that neither impacts an object nor violates a prohibited driving space.

10. The vehicular vision system of claim 1, wherein said vision system displays, at a display screen of the vehicle, images in a forward direction of travel of the vehicle and trailer, and wherein an overlay overlaid over the displayed images indicates a steering path for the vehicle that tows the trailer around an obstacle.

11. The vehicular vision system of claim 10, wherein said overlay comprises markers that indicate a determined path of travel of the front wheels of the vehicle and a path of travel that the wheels of the trailer will follow if the driver of the vehicle steers the front wheels of the vehicle along the determined path of travel of the front wheels.

12. The vehicular vision system of claim 11, wherein the determined path of travel of the front wheels of the vehicle is determined at least in part responsive to the steering angle of the vehicle.

13. The vehicular vision system of claim 1, wherein said vision system, based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, is operable to determine a distance between the trailer turning axis and the nicking point of the hitch of the trailer by the trailer'"'"'s nicking behavior while the vehicle and trailer are in motion.

14. The vehicular vision system of claim 1, wherein said vision system, based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, is operable to determine the trailer'"'"'s width.

15. The vehicular vision system of claim 1, wherein trailer data is input into said vision system to provide data pertaining to physical characteristics of the trailer, and wherein said vision system is operable to determine the path of the trailer at least in part responsive to the trailer data.

16. The vehicular vision system of claim 1, wherein said vision system is operable to store properties of a certain trailer in a data file that is reloaded when that certain trailer is connected at the vehicle and identified by said vision system.

17. A vehicular vision system, said vehicular vision system comprising:

a camera disposed at a vehicle and having an exterior field of view at least rearward of the vehicle, wherein said camera is operable to capture image data;

an image processor operable to process captured image data;

wherein, when the vehicle is towing a trailer, and based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle, said vision system estimates a length of the trailer;

wherein image data captured by said camera during maneuvering of the vehicle and the trailer includes image data captured by said camera when the vehicle is maneuvered with the trailer at an angle relative to the vehicle;

wherein said vision system, responsive at least in part to image processing of captured image data, determines a trailer angle of the trailer that is towed by the vehicle;

wherein said vision system is operable to determine a path of the trailer responsive to a steering angle of the vehicle and the determined trailer angle of the trailer and the estimated length of the trailer; and

wherein, based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer around a curve, said vision system estimates the height of the center of mass of the trailer by observing the trailer'"'"'s nicking angle while the vehicle steers around the curve.

18. The vehicular vision system of claim 17, wherein said vision system is operable to store properties of a certain trailer in a data file that is reloaded when that certain trailer is connected at the vehicle and identified by said vision system.

19. A vehicular vision system, said vehicular vision system comprising:

a camera disposed at a vehicle and having an exterior field of view at least rearward of the vehicle, wherein said camera is operable to capture image data;

an image processor operable to process captured image data;

wherein, when the vehicle is towing a trailer, and based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle, said vision system estimates a length of the trailer;

wherein image data captured by said camera during maneuvering of the vehicle and the trailer includes image data captured by said camera when the vehicle is maneuvered with the trailer at an angle relative to the vehicle;

wherein said vision system, responsive at least in part to image processing of captured image data, determines a trailer angle of the trailer that is towed by the vehicle;

wherein said vision system is operable to determine a path of the trailer responsive to a steering angle of the vehicle and the determined trailer angle of the trailer and the estimated length of the trailer; and

wherein, based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vision system forms a three dimensional (3D) world reconstruction and plans a driving path for the vehicle and the trailer in a way that neither impacts an object nor violates a prohibited driving space.

20. The vehicular vision system of claim 19, wherein, based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vision system distinguishes an object which ought not be hit by the vehicle and the trailer that is towed by the vehicle.