Trailer coupling assistance system with vehicle video camera

• US 9,499,018 B2
• Filed: 04/01/2015
• Issued: 11/22/2016
• Est. Priority Date: 04/01/2015
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Gehrke, Mark, Miller, James Stephen
• Primary Examiner(s): Kan, Yuri
• Application Number:
  US14/675,872
• Publication Number:
  US 20160288601A1
• Time in Patent Office: 601 Days
• Field of Search: 701/36, 701/41, 701/523, 374/17, 382/232, 280/477, 340/425.5, 348/148
• US Class Current: 1/1
• CPC Class Codes: B60D 1/06 Ball-and-socket hitches , e.g. constructional details, auxiliary devices, their arrangement on the vehicle
• CPC Class Codes: B60D 1/36 for facilitating connection, e.g. hitch catchers , visual guide means, signalling aids B60D1/465 takes precedence; vehicle signalling in general B60Q; optical arrangements specially adapted for viewing trailer-hitches B60R1/003
• CPC Class Codes: B60D 1/62 involving supply lines, electric circuits, or the like
• CPC Class Codes: B60Q 5/006 indicating risk of collision between vehicles or with pedestrians
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• 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 1/003 for viewing trailer hitches
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/808 for facilitating docking to a trailer
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G06F 18/22 Matching criteria, e.g. proximity measures
• CPC Class Codes: G06F 18/24 Classification techniques
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: H04N 5/77 between a recording apparatus and a television camera

Abstract

A method and system for guiding a vehicle having a hitch connector to a trailer operates with a monocular vehicle video camera secured to a rear of the vehicle. In operation, the vehicle video camera generates video images from a rearward direction of the vehicle that are displayed. An electronic control unit including a processor is configured to: receive and display the video images, analyze the video images to confirm the location of a trailer coupler, analyze the video images to determine distance from a hitch connector of the vehicle to the trailer coupler, analyze the video images to determine height of the hitch connector of the vehicle, height of the trailer coupler of the trailer, and the relative height difference between the hitch connector of the vehicle and the trailer coupler of the trailer, and assist in guiding the vehicle to a trailer coupling position.

Claims

1. Method of guiding a vehicle having a hitch connector to a trailer having a trailer coupler comprising:

generating video images with a vehicle video camera mounted at a rear of the vehicle;

receiving the video images at an electronic control unit including a processor and a memory;

displaying the video images that include the trailer coupler and the trailer;

analyzing the video images with the processor to determine a distance from the hitch connector of the vehicle to the trailer coupler;

analyzing the video images with the processor to determine a height of the hitch connector of the vehicle, a height of the trailer coupler of the trailer, and the relative height difference between the hitch connector of the vehicle and the trailer coupler of the trailer; and

assisting in guiding the vehicle to a trailer coupling position.

2. The method according to claim 1, wherein the vehicle video camera comprises a monocular vehicle video camera and the analyzing of the video images by the processor to determine the presence of the trailer coupler comprises identifying the trailer coupler and its location in the video images.

3. The system according to claim 2, wherein the electronic control unit includes a classifier that is configured to identify a trailer coupler by comparing a general geometric shape of the trailer coupler and/or a set of features against a library of geometric shapes and sets of features for a group of trailer couplers stored in the memory.

4. The method according to claim 2, wherein the identifying of the trailer coupler comprises identifying a general geometric shape of the trailer coupler and/or a set of features in the video images of the trailer coupler and locating the trailer coupler based on the relative location of the features and a priori understanding of typical trailer design.

5. The method according to claim 1, wherein the assisting in guiding the vehicle to a trailer coupling position comprises tracking the trailer coupler across plural ones of the video images and providing visual and audio commands that include direction and amount that a steering wheel must be turned by an operator.

6. The method according to claim 1, wherein the assisting in guiding the vehicle to a trailer coupling position comprises autonomous steering control of the vehicle without action by an operator.

7. The method according to claim 6, including ending autonomous steering control in the event that the processor determines that the height of the trailer coupler is not disposed upward enough to avoid a collision with the hitch connector of the vehicle.

9. The method according to claim 1, wherein the assisting in guiding the vehicle to a trailer coupling position comprises tracking the trailer coupler across plural video images and providing visual commands on a vehicle display on the vehicle console that include direction and amount that a steering wheel must be turned by an operator.

10. The method according to claim 1, further comprising a vehicle display that includes a touchscreen for displaying the video images, wherein the analyzing of the video images to determine a distance from the hitch connector to the trailer coupler comprises:

an operator touching an area at the location of the trailer coupler provided as the video image on the touch screen to enlarge in size the touched area, and the operator touching the enlarged area on the touch screen to locate the trailer coupling for tracking by the vehicle system.

8. Method of guiding a vehicle having a hitch connector to a trailer having a trailer coupler comprising:

generating video images with a vehicle video camera mounted at a rear of the vehicle and oriented rearwardly whereby the generated video images include the trailer and the trailer coupler;

receiving the generated video images at an electronic control unit including a processor and a memory;

displaying the generated video images that include the trailer coupler and the trailer on a vehicle display;

analyzing the generated video images that include the trailer coupler with the processor to determine a distance from the hitch connector of the vehicle to the trailer coupler;

analyzing the generated video images with the processor to determine a height of the hitch connector of the vehicle, a height of the trailer coupler of the trailer, and the relative height difference between the hitch connector of the vehicle and the trailer coupler of the trailer;

assisting in guiding the vehicle to a trailer coupling position; and

providing an audio warning and a visual warning when the processor determines that the height of the trailer coupler is not disposed upward enough to avoid a collision with the hitch connector of the vehicle,

wherein the assisting in guiding the vehicle to a trailer coupling position includes tracking the trailer coupler across plural ones of the generated video images and providing visual and audio commands that include direction and amount that a steering wheel must be turned by an operator.

11. A trailer coupling assistance system for guiding a vehicle having a hitch connector to a trailer coupler of a trailer comprising:

a vehicle video camera mounted at the rear of the vehicle configured to generate video images;

an electronic control unit including a processor and a memory, the electronic control unit configured to;

receive the video images from the vehicle video camera;

display the video images that include the trailer coupler and the trailer on a vehicle display;

analyze the video images to determine a distance from a hitch connector of the vehicle to the trailer coupler;

analyze the video images to determine a height of the trailer coupler of the trailer relative to the hitch connector; and

assist in guiding the vehicle to a trailer coupling position.

12. The system according to claim 11, wherein the vehicle video camera comprises a monocular vehicle video camera and the electronic control unit is configured to analyze the video images to determine the presence of the trailer coupler by identifying the trailer coupler and its location in the image.

13. The system according to claim 12, wherein the electronic control unit includes a classifier that is configured to identify a trailer coupler by comparing a general geometric shape of the trailer coupler and/or a set of features against a library of geometric shapes and sets of features for a group of trailer couplers stored in the memory.

14. The system according to claim 12, wherein the identifying of the trailer coupler comprises identifying a general geometric shape of the trailer coupler and/or a set of features in the video images of the trailer coupler and locating the coupler based on the relative location of the features and a priori understanding of typical trailer design.

15. The system according to claim 11, wherein the electronic control unit is configured to assist in guiding the vehicle to a trailer coupling position by tracking the trailer coupler across frames of video images and providing audio commands including proper direction and amount of steering changes by a steering wheel to be performed by an operator.

16. The system according to claim 11, wherein the electronic control unit is configured to assist in guiding the vehicle to a trailer coupling position by providing autonomous steering control of the vehicle without action by an operator.

17. The system according to claim 16, wherein the electronic control unit is configured to end autonomous steering control in the event that the processor determines that the height of the trailer coupler is not disposed upwardly enough to avoid a potential collision with the hitch connector of the vehicle.

18. The system according to claim 11, wherein the electronic control unit is configured to provide at least one from a group of:

an audio warning from a loudspeaker and a visual warning from the vehicle display when the electronic control unit determines that the height of the trailer coupler is not disposed upwardly enough to avoid a potential collision with the hitch connector of the vehicle.

19. The system according to claim 11, wherein the electronic control unit is configured to assist in guiding the vehicle to a trailer coupling position by tracking the trailer coupler across frames of video images and providing visual indicia on the vehicle display in the vehicle console, the indicia including proper direction and amount of steering changes for a steering wheel to be performed by an operator.

20. The system according to claim 11, wherein the vehicle display includes a touchscreen, and wherein the vehicle display provides the location of the trailer coupler on the video images, by an operator touching an area at the location of the trailer coupler provided on the vehicle display to enlarge in size the video image from the area touched by an operator, and wherein an operator touches the enlarged area to locate the trailer coupling for tracking by the vehicle system.