Trailer backing path prediction using GPS and camera images

• US 9,633,566 B2
• Filed: 12/20/2011
• Issued: 04/25/2017
• Est. Priority Date: 12/20/2011
• Status: Active Grant

• Current Assignee: Continental Autonomous Mobility US LLC (Continental AG)
• Original Assignee: Continental Automotive Systems, Inc. (Continental AG)
• Inventors: Skvarce, Jeffrey R., Krill, Lorraine C., Weber, Jeffrey W.
• Primary Examiner(s): Edwards, Jerrah
• Assistant Examiner(s): Han, Charles J
• Application Number:
  US13/331,598
• Publication Number:
  US 20130158863A1
• Time in Patent Office: 1,953 Days
• Field of Search: 701428
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/0275 by overlaying a vehicle path based on present steering angle over an image without processing that image
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A method of controlling a vehicle and trailer assembly comprises obtaining an image for a current position of the vehicle and trailer assembly from a GPS system. The image is displayed on a display screen and a location is selected to indicate a desired final position for the vehicle and trailer assembly. An intended trailer backing path is determined with the desired final position of the vehicle and trailer assembly and a predicted trailer backing path is determined based upon a steering angle of the vehicle and an angle between the vehicle and the trailer. The predicted trailer backing path and the intended trailer backing path are displayed on the display screen to assist the operator in steering the vehicle.

Claims

1. A method of controlling a vehicle and trailer assembly comprising:

obtaining a GPS-based image of a current position of the vehicle and trailer assembly from a GPS system of the vehicle and trailer assembly;

displaying the GPS-based image on a display screen of a trailer backing system;

selecting a location on the GPS-based image displayed on the display screen to indicate a desired final position of the vehicle and trailer assembly on the GPS-based image and obtaining corresponding GPS coordinates of the desired final position;

comparing, with an electronic control unit of the trailer backing system, the desired final position of the vehicle and trailer assembly on the GPS-based image to the current position of the vehicle and trailer assembly on the GPS-based image;

performing image analysis on the GPS-based image with the electronic control unit and identifying, by the image analysis, obstacles in the map image proximate to the vehicle and trailer assembly and the desired final position;

determining an intended trailer backing path with the electronic control unit wherein the intended trailer backing path avoids the obstacles identified by the image analysis and includes the desired final position of the vehicle and trailer assembly;

determining, with the electronic control unit, a predicted trailer backing path based upon a steering angle of the vehicle and an angle between the vehicle and the trailer, wherein an input control mechanism for a driver to input control of the steering angle of the vehicle is based on input that is independent of a steering wheel for the vehicle; and

displaying, on the display screen, the predicted trailer backing path and the intended backing path of the trailer overlaid on the GPS-based image to assist the operator in steering the vehicle;

wherein the vehicle and trailer assembly are steerable by the driver, wherein steering of the vehicle will adjust the predicted trailer backing path to correct the predicted trailer backing path to match the intended trailer backing path.

2. The method of claim 1, wherein displaying the predicted trailer backing path of the trailer further comprises displaying predicted location and direction of travel of wheel assemblies of the trailer.

3. The method of claim 1, wherein determining a predicted trailer backing path based upon the steering angle of the vehicle further comprises using an instantaneous steering angle of the vehicle.

4. The method of claim 1, wherein determining a predicted trailer backing path further comprises using trailer data input into the trailer backing system, wherein the trailer data comprises at least one of:

a length of a wheelbase of the trailer, a width of a wheelbase of the trailer, and a distance between an axle for the trailer and a hitch for the trailer.

5. The method of claim 1, further comprising displaying a predicted vehicle backing path on the display screen to assist the operator in steering the vehicle.

6. The method of claim 1, wherein sensors, the display, and the electronic control unit used by the trailer backing system are integrated into one of the vehicle and the trailer.

7. The method of claim 1, wherein using image analysis to identify obstacles further comprises identifying edges on displayed roads and paths as obstacles.

8. The method of claim 1, wherein the input control mechanism is a touch screen.

9. A method of controlling a vehicle and trailer assembly comprising:

obtaining an image of a current position of the vehicle and trailer assembly from a camera mounted to a trailer of the vehicle and trailer assembly;

displaying the image on a display screen of a trailer backing system, wherein the display screen is integrated within the vehicle;

selecting a location on the image displayed on the display screen to indicate a desired final position of the vehicle and trailer assembly on the image;

determining an intended trailer backing path with the electronic control unit;

determining a predicted trailer backing path with an electronic control unit of the trailer backing system based upon a steering angle of the vehicle and an angle between the vehicle and the trailer, wherein a sensor for determining the angle between the vehicle and the trailer is integrated into one of the vehicle and the trailer, wherein an input control mechanism for a driver to input control of the steering angle of the vehicle is based on input that is independent of a steering wheel for the vehicle; and

displaying, on the display screen, the predicted trailer backing path and the intended backing path of the trailer overlaid on the image to assist the driver in steering the vehicle;

wherein the vehicle and trailer assembly are steerable by the driver, wherein steering of the vehicle will adjust the predicted trailer backing path to correct the predicted trailer backing path to match the intended trailer backing path.

10. The method of claim 9, wherein displaying the predicted trailer backing path further comprises displaying predicted location and direction of travel of wheel assemblies of the trailer.

11. The method of claim 9, wherein determining a predicted trailer backing path based upon a steering angle of the vehicle further comprises using an instantaneous steering angle of the vehicle.

12. The method of claim 9, wherein determining a predicted trailer backing path further comprises using trailer data input into the trailer backing system wherein the trailer data comprises at least one of:

a length of the trailer, a track width of the trailer, and a distance between an axle for the trailer and a hitch for the trailer.

13. The method of claim 9, wherein the input control mechanism is a touch screen.

14. The method of claim 9 further comprising receiving an adjustment to the steering of the vehicle, updating the predicted trailer backing path, and displaying the updated predicted trailer backing path.