Trailer angle detection system calibration

• US 9,802,542 B2
• Filed: 09/19/2016
• Issued: 10/31/2017
• 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: Lu, Yuesheng, Byrne, Steven V., VanOphem, Paul A., Harris, James D.
• Primary Examiner(s): ELAHI, SHAN E
• Application Number:
  US15/268,941
• Publication Number:
  US 20170001566A1
• Time in Patent Office: 407 Days
• Field of Search: 348148
• 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 1/002 specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like integrated in the windows B60R1/001; combined with rear-view mirrors B60R1/08
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 1/28 with an adjustable field of view
• CPC Class Codes: B60R 2300/105 using multiple cameras
• 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

Abstract

A dynamic calibration method for calibrating a trailer angle detection system of a vehicle towing a trailer includes providing cameras configured to be disposed at the vehicle so as to have respective fields of view. Image data captured by at least some of the cameras is processed as the vehicle is driven forwardly and towing the trailer. A location of a portion of the trailer is determined via processing of captured image data. Responsive at least in part to processing of captured image data, a plurality of trailer parameters and vehicle-trailer interface parameters are determined. The plurality of trailer parameters and vehicle-trailer interface parameters are determined while the vehicle is driven forwardly and towing the trailer. The trailer angle detection system of the vehicle is calibrated responsive to determination that the trailer portion is not where the system expects it to be when the vehicle is traveling straight forward.

Claims

1. A dynamic calibration method for calibrating a trailer angle detection system of a vehicle towing a trailer, said dynamic calibration method comprising:

providing a plurality of cameras;

wherein providing a plurality of cameras comprises providing a rearward viewing camera at a rear portion of a vehicle equipped with said trailer angle detection system so as to have at least a rearward field of view;

wherein providing a plurality of cameras comprises providing a driver side camera at a driver side portion of the equipped vehicle so as to have at least a sideward and rearward field of view;

wherein providing a plurality of cameras comprises providing a passenger side camera at a passenger side portion of the equipped vehicle so as to have at least a sideward and rearward field of view;

providing a processor that processes image data captured by said rearward viewing camera, said driver side camera and said passenger side camera;

attaching a trailer to the equipped vehicle and rearward of the equipped vehicle;

driving the equipped vehicle forward while the equipped vehicle is towing the trailer;

processing, using said processor, image data captured by at least some of said cameras while the equipped vehicle is being driven forwardly and towing the trailer;

determining a location of a portion of the trailer via processing by said processor of image data captured by at least some of said cameras while the equipped vehicle is being driven forwardly and towing the trailer;

responsive at least in part to processing by said processor of image data captured by at least some of said cameras while the equipped vehicle is being driven forwardly and towing the trailer, determining a plurality of trailer parameters and vehicle-trailer interface parameters;

wherein determining the plurality of trailer parameters and vehicle-trailer interface parameters is performed while the vehicle is being driven forwardly and towing the trailer; and

calibrating the trailer angle detection system of the equipped vehicle responsive to determination, via processing by said processor of image data captured by at least some of said cameras, that the portion of the trailer is not where said trailer angle detection system expects it to be when the equipped vehicle is traveling straight forward.

2. The dynamic calibration method of claim 1, wherein calibrating the trailer angle detection system comprises adjusting processing by said processor of image data captured by at least some of said cameras by adjusting at least one of (i) the rearward field of view of said rearward viewing camera and (ii) applying an offset correction to a determined angle of the trailer relative to the equipped vehicle.

3. The dynamic calibration method of claim 1, comprising processing by said processor of image data captured by at least some of said cameras to determine a determined trailer angle of the trailer relative to a longitudinal axis of the equipped vehicle, and determining, via processing by said processor of image data captured by at least some of said cameras, the location of the portion of the trailer relative to the equipped vehicle.

4. The dynamic calibration method of claim 3, comprising determining the determined trailer angle of the trailer at least responsive to the determined location of the portion of the trailer.

5. The dynamic calibration method of claim 3, wherein the portion of the trailer has opposite side portions, and wherein said method comprises determining, responsive to processing by said processor of image data captured by at least some of said cameras, an amount of a side portion of the portion of the trailer that is exposed to and viewable by at least one of said cameras, and determining, responsive to the determination of the exposed amount, an estimated trailer angle relative to the equipped vehicle.

6. The dynamic calibration method of claim 5, wherein the opposite side portions of the portion of the trailer comprise colored side portions.

7. The dynamic calibration method of claim 5, wherein the portion of the trailer comprises a target that extends above the trailer where the target is disposed.

8. The dynamic calibration method of claim 5, wherein said camera is disposed at a centerline of the equipped vehicle and wherein the portion of the trailer is at a longitudinal axis of the trailer.

9. The dynamic calibration method of claim 1, wherein the determined 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 a tow ball of the equipped vehicle at which the trailer is attached and an axle of the trailer, (iii) a distance between a tow ball of the equipped vehicle at which the trailer is attached and a portion of the trailer, and (iv) a distance between a portion of the trailer and a longitudinal axis of the trailer.

10. The dynamic calibration method of claim 1, comprising calculating a calculated trailer angle based at least in part on calculations involving the determined parameters and a steering angle of the equipped vehicle while the equipped vehicle is being driven forwardly and towing the trailer, and based at least in part on vehicle parameters.

11. The dynamic calibration method of claim 10, wherein the vehicle parameters include (i) a distance between a front wheel axle of the equipped vehicle and the bumper of the equipped vehicle, (ii) a distance between a rear wheel axle of the equipped vehicle and the bumper of the equipped vehicle and (iii) a steering angle of the equipped vehicle.

12. The dynamic calibration method of claim 1, comprising:

calculating a calculated trailer angle based at least in part on calculations involving the determined parameters and a steering angle of the equipped vehicle while the equipped vehicle is being driven forwardly and towing the trailer,

determining, responsive to processing by said processor of image data captured by at least some of said cameras, a determined trailer angle of the trailer relative to a longitudinal axis of the equipped vehicle while the equipped vehicle is being driven forwardly and towing the trailer,

determining a degree of offset between the calculated trailer angle and the determined trailer angle while the equipped vehicle is being driven forwardly and towing the trailer, and

calibrating the trailer angle detection system when the determined offset is greater than a threshold level.

13. The dynamic calibration method of claim 12, wherein the trailer angle detection system is calibrated via at least one of (i) adjusting image data processing by said processor, (ii) adjusting the rearward field of view of said rearward viewing camera and (iii) applying an offset correction to the determined trailer angle.

14. The dynamic calibration method of claim 12, comprising generating an alert signal to alert the driver of a potentially hazardous situation while the equipped vehicle is towing the trailer.

15. A dynamic calibration method for calibrating a trailer angle detection system of a vehicle towing a trailer, said dynamic calibration method comprising:

providing a plurality of cameras;

wherein providing a plurality of cameras comprises providing a rearward viewing camera at a rear portion of a vehicle equipped with said trailer angle detection system so as to have at least a rearward field of view;

wherein providing a plurality of cameras comprises providing a driver side camera at a driver side portion of the equipped vehicle so as to have at least a sideward and rearward field of view;

wherein providing a plurality of cameras comprises providing a passenger side camera at a passenger side portion of the equipped vehicle so as to have at least a sideward and rearward field of view;

providing a processor that processes image data captured by said rearward viewing camera, said driver side camera and said passenger side camera;

attaching a trailer to the equipped vehicle and rearward of the equipped vehicle;

driving the equipped vehicle forward while the equipped vehicle is towing the trailer;

processing, using said processor, image data captured by at least some of said cameras while the equipped vehicle is being driven forwardly and towing the trailer;

determining a location of a portion of the trailer via processing by said processor of image data captured by at least some of said cameras while the equipped vehicle is being driven forwardly and towing the trailer;

responsive at least in part to processing by said processor of image data captured by at least some of said cameras while the equipped vehicle is being driven forwardly and towing the trailer, determining a plurality of trailer parameters and vehicle-trailer interface parameters;

wherein the determined 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 a tow ball of the equipped vehicle at which the trailer is attached and an axle of the trailer, (iii) a distance between a tow ball of the equipped vehicle at which the trailer is attached and a portion of the trailer, and (iv) a distance between a portion of the trailer and a longitudinal axis of the trailer;

wherein determining the plurality of trailer parameters and vehicle-trailer interface parameters is performed while the vehicle is being driven forwardly and towing the trailer;

calculating a calculated trailer angle based at least in part on calculations involving the determined parameters and a steering angle of the equipped vehicle while the equipped vehicle is being driven forwardly and towing the trailer, and based at least in part on vehicle parameters; and

calibrating the trailer angle detection system of the equipped vehicle responsive to determination, via processing by said processor of image data captured by at least some of said cameras, that the portion of the trailer is not where said system expects it to be when the equipped vehicle is traveling straight forward.

16. The dynamic calibration method of claim 15, wherein calibrating the trailer angle detection system comprises adjusting processing by said processor of image data captured by at least some of said cameras by adjusting at least one of (i) the rearward field of view of said rearward viewing camera and (ii) applying an offset correction to a determined angle of the trailer relative to the equipped vehicle.

17. The dynamic calibration method of claim 16, comprising generating an alert signal to alert the driver of a potentially hazardous situation while the equipped vehicle is towing the trailer.

18. A dynamic calibration method for calibrating a trailer angle detection system of a vehicle towing a trailer, said dynamic calibration method comprising:

providing a plurality of cameras;

wherein providing a plurality of cameras comprises providing a rearward viewing camera at a rear portion of a vehicle equipped with said trailer angle detection system so as to have at least a rearward field of view;

wherein providing a plurality of cameras comprises providing a driver side camera at a driver side portion of the equipped vehicle so as to have at least a sideward and rearward field of view;

wherein providing a plurality of cameras comprises providing a passenger side camera at a passenger side portion of the equipped vehicle so as to have at least a sideward and rearward field of view;

providing a processor that processes image data captured by said rearward viewing camera, said driver side camera and said passenger side camera;

attaching a trailer to the equipped vehicle and rearward of the equipped vehicle;

driving the equipped vehicle forward while the equipped vehicle is towing the trailer;

processing, using said processor, image data captured by at least some of said cameras while the equipped vehicle is being driven forwardly and towing the trailer;

determining a location of a portion of the trailer via processing by said processor of image data captured by at least some of said cameras while the equipped vehicle is being driven forwardly and towing the trailer;

responsive at least in part to processing by said processor of image data captured by at least some of said cameras while the equipped vehicle is being driven forwardly and towing the trailer, determining a plurality of trailer parameters and vehicle-trailer interface parameters;

wherein the determined 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 a tow ball of the equipped vehicle at which the trailer is attached and an axle of the trailer, (iii) a distance between a tow ball of the equipped vehicle at which the trailer is attached and a portion of the trailer, and (iv) a distance between a portion of the trailer and a longitudinal axis of the trailer;

wherein determining the plurality of trailer parameters and vehicle-trailer interface parameters is performed while the vehicle is being driven forwardly and towing the trailer;

processing by said processor of image data captured by at least some of said cameras to determine a determined trailer angle of the trailer relative to a longitudinal axis of the equipped vehicle while the equipped vehicle is being driven forwardly and towing the trailer;

determining, via processing by said processor of image data captured by at least some of said cameras, the location of the portion of the trailer relative to the equipped vehicle while the equipped vehicle is being driven forwardly and towing the trailer;

determining the determined trailer angle of the trailer at least responsive to the determined location of the portion of the trailer and while the equipped vehicle is being driven forwardly and towing the trailer; and

calibrating the trailer angle detection system of the equipped vehicle responsive to determination, via processing by said processor of image data captured by at least some of said cameras, that the portion of the trailer is not where said system expects it to be when the equipped vehicle is traveling straight forward.

19. The dynamic calibration method of claim 18, wherein calibrating the trailer angle detection system comprises adjusting processing by said processor of image data captured by at least some of said cameras by adjusting at least one of (i) the rearward field of view of said rearward viewing camera and (ii) applying an offset correction to a determined angle of the trailer relative to the equipped vehicle.

20. The dynamic calibration method of claim 18, comprising:

calculating a calculated trailer angle based at least in part on calculations involving the determined parameters and a steering angle of the equipped vehicle while the equipped vehicle is being driven forwardly and towing the trailer,

determining a degree of offset between the calculated trailer angle and the determined trailer angle while the equipped vehicle is being driven forwardly and towing the trailer, and

calibrating the trailer angle detection system when the determined offset is greater than a threshold level.

21. The dynamic calibration method of claim 20, wherein the trailer angle detection system is calibrated via at least one of (i) adjusting image data processing by said processor, (ii) adjusting the rearward field of view of said rearward viewing camera and (iii) applying an offset correction to the determined trailer angle.