Trailer angle detection system calibration
First Claim
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.
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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.
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Citations
21 Claims
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1. A dynamic calibration method for calibrating a trailer angle detection system of a vehicle towing a trailer, said dynamic calibration method comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A dynamic calibration method for calibrating a trailer angle detection system of a vehicle towing a trailer, said dynamic calibration method comprising:
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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. - View Dependent Claims (16, 17)
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18. A dynamic calibration method for calibrating a trailer angle detection system of a vehicle towing a trailer, said dynamic calibration method comprising:
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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. - View Dependent Claims (19, 20, 21)
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Specification