Trailer backup assist system with target management

• US 9,836,060 B2
• Filed: 10/28/2015
• Issued: 12/05/2017
• Est. Priority Date: 10/28/2015
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Ghneim, Maher, Lavoie, Erick Michael
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): HUYNH, LUAT T
• Application Number:
  US14/924,851
• Publication Number:
  US 20170123431A1
• Time in Patent Office: 769 Days
• Field of Search: 701 41, 382104, 382113
• CPC Class Codes: B60R 1/006 Side-view mirrors, e.g. V-shaped mirrors located at the front or rear part of the vehicle combined with rear-view mirrors B60R1/08; side-view periscopes B60R1/10
• CPC Class Codes: B60R 1/12 Mirror assemblies combined with other articles, e.g. clocks
• CPC Class Codes: B60R 2001/1253 with cameras, video cameras or video screens
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/60 characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2300/14 Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/42 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/22 Articulation angle, e.g. between tractor and trailer
• CPC Class Codes: B60W 2720/22 Articulation angle, e.g. between tractor and trailer
• CPC Class Codes: B60W 30/18036 Reversing
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60Y 2200/147 : Trailers, e.g. full trailers or caravans
• CPC Class Codes: B60Y 2300/28 : related to towing or towed situations
• CPC Class Codes: G05D 1/0246 : using a video camera in combination with image processing means
• CPC Class Codes: G06V 20/56 : exterior to a vehicle by using sensors mounted on the vehicle

Abstract

A trailer backup assist system is provided herein. A camera captures images of a trailer connected to a vehicle. A display has a screen for displaying captured images and registering a touch event thereon to assign a target on the imaged trailer. A controller processes the captured images and tracks the target to determine a hitch angle between the vehicle and the trailer while the vehicle is automatically steered during a trailer backup maneuver.

Claims

1. A trailer backup assist system comprising:

a camera for capturing images of a trailer connected to a vehicle;

a display having a screen for displaying captured images and registering a touch event thereon to assign a target on the trailer; and

a controller for processing the captured images and tracking the target to determine a hitch angle between the vehicle and the trailer while the vehicle is automatically steered during a trailer backup maneuver, wherein the hitch angle is determined based on changes in pixels of the captured images that relate to an angular position change of the target.

2. The trailer backup assist system of claim 1, wherein the target comprises a number of points on the trailer, wherein the points correspond to objects or features of the trailer.

3. The trailer backup assist system of claim 1, wherein if the target becomes lost, the controller calculates a time in which to reach a maximum controllable hitch angle at a current trailer yaw rate.

4. The trailer backup assist system of claim 3, wherein if the calculated time is above a predetermined threshold, the controller estimates the hitch angle based on a trailer yaw rate, a vehicle yaw rate, and a vehicle speed.

5. The trailer backup assist system of claim 3, wherein if the calculated time is below a predetermined threshold, the controller initiates a preventative countermeasure for reducing the hitch angle and a speed of the vehicle.

6. A trailer backup assist system comprising:

a camera for capturing images of a trailer connected to a vehicle; and

a controller for processing the captured images and tracking a target on the trailer to determine a hitch angle between the vehicle and the trailer during a trailer backup maneuver, wherein if the target becomes lost, the controller calculates a time in which to reach a maximum controllable hitch angle at a current trailer yaw rate.

7. The trailer backup assist system of claim 6, wherein the target is at least one of a sticker applied to the trailer.

8. The trailer backup assist system of claim 6, wherein the target comprises a number of points on the trailer, wherein the points correspond to objects or features of the trailer and are assigned via one or more touch events on a screen of a vehicle display.

9. The trailer backup assist system of claim 8, wherein the hitch angle is determined based on changes in pixels of the captured images that relate to an angular position change of the target.

10. The trailer backup assist system of claim 6, wherein if the calculated time is above a predetermined threshold, the controller estimates the hitch angle based on a trailer yaw rate, a vehicle yaw rate, and a vehicle speed.

11. The trailer backup assist system of claim 6, wherein if the calculated time is below a predetermined threshold, the controller initiates a preventative countermeasure for reducing the hitch angle and a speed of the vehicle.

12. A hitch angle monitoring method, comprising the steps of:

capturing images of a trailer that is connected to a vehicle;

displaying the captured images on a screen of a vehicle display;

registering a touch event on the screen to assign a target on the trailer; and

processing the captured images to track the target to determine a hitch angle between the vehicle and the trailer while the trailer is automatically steered during a trailer backup maneuver, wherein the target comprises a number of points on the trailer, wherein the points correspond to objects or features of the trailer, and wherein the hitch angle is determined based on changes in pixels of the captured images that relate to an angular position change of the target.

13. The hitch angle monitoring method of claim 12, further comprising the step of aligning the vehicle and the trailer before assigning the target on the trailer.

14. The hitch angle monitoring method of claim 13, wherein if the calculated time is above a predetermined threshold, the controller estimates the hitch angle based on a trailer yaw rate, a vehicle yaw rate, and a vehicle speed.

15. The hitch angle monitoring method of claim 13, wherein if the calculated time is below a predetermined threshold, the controller initiates a preventative countermeasure for reducing a potential jackknife situation.

16. The hitch angle monitoring method of claim 15, wherein the preventative countermeasure includes alerting an operator of the vehicle to assume control of at least one of a steering device of the vehicle and a vehicle brake control system of the vehicle.

17. The hitch angle monitoring method of claim 15, wherein the preventative countermeasure includes actively controlling at least one of a power assist steering system, a vehicle brake control system, and a powertrain control system of the vehicle to reduce the hitch angle and the speed of the vehicle.

18. The hitch angle monitoring method of claim 12, wherein if the target becomes lost, the controller calculates a time in which to reach a maximum controllable hitch angle at a current trailer yaw rate.