Target-based trailer backup collision mitigation
First Claim
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1. A backup assist system for a vehicle and trailer combination, comprising:
- a vehicle steering system;
a camera generating images of the trailer; and
a controller;
processing sequential images of the trailer during a straight driving interval;
selecting a baseline image corresponding with a determined steady-state condition;
determining a vehicle-trailer collision angle based on a location of a feature of the trailer in the baseline image; and
controlling the steering system to maintain a hitch angle at or below a maximum controllable angle or below the collision angle, whichever is lesser.
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Abstract
A backup assist system for a vehicle and trailer combination includes a vehicle steering system, a camera generating images of the trailer, and a controller. The controller processes sequential images the trailer, selects a baseline image, and determines a collision angle based on a location of a feature of the trailer in the baseline image. The controller further controls the steering system to maintain a hitch angle below a lesser of a maximum controllable angle and the collision angle.
122 Citations
20 Claims
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1. A backup assist system for a vehicle and trailer combination, comprising:
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a vehicle steering system; a camera generating images of the trailer; and a controller; processing sequential images of the trailer during a straight driving interval; selecting a baseline image corresponding with a determined steady-state condition; determining a vehicle-trailer collision angle based on a location of a feature of the trailer in the baseline image; and controlling the steering system to maintain a hitch angle at or below a maximum controllable angle or below the collision angle, whichever is lesser. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vehicle, comprising:
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a steering system; a camera generating images of a predetermined area to a rear of the vehicle; and a system for assisting in reversing the vehicle with a trailer coupled therewith and including a controller; processing sequential images received from the camera during a straight driving interval; selecting a baseline image of the trailer, including a locating feature, corresponding with a determined steady-state condition; determining a vehicle-trailer collision angle based on a location of the feature in the baseline image; and controlling the steering system to maintain a hitch angle at or below a maximum controllable angle or below the collision angle, whichever is lesser. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A method for assisting a vehicle in reversing a trailer, comprising:
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selecting a baseline image from a plurality of sequential images received from a camera mounted to the vehicle during a straight driving interval; determining a vehicle-trailer collision angle based on a location of a target on the trailer in the baseline image corresponding with a determined steady-state condition; and controlling a steering system of the vehicle to maintain a trailer hitch angle at or below a maximum controllable angle or below the collision angle, whichever is lesser. - View Dependent Claims (17, 18, 19, 20)
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Specification