Trailering assist system for vehicle

• US 10,755,110 B2
• Filed: 06/27/2014
• Issued: 08/25/2020
• Est. Priority Date: 06/28/2013
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Bajpai, Devendra
• Primary Examiner(s): Atala, Jamie J
• Assistant Examiner(s): Abouzahra, Hesham K
• Application Number:
  US14/316,939
• Publication Number:
  US 20150002670A1
• Time in Patent Office: 2,251 Days
• 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 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/304 using merged images, e.g. merging camera image with stored images
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

A trailering assist system for a vehicle includes a camera disposed at a vehicle, with the camera having a field of view rearward of the vehicle that encompasses a trailer that is being towed by the vehicle. The camera is operable to capture image data. A control of the system includes an image processor operable to process captured image data. Responsive to input of vehicle parameters and processing of captured image data by the image processor, the trailering assist system is operable to determine an estimated trailer angle and an estimated vehicle steering wheel angle. The control compares the estimated vehicle steering wheel angle to a measured or determined or actual vehicle steering wheel angle to determine an error value. The control is operable to generate an output when the error value is at or above a threshold level.

Claims

1. A trailering assist system for a vehicle, said trailering assist system comprising:

a camera disposed at a vehicle equipped with said trailering assist system;

wherein said camera comprises a two dimensional array of photosensing elements;

wherein said camera has a field of view rearward of the equipped vehicle that encompasses a trailer that is being towed by the equipped vehicle, and wherein said camera is operable to capture image data;

a control;

said control comprising an image processor operable to process image data captured by said camera;

wherein said control receives an input of vehicle parameters;

wherein, responsive to receipt of said input of vehicle parameters and to processing of captured image data by said image processor, said trailering assist system is operable to determine an estimated trailer angle and an estimated steering wheel angle of the equipped vehicle;

wherein the estimated trailer angle comprises an estimation of an angle of a longitudinal axis of the trailer relative to a longitudinal axis of the equipped vehicle;

wherein said control compares said estimated vehicle steering wheel angle to an actual steering wheel angle of the equipped vehicle to determine a steering wheel angle error value, and wherein said steering wheel angle error value is derived from the difference between the estimated steering wheel angle and the actual steering wheel angle;

wherein said steering wheel angle error value is used to modify the estimated trailer angle in subsequent determinations of the estimated trailer angle;

wherein, while said steering wheel angle error value is within a threshold range, said trailering assist system continues to determine steering wheel angle error values in making subsequent determinations of the estimated trailer angle as the driver of the vehicle continues a driving maneuver; and

wherein said control is operable to generate an output responsive to said steering wheel angle error value being at or above a threshold level.

2. The trailering assist system of claim 1, wherein said control generates an alert to a driver of the equipped vehicle when said steering wheel angle error value is at or above the threshold level.

3. The trailering assist system of claim 2, wherein said alert comprises at least one of an audible alert and a visual alert.

4. The trailering assist system of claim 1, comprising a video display screen disposed in the equipped vehicle for viewing by a driver of the equipped vehicle, wherein said video display screen displays images of the scene rearward of the equipped vehicle to assist the driver during a reversing maneuver of the equipped vehicle.

5. The trailering assist system of claim 4, wherein said video display screen displays a graphic overlay representative of the trailer to assist the driver during the reversing maneuver of the equipped vehicle.

6. The trailering assist system of claim 5, wherein said control is operable to alert the driver of the equipped vehicle when said steering wheel angle error value is at or above the threshold level to assist the driver in adjusting the actual steering angle of the equipped vehicle to guide the trailer towards a target location.

7. The trailering assist system of claim 5, wherein said video display screen is operable to display information for viewing by the driver of the equipped vehicle to assist the driver in driving the equipped vehicle with the trailer.

8. The trailering assist system of claim 7, wherein said video display screen is operable to display a predicted path that the trailer and equipped vehicle are traveling along responsive at least in part to the estimated trailer angle.

9. The trailering assist system of claim 8, wherein said video display screen is operable to display an appropriate path for the equipped vehicle and trailer to follow to reverse the trailer towards a target location.

10. The trailering assist system of claim 1, wherein said input of vehicle parameters includes input of at least some of (i) speed of the equipped vehicle, (ii) measured steering wheel angle of the equipped vehicle, (iii) trailer length of the towed trailer, (iv) vehicle length of the equipped vehicle, (v) vehicle width of the equipped vehicle and (vi) trailer hitch point from a rear axle of the equipped vehicle.

11. The trailering assist system of claim 1, wherein said control generates an alert signal to alert the driver of a potentially hazardous situation while the equipped vehicle is reversing with the trailer.

12. A trailering assist system for a vehicle, said trailering assist system comprising:

a camera disposed at a vehicle equipped with said trailering assist system;

wherein said camera comprises a two dimensional array of photosensing elements;

wherein said camera has a field of view rearward of the equipped vehicle that encompasses a trailer that is being towed by the equipped vehicle, and wherein said camera is operable to capture image data;

a control;

said control comprising an image processor operable to process image data captured by said camera;

wherein said control receives an input of vehicle parameters;

wherein said input of vehicle parameters includes input of at least some of (i) speed of the equipped vehicle, (ii) measured steering wheel angle of the equipped vehicle, (iii) trailer length of the towed trailer, (iv) vehicle length of the equipped vehicle, (v) vehicle width of the equipped vehicle and (vi) trailer hitch point from a rear axle of the equipped vehicle;

wherein, responsive to receipt of said input of vehicle parameters and to processing of captured image data by said image processor, said trailering assist system is operable to determine an estimated trailer angle and an estimated steering wheel angle of the equipped vehicle;

wherein the estimated trailer angle comprises an estimation of an angle of a longitudinal axis of the trailer relative to a longitudinal axis of the equipped vehicle;

wherein said control compares said estimated vehicle steering wheel angle to an actual steering wheel angle of the equipped vehicle to determine a steering wheel angle error value, and wherein said steering wheel angle error value is derived from the difference between the estimated steering wheel angle and the actual steering wheel angle;

wherein said steering wheel angle error value is used to modify the estimated trailer angle in subsequent determinations of the estimated trailer angle;

a video display screen disposed in the equipped vehicle for viewing by a driver of the equipped vehicle, wherein said video display screen displays images of the scene rearward of the equipped vehicle to assist the driver during a reversing maneuver of the equipped vehicle;

wherein, while said steering wheel angle error value is within a threshold range, said trailering assist system continues to determine steering wheel angle error values in making subsequent determinations of the estimated trailer angle as the driver of the vehicle continues the reversing maneuver; and

wherein said control is operable to generate an alert to a driver of the equipped vehicle responsive to said steering wheel angle error value being at or above a threshold level.

13. The trailering assist system of claim 12, wherein said alert comprises at least one of an audible alert and a visual alert.

14. The trailering assist system of claim 12, wherein said video display screen displays a graphic overlay representative of the trailer to assist the driver during the reversing maneuver of the equipped vehicle.

15. The trailering assist system of claim 12, wherein said control is operable to alert the driver of the equipped vehicle when said steering wheel angle error value is at or above the threshold level to assist the driver in adjusting the actual steering angle of the equipped vehicle to guide the trailer towards a target location during the reversing maneuver of the equipped vehicle.

16. The trailering assist system of claim 12, wherein said video display screen is operable to display information for viewing by the driver of the equipped vehicle to assist the driver in driving the equipped vehicle with the trailer, and wherein said video display screen is operable to display a predicted path that the trailer and equipped vehicle are traveling along responsive at least in part to the estimated trailer angle.

17. The trailering assist system of claim 16, wherein said video display screen is operable to display an appropriate path for the equipped vehicle and trailer to follow to reverse the trailer towards a target location.

18. A trailering assist system for a vehicle, said trailering assist system comprising:

a camera disposed at a vehicle equipped with said trailering assist system;

wherein said camera comprises a two dimensional array of photosensing elements;

wherein said camera has a field of view rearward of the equipped vehicle that encompasses a trailer that is being towed by the equipped vehicle, and wherein said camera is operable to capture image data;

a control;

said control comprising an image processor operable to process image data captured by said camera;

wherein said control receives an input of vehicle parameters;

wherein said input of vehicle parameters includes input of at least some of (i) speed of the equipped vehicle, (ii) measured steering wheel angle of the equipped vehicle, (iii) trailer length of the towed trailer, (iv) vehicle length of the equipped vehicle, (v) vehicle width of the equipped vehicle and (vi) trailer hitch point from a rear axle of the equipped vehicle;

wherein, responsive to receipt of said input of vehicle parameters and to processing of captured image data by said image processor, said trailering assist system is operable to determine an estimated trailer angle and an estimated steering wheel angle of the equipped vehicle;

wherein the estimated trailer angle comprises an estimation of an angle of a longitudinal axis of the trailer relative to a longitudinal axis of the equipped vehicle;

wherein said control compares said estimated vehicle steering wheel angle to an actual steering wheel angle of the equipped vehicle to determine a steering wheel angle error value, and wherein said steering wheel angle error value is derived from the difference between the estimated steering wheel angle and the actual steering wheel angle;

wherein said steering wheel angle error value is used to modify the estimated trailer angle in subsequent determinations of the estimated trailer angle;

wherein, while said steering wheel angle error value is within a threshold range, said trailering assist system continues to determine steering wheel angle error values in making subsequent determinations of the estimated trailer angle as the driver of the vehicle continues a driving maneuver;

wherein said control is operable to generate an output responsive to said steering wheel angle error value being at or above a threshold level;

a video display screen disposed in the equipped vehicle for viewing by a driver of the equipped vehicle, wherein said video display screen displays images of the scene rearward of the equipped vehicle to assist the driver during a reversing maneuver of the equipped vehicle;

wherein said video display screen is operable to display a predicted path that the trailer and equipped vehicle are traveling along responsive at least in part to the estimated trailer angle; and

wherein said control is operable to alert the driver of the equipped vehicle when said steering wheel angle error value is at or above the threshold level to assist the driver in adjusting the actual steering angle of the equipped vehicle to guide the trailer towards a target location.

19. The trailering assist system of claim 18, wherein said control generates an alert to a driver of the equipped vehicle when said steering wheel angle error value is at or above the threshold level, and wherein said alert comprises at least one of an audible alert and a visual alert.

20. The trailering assist system of claim 18, wherein said video display screen is operable to display an appropriate path for the equipped vehicle and trailer to follow to reverse the trailer towards a target location during the reversing maneuver of the equipped vehicle.