TRAILER BACKING PATH PREDICTION USING GPS AND CAMERA IMAGES

• US 20130158863A1
• Filed: 12/20/2011
• Published: 06/20/2013
• Est. Priority Date: 12/20/2011
• Status: Active Grant

• Current Assignee: Continental Autonomous Mobility US LLC (Continental AG)
• Original Assignee: Continental Automotive Systems, Inc. (Continental AG)
• Inventors: Skvarce, Jeffrey R., Krill, Lorraine C., Weber, Jeffrey W.
• Granted Patent: US 9,633,566 B2
• Time in Patent Office: Days
• US Class Current: 701/428
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/0275 by overlaying a vehicle path based on present steering angle over an image without processing that image
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A method of controlling a vehicle and trailer assembly comprises obtaining an image for a current position of the vehicle and trailer assembly from a GPS system. The image is displayed on a display screen and a location is selected to indicate a desired final position for the vehicle and trailer assembly. An intended trailer backing path is determined with the desired final position of the vehicle and trailer assembly and a predicted trailer backing path is determined based upon a steering angle of the vehicle and an angle between the vehicle and the trailer. The predicted trailer backing path and the intended trailer backing path are displayed on the display screen to assist the operator in steering the vehicle.

Claims

1. A method of controlling a vehicle and trailer assembly comprising:

obtaining an image for a current position of the vehicle and trailer assembly from a GPS system for the vehicle and trailer assembly;

displaying the image on a display screen for a trailer backing system;

selecting a location on the displayed image to indicate a desired final position for the vehicle and trailer assembly;

determining a intended trailer backing path with the trailer backing system based upon the desired final position of the vehicle and trailer assembly;

determining a predicted trailer backing path with the trailer backing system based upon a steering angle of the vehicle and an angle between the vehicle and the trailer; and

displaying the predicted trailer backing path and the intended backing path of the trailer on the display screen to assist the operator in steering the vehicle.

2. The method of claim 1, wherein displaying the predicted trailer backing path of the trailer further comprises displaying predicted location and direction of travel for wheel assemblies of the trailer.

3. The method of claim 1, wherein determining a predicted trailer backing path based upon a steering angle of the vehicle further comprises using an instantaneous steering angle of the vehicle.

4. The method of claim 1, wherein determining a predicted trailer backing path further comprises using trailer data input into the trailer backing system.

5. The method of claim 4, wherein the trailer data comprises at least one of:

a length of a wheelbase of the trailer, a width of a wheelbase of the trailer, and a distance between an axle and a hitch for the trailer.

6. The method of claim 1, wherein further comprising displaying a predicted vehicle backing path on the display screen to assist the operator in steering the vehicle.

7. The method of claim 1, wherein determining the intended trailer backing path with the trailer backing system based upon the desired final position of the vehicle and trailer assembly further comprises obtaining GPS coordinates for the selected final position and comparing coordinates for the current vehicle position to the coordinates for the final position to determine the intended trailer backing path.

8. The method of claim 1, wherein determining the intended trailer backing path with the trailer backing system based further comprises the trailer backing system identifying possible obstacles in the image and plotting the intended trailer backing path to avoid the obstacles.

9. A method of controlling a vehicle and trailer assembly comprising:

obtaining a current position and a corresponding image for the vehicle and trailer assembly from a GPS system;

displaying the image on a display screen for a trailer backing system;

selecting a location on the displayed image to indicate a desired final position for the vehicle and trailer assembly;

determining an intended trailer backing path with the trailer backing system based upon the desired final position of the vehicle and trailer assembly; and

displaying the intended trailer backing path on the display screen.

10. The method of claim 9, further comprising instructing at least one vehicle system with the trailer backing system to direct the vehicle and trailer assembly along the intended trailer backing path to the final vehicle and trailer assembly position.

11. The method of claim 9, wherein determining the intended trailer backing path with the trailer backing system based upon the desired final position of the vehicle and trailer assembly further comprises obtaining GPS coordinates for the selected final position and comparing coordinates for the current vehicle position to the coordinates for the final position to determine the intended trailer backing path.

12. The method of claim 9, wherein determining the trailer backing path with the trailer backing system further comprises the trailer backing system identifying possible obstacles in the image and plotting the trailer backing path to avoid the obstacles.

13. A method of controlling a vehicle and trailer assembly comprising:

obtaining an image for a current position of the vehicle and trailer assembly from of a camera mounted to one of a vehicle and a trailer for the vehicle and trailer assembly;

displaying the image on a display screen for a trailer backing system;

determining a predicted trailer backing path with the trailer backing system based upon a steering angle of the vehicle and an angle between the vehicle and the trailer; and

displaying the predicted trailer backing path on the display screen to assist the operator in steering the vehicle.

14. The method of claim 13, wherein displaying the predicted trailer backing path further comprises displaying predicted location and direction of travel for wheel assemblies of the trailer.

15. The method of claim 13, wherein determining a predicted trailer backing path based upon a steering angle of the vehicle further comprises using an instantaneous steering angle of the vehicle.

16. The method of claim 13, wherein determining a predicted trailer backing path further comprises using trailer data input into the trailer backing system.

17. The method of claim 16, wherein the trailer data comprises at least one of:

a length of the trailer, a track width of the trailer, and a distance between an axle and a hitch for the trailer.