Vehicle vision system with trailer angle detection

  • US 9,779,313 B2
  • Filed: 01/24/2017
  • Issued: 10/03/2017
  • Est. Priority Date: 09/26/2012
  • Status: Active Grant
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First Claim
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1. A vehicular vision system, said vehicular vision system comprising:

  • a camera disposed at a vehicle and having an exterior field of view at least rearward of the vehicle, wherein said camera is operable to capture image data;

    an image processor operable to process captured image data;

    wherein, when the vehicle is towing a trailer, and based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vision system estimates a length of the trailer;

    wherein image data captured by said camera during maneuvering of the vehicle and the trailer includes image data captured by said camera when the vehicle is maneuvered with the trailer at an angle relative to the vehicle;

    wherein said vision system, responsive at least in part to image processing of captured image data, determines a trailer angle of the trailer that is towed by the vehicle;

    wherein said vision system is operable to determine a path of the trailer responsive to a steering angle of the vehicle and the determined trailer angle of the trailer and the estimated length of the trailer;

    wherein said vision system, with the same force F coming from the torque of the vehicle'"'"'s engine, measures (i) the acceleration α

    v when the vehicle is accelerating with the trailer being towed by the vehicle and (ii) the acceleration α

    t of the vehicle without the trailer being towed; and

    wherein said vision system estimated the mass m of the trailer in accordance with the equation;

    m=F/(α

    t

    α

    v);

    wherein, based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer around a curve, said vision system estimates the height of the center of mass of the trailer by observing the trailer'"'"'s nicking angle while the vehicle steers around the curve;

    wherein, based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vision system forms a three dimensional (3D) world reconstruction and plans a driving path for the vehicle and the trailer in a way that neither impacts an object nor violates a prohibited driving space;

    wherein said vision system, based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, is operable to determine a distance between the trailer turning axis and the nicking point of the hitch of the trailer by the trailer'"'"'s nicking behavior while the vehicle and trailer are in motion.

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