Template matching solution for locating trailer hitch point

• US 9,798,953 B2
• Filed: 12/17/2015
• Issued: 10/24/2017
• Est. Priority Date: 12/17/2015
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Hu, Zheng
• Primary Examiner(s): SAINI, AMANDEEP SINGH
• Application Number:
  US14/972,851
• Publication Number:
  US 20170177973A1
• Time in Patent Office: 677 Days
• Field of Search: 382103
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/13 Edge detection
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/59 inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions

Abstract

A system for detecting a hitch angle between a vehicle and a trailer is provided herein. An imaging device is configured to capture images of the trailer and a controller is configured to process images captured by the imaging device. The controller derives a template image and rotates the template image relative to a search image about an imaged hitch point that is common to the template image and the search image. The location of the imaged hitch point corresponds to a selected one of a number of candidate hitch point locations. The hitch angle is determined based on an angle at which the template image is rotated relative to the search image to generate a match therebetween.

Claims

1. A system for detecting a hitch angle between a vehicle and a trailer, comprising:

an imaging device configured to capture images of the trailer;

a controller configured to;

process images captured by the imaging device;

derive a template image;

rotate the template image relative to a search image about an imaged hitch point that is common to the template image and the search image, wherein the location of the imaged hitch point corresponds to a selected one of a number of candidate hitch point locations having a highest confidence score based on a match quality between the template image and the search image; and

determine the hitch angle based on an angle at which the template image is rotated relative to the search image to generate a match therebetween.

2. The system of claim 1, wherein the template image is superimposed onto the search image prior to being rotated about each of the candidate hitch point locations.

3. The system of claim 1, wherein if the match quality associated with each candidate hitch point location is below a predetermined threshold, the controller generates additional candidate hitch point locations from which the location of the imaged hitch point is selected.

4. The system of claim 1, wherein each of the candidate hitch point locations are located along a reference line that extends vertically across a middle column of the search image.

5. The system of claim 4, wherein the reference line coincides with a center longitudinal axis of an imaged drawbar, and intersects with the imaged hitch point.

6. The system of claim 1, wherein the template image shows the trailer in a zero hitch angle position relative to the vehicle whereas the search image shows the trailer in a non-zero hitch angle position relative to the vehicle.

7. A system for locating an imaged hitch point between a vehicle and a trailer, comprising:

an imaging device configured to capture images of the trailer;

a controller for processing images captured by the imaging device and configured to;

derive a template image;

rotate the template image about each of a number of candidate hitch point locations in an attempt to match the template image to a search image;

assign confidence scores to each candidate hitch point location based on a match quality between the template image and the search image; and

select as the imaged hitch point whichever candidate hitch point location receives the highest confidence score.

8. The system of claim 7, wherein the template image is superimposed onto the search image prior to being rotated about each of the candidate hitch point locations, and wherein the template image shows the trailer in a zero hitch angle position relative to the vehicle whereas the search image shows the trailer in a non-zero hitch angle position relative to the vehicle.

9. The system of claim 7, wherein if the match quality associated with each candidate hitch point location is below a predetermined threshold, the controller generates additional candidate hitch point locations from which the location of the imaged hitch point is selected.

10. The system of claim 7, wherein each of the candidate hitch point locations is located along a reference line that extends vertically across a middle column of the search image.

11. The system of claim 10, wherein the reference line coincides with a center longitudinal axis of an imaged drawbar and intersects with the imaged hitch point.

12. The system of claim 7, wherein once the imaged hitch point is selected, the controller is further configured to determine a hitch angle between the vehicle and the trailer based on an angle at which the template image is rotated relative to the search image about the imaged hitch point to generate a match between the template image and the search image.

13. A method for locating an imaged hitch point between a vehicle and a trailer, comprising the steps of:

capturing images of the trailer using an imaging device;

providing a controller for processing images captured by the imaging device and configured to;

derive a template image;

rotate the template image about each of a number of candidate hitch point locations in an attempt to match the template image to a search image;

assign confidence scores to each candidate hitch point location based on a match quality between the template image and the search image; and

select as the imaged hitch point whichever candidate hitch point location receives the highest confidence score.

14. The method of claim 13, wherein the template image is superimposed onto the search image prior to being rotated about each of the candidate hitch point locations, and wherein the template image shows the trailer in a zero hitch angle position relative to the vehicle whereas the search image shows the trailer in a non-zero hitch angle position relative to the vehicle.

15. The method of claim 13, wherein if the match quality associated with each candidate hitch point location is below a predetermined threshold, the controller generates additional candidate hitch point locations from which the location of the imaged hitch point is selected.

16. The method of claim 13, wherein each of the candidate hitch point locations is located along a reference line that extends vertically across a middle column of the search image.

17. The method of claim 16, wherein the reference line coincides with a center longitudinal axis of an imaged drawbar and intersects with the imaged hitch point.

18. The method of claim 13, wherein once the imaged hitch point is selected, the controller is further configured to determine a hitch angle between the vehicle and the trailer based on an angle at which the template image is rotated relative to the search image about the imaged hitch point to generate a match between the template image and the search image.