Target-based trailer backup collision mitigation

• US 9,981,690 B2
• Filed: 04/13/2016
• Issued: 05/29/2018
• Est. Priority Date: 04/13/2016
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lavoie, Erick Michael, Raad, Joseph M., Mattern, Donald Jacob
• Primary Examiner(s): Shaawat, Mussa A
• Assistant Examiner(s): Kerrigan, Michael V
• Application Number:
  US15/097,360
• Publication Number:
  US 20170297619A1
• Time in Patent Office: 776 Days
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/023 by measuring on the king pin
• CPC Class Codes: B62D 15/024 Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence

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.

Claims

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.

2. The system of claim 1, wherein the controller further determines the hitch angle by comparing an instantaneous one of the sequential images and the baseline image.

3. The system of claim 1, wherein the camera is mounted on the vehicle facing toward the trailer.

4. The system of claim 1, wherein the maximum controllable angle is determined by the controller using a kinematic model of the vehicle and trailer combination.

5. The system of claim 1, wherein the collision angle is based on an angle between the feature of the trailer and an adjacent corner of the vehicle.

6. The system of claim 5, wherein the collision angle further includes a safety angle added to the angle between the feature of the trailer and the adjacent corner of the vehicle.

7. The system of claim 5, wherein the feature is a checkered target.

8. The system of claim 7, wherein:

the vehicle defines a first distance from a trailer hitch with which the trailer is coupled to an adjacent corner of the vehicle; and

wherein the target is positioned on the trailer at a second distance from the trailer hitch approximately equal to the first distance.

9. The system of claim 1, wherein the controller further prompts a user to drive the vehicle and trailer combination along a straight path in a forward direction prior to selecting the baseline image.

10. A vehicle, comprising:

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.

11. The vehicle of claim 10, wherein controlling the controller further determines the hitch angle by comparing an instantaneous one of the sequential images and the baseline image.

12. The vehicle of claim 10, wherein the camera is mounted on the vehicle facing toward the trailer.

13. The vehicle of claim 10, wherein the maximum controllable angle is determined by the controller using a kinematic model of a combination of the vehicle and the trailer.

14. The vehicle of claim 10, wherein the collision angle is based on an angle between the feature of the trailer and an adjacent corner of the vehicle.

15. The vehicle of claim 14, wherein the collision angle further includes a safety angle added to the angle between the feature of the trailer and the adjacent corner of the vehicle.

16. A method for assisting a vehicle in reversing a trailer, comprising:

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.

17. The method of claim 16, wherein the hitch angle is determined by comparing an instantaneous location of the target in an instantaneous one of the sequential images and a location of the target in the baseline image.

18. The method of claim 16, wherein the maximum controllable angle is determined using a kinematic model of the vehicle and trailer combination.

19. The method of claim 16, wherein the collision angle is based on an angle between the target and an adjacent corner of the vehicle.

20. The method of claim 16, further including prompting a user to drive the vehicle along a straight path in a forward direction for one of a predetermined time interval or a predetermined distance prior to selecting the baseline image.