Hitch angle detection for trailer backup assist system using multiple imaging devices

Patent metadata

Field	Value
Publication number	US-10011228-B2
Application number	US-201615137589-A
Country	US
Kind code	B2
Filing date	Apr 25, 2016
Priority date	Dec 17, 2015
Publication date	Jul 3, 2018
Grant date	Jul 3, 2018

Abstract

A trailer backup assist system is provided herein. A plurality of imaging devices is configured to capture rear-vehicle images. A controller is configured to receive output from each imaging device. The controller processes the output from each imaging device to track a number of trailer features. The controller determines a confidence score for the output of each imaging device. The confidence score is determined based on the number of trailer features being tracked and a tracking quality of each trailer feature. The controller also determines a hitch angle between a vehicle and a trailer based on the output associated with whichever imaging device yielded the highest confidence score.

First claim

What is claimed is:

1. A trailer backup assist system comprising:
a plurality of imaging devices configured to capture rear-vehicle images; and
a controller configured to:
receive output from each imaging device;
determine a confidence score for the output of each imaging device; and
determine a hitch angle between a vehicle and a trailer based on the output associated with whichever imaging device yielded the highest confidence score;
wherein the plurality of imaging devices comprises a first imaging device coupled to a tailgate of the vehicle, a second imaging device coupled to a cabin of the vehicle, a third imaging device coupled to a side view mirror disposed on one side of the vehicle, and a fourth imaging device coupled to a side view mirror disposed on another side of the vehicle; and
wherein the controller processes the output from the second, third, and fourth imaging devices to identify one or more trailer features when the trailer is located at a maximum controllable hitch angle and a zero hitch angle relative to the vehicle, wherein the maximum controllable hitch angle is defined as the hitch angle at which a full turn in one of a right and a left direction occurs.

2. The trailer backup assist system of claim 1 , wherein if one of the second, third, and fourth imaging devices yields the highest confidence score, the controller determines the hitch angle by tracking the identified one or more trailer features in current images relative to the corresponding location of the identified one or more trailer features at the maximum controllable hitch angle and the zero hitch angle.

3. The trailer backup assist system of claim 2 , wherein if the one or more identified trailer features being tracked is associated with a trailer position located between the maximum controllable hitch angle and the zero hitch angle, the hitch angle is determined through linear interpolation, and wherein if the one or more identified trailer features being tracked is associated with a trailer position located beyond the maximum controllable hitch angle, the hitch angle is determined through linear extrapolation.

4. The trailer backup assist system of claim 1 , wherein the controller is configured to process the output of each imaging device to track a number of trailer features, and wherein the confidence score is determined based on the number of trailer features being tracked and a tracking quality of each trailer feature.

5. The trailer backup assist system of claim 4 , wherein the confidence score is determined by the following equation:
S=Σ k=1 n Q ( k )
wherein S is the confidence score, Q is the tracking quality, k is a feature index, and n is a total number of features.

6. The trailer backup assist system of claim 4 , wherein the controller determines the hitch angle if the highest confidence score exceeds a predetermined threshold value.

7. A trailer backup assist system comprising:
a plurality of imaging devices configured to capture rear-vehicle images; and
a controller configured to:
receive output from each imaging device;
process the output from each imaging device to track a number of trailer features;
determine a confidence score for the output of each imaging device, wherein the confidence score is determined based on the number of trailer features being tracked and a tracking quality of each trailer feature; and
determine a hitch angle between a vehicle and a trailer based on the output associated with whichever imaging device yielded the highest confidence score;
wherein the plurality of imaging devices comprises a first imaging device coupled to a tailgate of the vehicle, a second imaging device coupled to a cabin of the vehicle, a third imaging device coupled to a side view mirror disposed on one side of the vehicle, and a fourth imaging device coupled to a side view mirror disposed on another side of the vehicle; and
wherein the controller processes the output from the second, third, and fourth imaging devices to identity one or more trailer features when the trailer is located at a maximum controllable hitch angle and a zero hitch angle relative to the vehicle, wherein the maximum controllable hitch angle is defined as the hitch angle at which a full turn in one of a right and a left direction occurs.

8. The trailer backup assist system of claim 7 , wherein if one of the second, third, and fourth imaging devices yields the highest confidence score, the controller determines the hitch angle by tracking the identified one or more trailer features in current images relative to the corresponding location of the identified one or more trailer features at the maximum controllable hitch angle and the zero hitch angle.

9. The trailer backup assist system of claim 8 , wherein if the one or more identified trailer features being tracked is associated with a trailer position located between the maximum controllable hitch angle and the zero hitch angle, the hitch angle is determined through linear interpolation, and wherein if the one or more identified trailer features being tracked is associated with a trailer position located beyond the maximum controllable hitch angle, the hitch angle is determined through linear extrapolation.

10. The trailer backup assist system of claim 7 , wherein the confidence score is determined by the following equation:
S=Σ k=1 n Q ( k )
wherein S is the confidence score, Q is the tracking quality, k is a feature index, and n is a total number of features.

11. A method comprising:
providing a plurality of imaging devices configured to capture rear-vehicle images; and
supplying output from each imaging device to a controller, the controller configured to:
process the output from each imaging device to track a number of trailer features;
determine a confidence score for the output of each imaging device, wherein the confidence score is determined based on the number of trailer features being tracked and a tracking quality of each trailer feature; and
determine a hitch angle between a vehicle and a trailer based on the output associated with whichever imaging device yielded the highest confidence score;
wherein the plurality of imaging devices comprises a first imaging device coupled to a tailgate of the vehicle, a second imaging device coupled to a cabin of the vehicle, a third imaging device coupled to a side view mirror disposed on one side of the vehicle, and a fourth imaging device coupled to a side view mirror disposed on another side of the vehicle; and
wherein the controller processes the output from the second, third, and fourth imaging devices to identify one or more trailer features when the trailer is located at a maximum controllable hitch angle and a zero hitch angle relative to the vehicle, wherein the maximum controllable hitch angle is defined as the hitch angle at which a fill turn in one of a right and a left direction occurs.

12. The method of claim 11 , wherein if one of the second, third, and fourth imaging devices yields the highest confidence score, the controller determines the hitch angle by tracking the identified one or more trailer features in current images relative to the corresponding location of the identified one or more trailer features at the maximum controllable hitch angle and the zero hitch angle.

13. The method of claim 12 , wherein if the one or more identified trailer features being tracked is associated with a trailer position located between the maximum controllable hitch angle and the zero hitch angle, the hitch angle is determined through linear interpolation, and wherein if the one or more identified trailer features being tracked is associate

Assignees

• Ford Global Tech Llc

Inventors

• Hu Zheng
• Lavoie Erick Michael

Classifications

• B60R2011/004

  outside the vehicle · CPC title

• B62D15/0285

  Parking performed automatically · CPC title

• B60R2300/806

  for aiding parking · CPC title

• B60W10/18

  including control of braking systems · CPC title

• B60R1/00 Primary

  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 title