Vehicle rear object proximity system using multiple cameras

Patent metadata

Field	Value
Publication number	US-10384609-B2
Application number	US-201715628062-A
Country	US
Kind code	B2
Filing date	Jun 20, 2017
Priority date	Jun 20, 2017
Publication date	Aug 20, 2019
Grant date	Aug 20, 2019

Abstract

A vehicle hitch assistance system includes first and second cameras on an exterior of the vehicle and an image processor. The image processor is programmed to identify an object in image data received from the first and second cameras and determine a height and a position of the object using the image data. The system further includes a controller outputting a steering command to a vehicle steering system to selectively guide the vehicle away from or into alignment with the object.

First claim

What is claimed is:

1. A vehicle hitch assistance system, comprising:
first and second cameras on an exterior of the vehicle; and
an image processor programmed to:
identify a first object in image data received from the first and second cameras as a hitch of a trailer and a second object in the image data as an obstacle; and
combine the data received from the first and second cameras into stereoscopic image data;
determine a height and a position of the hitch of the trailer and of the obstacle, respectively, using the image data by reconstructing a three-dimensional scene of a portion of an area surrounding the vehicle using the stereoscopic image data; and

a controller outputting a steering command to a vehicle steering system to guide the vehicle into alignment with the hitch of the trailer and to guide the vehicle away from the obstacle, including by processing two dimensional image data from one of the first or second vehicle cameras to track the position of the hitch of the trailer relative to the vehicle within the three-dimensional scene only when the trailer hitch is not present within image data from the other of the first and second cameras.

2. The hitch assistance system of claim 1 , wherein the controller outputs the steering command to maintain the vehicle along a path derived by the controller to guide a hitch ball of the vehicle into alignment with the hitch of the trailer from an initial set of data received from the first and second cameras.

3. The hitch assistance system of claim 2 , wherein the path is further derived by the controller to guide the vehicle away from the obstacle.

4. The hitch assistance system of claim 1 , wherein:
the image processor is further programmed to track the position of the hitch using the stereoscopic image data during movement of the vehicle and output a tracked position of the hitch when the hitch is within the image data from both of the first and second cameras; and
the controller outputs the steering command according to a predetermined steering sequence, the controller progressing through the sequence based on the tracked position of the hitch to guide a hitch ball of the vehicle into alignment with the hitch.

5. The hitch assistance system of claim 4 , wherein:
the image processor is further programmed to track the position of the obstacle using the stereoscopic image data during movement of the vehicle and output a tracked position of the obstacle when the obstacle is within the image data from both of the first and second cameras; and
the controller further progresses through the sequence based on the tracked position of the obstacle to guide the vehicle away from the obstacle.

6. A vehicle, comprising:
a steering system;
a hitch ball mounted on an exterior of the vehicle;
first and second cameras on the exterior; and
a hitch assistance system, including:
an image processor programmed to:
combine the data received from the first and second cameras into stereoscopic image data;
identify a first object in image data received from the first and second cameras as a hitch of a trailer and a second object in the image data as an obstacle; and
determine a height and a position of the hitch of the trailer and of the obstacle, respectively, using the image data by reconstructing a three-dimensional scene of a portion of an area surrounding the vehicle using the stereoscopic image data; and

a controller outputting a steering command to the steering system to guide the hitch ball into alignment with the hitch of the trailer and to guide the vehicle away from the obstacle, including by processing two dimensional image data from one of the first or second vehicle cameras to track the position of the hitch of the trailer relative to the vehicle within the three-dimensional scene only when the trailer hitch is not present within image data from the other of the first and second cameras.

7. The vehicle of claim 6 , wherein the controller outputs the steering command to maintain the vehicle along a path derived by the controller to guide the hitch ball into alignment with the hitch of the trailer from an initial set of data received from the first and second cameras.

8. The vehicle of claim 6 , wherein:
the image processor is further programmed to track the position of the hitch using the stereoscopic image data during movement of the vehicle and output a tracked position of the hitch when the obstacle is within the image data from both of the first and second cameras; and
the controller outputs the steering command according to a predetermined steering sequence, the controller progressing through the sequence based on the tracked position of the hitch to guide the hitch ball into alignment with hitch.

9. The vehicle of claim 8 , wherein:
the image processor is further programmed to track the position of the obstacle using the stereoscopic image data during movement of the vehicle and output a tracked position of the obstacle when the obstacle is within the image data from both of the first and second cameras; and
the controller further progresses through the sequence based on the tracked position of the obstacle to guide the vehicle away from the obstacle.

10. The vehicle of claim 6 , further including one of an actuator coupled with the hitch ball or an adjustable suspension system, wherein:
the controller further determines a distance for a lowering command output to the actuator or the suspension system to lower the hitch ball to a position lower than the height of the hitch of the trailer.

11. A method for assisting a vehicle in hitching with a trailer, comprising:
processing image data received from first and second vehicle cameras to:
identify a hitch of the trailer and an obstacle in the image data received from the first and second cameras;
combine the data received from the first and second cameras into stereoscopic image data; and
determine a height and a position of the hitch of the trailer and of the obstacle, respectively, using the image data by reconstructing a three-dimensional scene of a portion of an area surrounding the vehicle using the stereoscopic image data; and

controlling a vehicle steering system to guide the vehicle into alignment of a vehicle hitch ball with the hitch of the trailer and to guide the vehicle away from the obstacle, including by processing two dimensional image data from one of the first or second vehicle cameras to track the position of the hitch of the trailer relative to the vehicle within the three-dimensional scene only when the trailer hitch is not present within image data from the other of the first and second cameras.

12. The method of claim 11 , wherein
the first camera is a rear camera mounted on one of a trunk lid or a liftgate of the vehicle.

Assignees

• Ford Global Tech Llc

Inventors

• Zhang Yi
• Lavoie Erick Michael

Classifications

• B60D1/58

  Auxiliary devices · CPC title

• H04N7/181

  for receiving images from a plurality of remote sources · CPC title

• B62D15/0285

  Parking performed automatically · CPC title

• B60D1/26

  for remote control, e.g. for releasing · CPC title

• B60D1/366

  comprising braking means · CPC title