Vision-based methods and systems for determining trailer presence

Patent metadata

Field	Value
Publication number	US-10635933-B2
Application number	US-201815878107-A
Country	US
Kind code	B2
Filing date	Jan 23, 2018
Priority date	Jan 23, 2018
Publication date	Apr 28, 2020
Grant date	Apr 28, 2020

Abstract

Methods and apparatus are disclosed for vision-based determining of trailer presence. An example vehicle includes a camera to capture a plurality of frames. The example vehicle also includes a controller to calculate feature descriptors for a set of features identified in a first frame, compute respective match magnitudes between the feature descriptors of the first frame and for a second frame, calculate respective feature scores for each feature of the set of features, and determine if a trailer is present by comparing a feature score of a feature to a threshold.

First claim

What is claimed is:

1. A vehicle comprising:
a camera to capture a plurality of frames;
a controller to:
calculate feature descriptors for a set of features identified in a first frame;
compute respective match magnitudes between the feature descriptors of the first frame and for a second frame;
compute the match magnitude for each of the features in the set of features by:
calculating feature descriptors for the second frame based on respective locations of features in the first frame; and
computing a match magnitude between a feature descriptor of the first frame and a corresponding feature descriptor of the second frame;

calculate respective feature scores for each feature of the set of features; and
determine if a trailer is present by comparing the feature score of a feature to a threshold.

2. The vehicle of claim 1 , wherein the camera is to capture the plurality of frames in response to a determination that the vehicle is traveling at a speed that satisfies a speed threshold.

3. The vehicle of claim 1 , wherein the camera is to capture the plurality of frames in response to a determination that longitudinal acceleration and yaw rate of the vehicle are relatively constant.

4. The vehicle of claim 1 , wherein the controller is to identify features of the first frame by computing and utilizing Harris corner responses.

5. The vehicle of claim 1 , wherein the match magnitude is based on a comparison of two histograms.

6. The vehicle of claim 1 , wherein the controller is to calculate a feature score for a first feature of the set of features by averaging match magnitudes computed for the first feature for each of the frames of the plurality of frames.

7. The vehicle of claim 1 , wherein the controller is to:
select reference features from the set of features based on their respective feature scores; and
determine that a trailer is present when the reference features satisfy a first set of thresholds.

8. The vehicle of claim 7 , wherein the controller is to determine that a trailer is not present when the reference features satisfy a second set of thresholds.

9. The vehicle of claim 8 , wherein the controller is to generate an indeterminate signal when the reference features do not satisfy the first set of thresholds and do not satisfy the second set of thresholds.

10. A vehicle comprising:
a camera to capture a plurality of frames;
a controller to:
calculate feature descriptors for a set of features identified in a first frame;
compute respective match magnitudes between the feature descriptors of the first frame and for a second frame;
compute respective match magnitudes between the feature descriptors of the first frame and for each subsequent frame of the plurality of frames;
calculate respective feature scores for each feature of the set of features; and
determine if a trailer is present by comparing the feature score of a feature to a threshold.

11. A method for determining a trailer is connected to a vehicle, the method comprising:
capturing, via a camera, a plurality of frames;
calculating, via a processor, feature descriptors for a set of features identified in a first frame;
computing, via the processor, respective match magnitudes between the feature descriptors of the first frame and for a second frame;
computing the respective match magnitude for each of the features in the set of features by:
calculating feature descriptors for the second frame based on respective locations of features in the first frame; and
computing a match magnitude between a feature descriptor of the first frame and a corresponding feature descriptor of the second frame;

calculating, via the processor, respective feature scores for each feature of the set of features; and
determining, via the processor, if a trailer is present by comparing the feature score of a feature to a threshold.

12. The method of claim 11 , further including:
determining that the vehicle is traveling at a speed that satisfies a speed threshold; and
capturing the plurality of frames in response to the determination.

13. The method of claim 11 , further including:
determining that longitudinal acceleration and yaw rate of the vehicle are relatively constant; and
capturing the plurality of frames in response to the determination.

14. The method of claim 11 , wherein the match magnitude is based on a comparison of two histograms.

15. The method of claim 11 , wherein the calculating of a feature score for a first feature of the set of features includes averaging match magnitudes computed for the first feature for each of the frames of the plurality of frames.

16. The method of claim 11 , further including:
selecting reference features from the set of features based on their respective feature scores; and
determining e that a trailer is present when the reference features satisfy a first set of thresholds.

17. The method of claim 16 , further including determining that a trailer is not present when the reference features satisfy a second set of thresholds.

18. The method of claim 17 , further including generating an indeterminate signal when the reference features do not satisfy the first set of thresholds and do not satisfy the second set of thresholds.

Assignees

• Ford Global Tech Llc

Inventors

• Bell Robert
• Grewe Brian

Classifications

• B60Q9/00

  Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 {, e.g. haptic signalling} · CPC title

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title

• B60R1/003

  for viewing trailer hitches · CPC title

• G06T7/70

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• G06K9/6212 Primary

  Physics · mapped topic