Vehicular driving assist system

Patent metadata

Field	Value
Publication number	US-11673605-B2
Application number	US-202017247689-A
Country	US
Kind code	B2
Filing date	Dec 21, 2020
Priority date	Aug 18, 2015
Publication date	Jun 13, 2023
Grant date	Jun 13, 2023

Abstract

A vehicular driving assist system includes a plurality of cameras disposed at a vehicle and an image processor that processes captured image data. With a trailer equipped with at least one trailer camera hitched to the vehicle, a display screen displays video images derived from captured image data. The system determines a reversing path for the vehicle and trailer to follow to assist the driver in backing up the trailer, and generates a graphic overlay at the display screen that indicates the determined reversing path. During the backing up maneuver of the trailer hitched to the vehicle, and responsive to determination of an object rearward of the trailer, the system (i) determines an adjusted reversing path to avoid the object and (ii) adjusts the graphic overlay to indicate the adjusted reversing path of the vehicle and trailer for the driver to follow in backing up the trailer.

First claim

The invention claimed is:

1. A vehicular driving assist system, said vehicular driving assist system comprising:
a plurality of vehicle cameras disposed at a vehicle and having respective fields of view exterior of the vehicle, wherein said plurality of vehicle cameras includes a rear backup camera disposed at a rear portion of the vehicle and viewing at least rearward of the vehicle;
at least one trailer camera disposed at a trailer hitched to the vehicle and having a respective field of view exterior of the trailer;
an image processor operable to process image data captured by said plurality of vehicle cameras and by said at least one trailer camera;
wherein, responsive to processing of image data captured by said plurality of vehicle cameras and by said at least one trailer camera during a backing up maneuver of the trailer hitched to the vehicle, said vehicular driving assist system determines objects rearward of the trailer that are present in the field of view of said at least one trailer camera;
a display screen disposed in the vehicle for viewing by a driver of the vehicle, wherein said display screen displays video images derived from image data captured by at least one camera selected from the group consisting of (i) said plurality of vehicle cameras and (ii) said at least one trailer camera;
wherein said vehicular driving assist system determines a reversing path for the vehicle and trailer to follow to assist the driver in backing up the trailer;
wherein said vehicular driving assist system generates a graphic overlay at said display screen overlaying the displayed video images, the graphic overlay indicating the determined reversing path for the driver to follow in backing up the trailer;
wherein, during the backing up maneuver of the trailer hitched to the vehicle along the determined reversing path, said vehicular driving assist system determines an object rearward of the trailer; and
wherein, during the backing up maneuver of the trailer hitched to the vehicle along the determined reversing path, and responsive to determination of the object rearward of the trailer via processing of image data captured by at least said at least one trailer camera, said vehicular driving assist system (i) determines an adjusted reversing path to avoid the object and (ii) adjusts the graphic overlay to indicate the adjusted reversing path of the vehicle and the trailer for the driver to follow in backing up the trailer.

2. The vehicular driving assist system of claim 1 , wherein said vehicular driving assist system controls a steering system of the vehicle to steer the vehicle to back up the trailer along the determined reversing path.

3. The vehicular driving assist system of claim 1 , wherein, responsive to processing of image data captured by said plurality of vehicle cameras and by said at least one trailer camera while the vehicle is backing up the trailer, said vehicular driving assist system initializes said at least one trailer camera in coordinates that correspond to coordinates of said plurality of vehicle cameras.

4. The vehicular driving assist system of claim 1 , wherein said vehicular driving assist system calibrates said at least one trailer camera responsive at least in part to a determination of a trailer angle of a longitudinal axis of the trailer relative to a longitudinal axis of the vehicle.

5. The vehicular driving assist system of claim 4 , wherein said vehicular driving assist system determines the trailer angle responsive at least in part to image processing of image data captured by at least said rear backup camera of said plurality of vehicle cameras.

6. The vehicular driving assist system of claim 4 , wherein said vehicular driving assist system determines the trailer angle responsive at least in part to image processing of image data captured by at least said rear backup camera of said plurality of vehicle cameras and image data captured by said at least one trailer camera.

7. The vehicular driving assist system of claim 1 , wherein the at least one trailer camera at least comprises a rearward viewing trailer camera viewing at least rearward of the trailer.

8. The vehicular driving assist system of claim 1 , wherein, responsive to the determination of the object rearward of the trailer, said vehicular driving assist system generates an alert to alert the driver of the vehicle.

9. The vehicular driving assist system of claim 1 , wherein, responsive to determination of the object rearward of the trailer, said vehicular driving assist system controls a braking system of the vehicle.

10. The vehicular driving assist system of claim 1 , wherein, responsive to determination of the object rearward of the trailer, said vehicular driving assist system controls a steering system of the vehicle.

11. The vehicular driving assist system of claim 1 , wherein said vehicular driving assist system utilizes a trailer identifying and angle detection algorithm.

12. The vehicular driving assist system of claim 1 , wherein said vehicular driving assist system determines the reversing path using a two stage path planner.

13. The vehicular driving assist system of claim 12 , wherein the two stage path planner comprises a geometric planning with consecutive optimal control minimization algorithm.

14. A vehicular driving assist system, said vehicular driving assist system comprising:
a plurality of vehicle cameras disposed at a vehicle and having respective fields of view exterior of the vehicle, wherein said plurality of vehicle cameras includes a rear backup camera disposed at a rear portion of the vehicle and viewing at least rearward of the vehicle;
a rearward viewing trailer camera disposed at a rear portion of a trailer hitched to the vehicle, said rearward viewing trailer camera viewing at least rearward of the trailer;
an image processor operable to process image data captured by said plurality of vehicle cameras and by said rearward viewing trailer camera;
wherein, responsive to processing of image data captured by said plurality of vehicle cameras and by said rearward viewing trailer camera during a backing up maneuver of the trailer hitched to the vehicle, said vehicular driving assist system determines objects rearward of the trailer that are present in the field of view of said rearward viewing trailer camera;
a display screen disposed in the vehicle for viewing by a driver of the vehicle, wherein said display screen displays video images derived from image data captured by at least one camera selected from the group consisting of (i) said plurality of vehicle cameras and (ii) said rearward viewing trailer camera;
wherein said vehicular driving assist system determines a reversing path for the vehicle and trailer to follow to assist the driver in backing up the trailer;
wherein said vehicular driving assist system generates a graphic overlay at said display screen overlaying the displayed video images, the graphic overlay indicating the determined reversing path;
wherein said vehicular driving assist system controls a steering system of the vehicle to steer the vehicle to back up the trailer along the determined reversing path;
wherein, during the backing up maneuver of the trailer hitched to the vehicle along the determined reversing path, said vehicular driving assist system determines an object rearward of the trailer; and
wherein, during the backing up maneuver of the trailer hitched to the vehicle along the determined reversing path, and responsive to determination of the object rearward of the trailer via processing of image data captured by at least said rearward viewing trailer camera, said vehicular driving a

Assignees

• Magna Electronics Inc

Inventors

• Gieseke Achim
• Latotzki Ralph
• Boegel Ruediger

Classifications

• B60W30/09

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B62D15/0295

  by overlaying a vehicle path based on present steering angle over an image without processing that image · CPC title

• B60R2300/8093

  for obstacle warning · CPC title

• B60R2300/8086

  for vehicle path indication · CPC title

• B62D13/06 Primary

  for backing a normally drawn trailer · CPC title