Trailer coupling assistance system with vehicle video camera

Patent metadata

Field	Value
Publication number	US-2016288601-A1
Application number	US-201514675872-A
Country	US
Kind code	A1
Filing date	Apr 1, 2015
Priority date	Apr 1, 2015
Publication date	Oct 6, 2016
Grant date	—

Abstract

A method and system for guiding a vehicle having a hitch connector to a trailer operates with a monocular vehicle video camera secured to a rear of the vehicle. In operation, the vehicle video camera generates video images from a rearward direction of the vehicle that are displayed. An electronic control unit including a processor is configured to: receive and display the video images, analyze the video images to confirm the location of a trailer coupler, analyze the video images to determine distance from a hitch connector of the vehicle to the trailer coupler, analyze the video images to determine height of the hitch connector of the vehicle, height of the trailer coupler of the trailer, and the relative height difference between the hitch connector of the vehicle and the trailer coupler of the trailer, and assist in guiding the vehicle to a trailer coupling position.

First claim

1 . Method of guiding a vehicle having a hitch connector to a trailer having a trailer coupler comprising:
generating video images with a vehicle video camera mounted at a rear of the vehicle; receiving the video images at an electronic control unit including a processor and a memory; displaying the video images that include the trailer coupler and the trailer; analyzing the video images with the processor to determine a distance from the hitch connector of the vehicle to the trailer coupler; analyzing the video images with the processor to determine a height of the hitch connector of the vehicle, a height of the trailer coupler of the trailer, and the relative height difference between the hitch connector of the vehicle and the trailer coupler of the trailer; and assisting in guiding the vehicle to a trailer coupling position.

2 . The method according to claim 1 , wherein the vehicle video camera comprises a monocular vehicle video camera and the analyzing of the video images by the processor to determine the presence of the trailer coupler comprises identifying the trailer coupler and its location in the video images.

3 . The system according to claim 2 , wherein the electronic control unit includes a classifier that is configured to identify a trailer coupler by comparing a general geometric shape of the trailer coupler and/or a set of features against a library of geometric shapes and sets of features for a group of trailer couplers stored in the memory.

4 . The method according to claim 2 , wherein the identifying of the trailer coupler comprises identifying a general geometric shape of the trailer coupler and/or a set of features in the video images of the trailer coupler and locating the trailer coupler based on the relative location of the features and a priori understanding of typical trailer design.

5 . The method according to claim 1 , wherein the assisting in guiding the vehicle to a trailer coupling position comprises tracking the trailer coupler across plural ones of the video images and providing visual and audio commands that include direction and amount that a steering wheel must be turned by an operator.

6 . The method according to claim 1 , wherein the assisting in guiding the vehicle to a trailer coupling position comprises autonomous steering control of the vehicle without action by an operator.

7 . The method according to claim 6 , including ending autonomous steering control in the event that the processor determines that the height of the trailer coupler is not disposed upward enough to avoid a collision with the hitch connector of the vehicle.

8 . Method of guiding a vehicle having a hitch connector to a trailer having a trailer coupler comprising:
generating video images with a vehicle video camera mounted at a rear of the vehicle and oriented rearwardly whereby the generated video images include the trailer and the trailer coupler; receiving the generated video images at an electronic control unit including a processor and a memory; displaying the generated video images that include the trailer coupler and the trailer on a vehicle display; analyzing the generated video images that include the trailer coupler with the processor to determine a distance from the hitch connector of the vehicle to the trailer coupler; analyzing the generated video images with the processor to determine a height of the hitch connector of the vehicle, a height of the trailer coupler of the trailer, and the relative height difference between the hitch connector of the vehicle and the trailer coupler of the trailer; assisting in guiding the vehicle to a trailer coupling position; and providing an audio warning and a visual warning when the processor determines that the height of the trailer coupler is not disposed upward enough to avoid a collision with the hitch connector of the vehicle, wherein the assisting in guiding the vehicle to a trailer coupling position includes tracking the trailer coupler across plural ones of the generated video images and providing visual and audio commands that include direction and amount that a steering wheel must be turned by an operator.

9 . The method according to claim 1 , wherein the assisting in guiding the vehicle to a trailer coupling position comprises tracking the trailer coupler across plural video images and providing visual commands on a vehicle display on the vehicle console that include direction and amount that a steering wheel must be turned by an operator.

10 . The method according to claim 1 , further comprising a vehicle display that includes a touchscreen for displaying the video images, wherein the analyzing of the video images to determine a distance from the hitch connector to the trailer coupler comprises: an operator touching an area at the location of the trailer coupler provided as the video image on the touch screen to enlarge in size the touched area, and the operator touching the enlarged area on the touch screen to locate the trailer coupling for tracking by the vehicle system.

11 . A trailer coupling assistance system for guiding a vehicle having a hitch connector to a trailer coupler of a trailer comprising:
a vehicle video camera mounted at the rear of the vehicle configured to generate video images; an electronic control unit including a processor and a memory, the electronic control unit configured to:
receive the video images from the vehicle video camera;
display the video images that include the trailer coupler and the trailer on a vehicle display;
analyze the video images to determine a distance from a hitch connector of the vehicle to the trailer coupler;
analyze the video images to determine a height of the trailer coupler of the trailer relative to the hitch connector; and
assist in guiding the vehicle to a trailer coupling position.

12 . The system according to claim 11 , wherein the vehicle video camera comprises a monocular vehicle video camera and the electronic control unit is configured to analyze the video images to determine the presence of the trailer coupler by identifying the trailer coupler and its location in the image.

13 . The system according to claim 12 , wherein the electronic control unit includes a classifier that is configured to identify a trailer coupler by comparing a general geometric shape of the trailer coupler and/or a set of features against a library of geometric shapes and sets of features for a group of trailer couplers stored in the memory.

14 . The system according to claim 12 , wherein the identifying of the trailer coupler comprises identifying a general geometric shape of the trailer coupler and/or a set of features in the video images of the trailer coupler and locating the coupler based on the relative location of the features and a priori understanding of typical trailer design.

15 . The system according to claim 11 , wherein the electronic control unit is configured to assist in guiding the vehicle to a trailer coupling position by tracking the trailer coupler across frames of video images and providing audio commands including proper direction and amount of steering changes by a steering wheel to be performed by an operator.

16 . The system according to claim 11 , wherein the electronic control unit is configured to assist in guiding the vehicle to a trailer coupling position by providing autonomous steering control of the vehicle without action by an operator.

17 . The system according to claim 16 , wherein the electronic control unit is configured to end autonomous steering control in the event that the processor determines

Assignees

• Bosch Gmbh Robert

Inventors

• Gehrke Mark
• Miller James Stephen

Classifications

• G06F18/24

  Classification techniques · CPC title

• G06F18/22

  Matching criteria, e.g. proximity measures · CPC title

• B62D15/025

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• H04N5/77

  between a recording apparatus and a television camera · CPC title

• B60Q5/006

  indicating risk of collision between vehicles or with pedestrians · CPC title