Multi-stage solution for trailer hitch angle initialization

Patent metadata

Field	Value
Publication number	US-9827818-B2
Application number	US-201514972831-A
Country	US
Kind code	B2
Filing date	Dec 17, 2015
Priority date	Dec 17, 2015
Publication date	Nov 28, 2017
Grant date	Nov 28, 2017

Abstract

A system for initializing hitch angle detection is provided herein. An imaging device is configured to capture images of a trailer connected to a vehicle. A controller is configured to select between a plurality of hitch angle detection routines based on at least one of a current driving condition and an availability of a template image of the trailer.

First claim

The invention claimed is:

1. A system for initializing hitch angle detection, comprising:
an imaging device configured to capture images of a trailer connected to a vehicle;
a controller configured to select between a plurality of hitch angle detection routines based on at least one of a current driving condition and an availability of a template image of the trailer;
wherein if the template image is available, the controller selects a first hitch angle detection routine that comprises matching the template image to a search image to determine a hitch angle between the vehicle and the trailer;
wherein if the template image is unavailable and the vehicle and trailer are moving in a straight direction, the controller processes images captured by the imaging device to derive the template image and selects the first hitch angle detection routine.

2. The system of claim 1 , wherein if the template image is unavailable and the vehicle and trailer are not moving in a straight direction, the controller selects a second hitch angle detection routine that comprises:
processing images captured by the imaging device;
deriving an edge map and identifying trailer pixels therein;
locating a centerline of the trailer pixels; and
determining the hitch angle based on an angular position of the centerline relative to a reference line.

3. The system of claim 2 , wherein if the hitch angle between the vehicle and the trailer becomes constant while the second hitch angle detection routine is the currently selected hitch angle detection routine, the controller chooses between two hitch angle detection routines.

4. The system of claim 3 , wherein if the hitch angle is a constant zero value, the controller processes images captured by the imaging device to derive the template image and selects the first hitch angle detection routine.

5. The system of claim 3 , wherein if the hitch angle is a constant non-zero value, the controller selects a third hitch angle detection routine that comprises determining the hitch angle as a function of a trailer length, a wheelbase length, a drawbar length, and a steering angle.

6. The system of claim 5 , wherein if the hitch angle ceases to remain at the constant non-zero value while the third hitch angle detection routine is the currently selected hitch angle detection routine, the controller selects the second hitch angle detection routine.

7. A method of initializing hitch angle detection, comprising the steps of:
using an imaging device to capture images of a trailer connected to a vehicle; and
providing a controller configured to select between a plurality of hitch angle detection routines based on at least one of a current driving condition and an availability of a template image of the trailer;
wherein if the template image is available, the controller selects a first hitch angle detection routine that comprises matching the template image to a search image to determine a hitch angle between the vehicle and the trailer;
wherein if the template image is unavailable and the vehicle and trailer are moving in a straight direction, the controller processes images captured by the imaging device to derive the template image and selects the first hitch angle detection routine.

8. The method of claim 7 , wherein if the template image is unavailable and the vehicle and trailer are not moving in a straight direction, the controller selects a second hitch angle detection routine that comprises:
processing images captured by the imaging device;
deriving an edge map and identifying trailer pixels therein;
locating a centerline of the trailer pixels; and
determining the hitch angle based on an angular position of the centerline relative to a reference line.

9. The method of claim 8 , wherein if the hitch angle between the vehicle and the trailer becomes constant while the second hitch angle detection routine is the currently selected hitch angle detection routine, the controller chooses between two hitch angle detection routines.

10. The method of claim 9 , wherein if the hitch angle is a constant zero value, the controller processes images captured by the imaging device to derive the template image and selects the first hitch angle detection routine.

11. The method of claim 9 , wherein if the hitch angle is a constant non-zero value, the controller selects a third hitch angle detection routine that comprises determining the hitch angle as a function of a trailer length, a wheelbase length, a drawbar length, and a steering angle.

12. The method of claim 11 , wherein if the hitch angle ceases to remain at the constant non-zero value while the third hitch angle detection routine is the currently selected hitch angle detection routine, the controller selects the second hitch angle detection routine.

13. A method of initializing hitch angle detection, comprising the steps of:
using an imaging device to capture images of a trailer connected to a vehicle; and
providing a controller configured to select between a first, second, and third hitch angle detection routine based on at least one of a current driving condition and an availability of a template image of the trailer;
wherein if the template image is available, the controller selects the first hitch angle detection routine that comprises matching the template image to a search image to determine a hitch angle between the vehicle and the trailer; and
wherein if the template image is unavailable and the vehicle and trailer are moving in a straight direction, the controller processes images captured by the imaging device to derive the template image and selects the first hitch angle detection routine.

14. The method of claim 13 , wherein if the template image is unavailable and the vehicle and trailer are not moving in a straight direction, the controller selects the second hitch angle detection routine that comprises:
processing images captured by the imaging device;
deriving an edge map and identifying trailer pixels therein;
locating a centerline of the trailer pixels; and
determining the hitch angle based on an angular position of the centerline relative to a reference line.

15. The method of claim 14 , wherein if the hitch angle between the vehicle and the trailer becomes constant while the second hitch angle detection routine is the currently selected hitch angle detection routine, the controller processes images captured by the imaging device to derive the template image and selects the first hitch angle detection routine if the hitch angle is a constant zero value, otherwise, if the hitch angle is a constant non-zero value, the controller selects the third hitch angle detection routine that comprises determining the hitch angle as a function of a trailer length, a wheelbase length, a drawbar length, and a steering angle.

Assignees

• Ford Global Tech Llc

Inventors

• Hu Zheng
• Lavoie Erick Michael

Classifications

• B62D13/06

  for backing a normally drawn trailer · CPC title

• B60D1/30 Primary

  for sway control {; Sway alarm means} · CPC title

• B60D1/62

  involving supply lines, electric circuits or the like · CPC title

• B62D15/023

  by measuring on the king pin · CPC title

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title