CN101270983A - 车辆操纵辅助装置 - Google Patents

车辆操纵辅助装置 Download PDF

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CN101270983A
CN101270983A CNA2008100871577A CN200810087157A CN101270983A CN 101270983 A CN101270983 A CN 101270983A CN A2008100871577 A CNA2008100871577 A CN A2008100871577A CN 200810087157 A CN200810087157 A CN 200810087157A CN 101270983 A CN101270983 A CN 101270983A
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vehicle
trailer
image
angle
video camera
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CN101270983B (zh
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杰里米·约翰·格林伍德
斯蒂芬·尼科尔斯
安德鲁·斯蒂芬·贝尔·克劳福德
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Ford Global Technologies LLC
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Abstract

本发明涉及车辆操纵辅助装置。牵引拖车(4)的车辆(1)具有三个安装在该车辆的后部和每个门镜上的摄像机(5，6，7)。来自任何摄像机的影像通过显示屏(11)显示给驾驶员。在计算单元(10)中计算的预测的拖车路径作为导向路线覆盖在摄像机影像上也通过显示屏(11)显示给驾驶员。计算单元(10)也配置用于通过在摄像机影像中跟踪安装在拖车上的标志的位置计算挂接角。

Description

车辆操纵辅助装置
技术领域
本发明涉及用于车辆及特别是用于牵引拖车，如拖挂式房车的车辆的操纵辅助装置。
背景技术
通常给车辆装备外部摄像机，用于向驾驶员显示周围环境的图像以对停车及倒车操纵提供协助。对于特定转向角的轨迹可以在显示的图像上重叠。
GB-A-2398048描述了一种系统，通过该系统将后视摄像机的影像显示在触摸屏上，该触摸屏用来输入期望的目的地，如停车港。此外在屏幕上显示转向提示用于协助操纵操作中的驾驶员。
然而，当具有连接着的拖车的车辆倒车时，这种系统要求测量挂接角(在车辆和拖车之间)。
发明内容
本发明的第一方面提供了如权利要求1所述的用于确定挂接角的方法。所述方法包括以下步骤：在后视摄像机的视野中跟踪关联于所述拖车的标志；将在所述视野中的所述标志的横向位移转变成角位移。
本发明的第二方面提供了如权利要求4所述的用于预测拖车路径的方法。使用安装在车辆的后部或门镜上的摄像机中产生的影像。
装备有多个具有摇摄和缩放功能的车载摄像机允许本发明的又一方面提供了如权利要求7所述的用于跟踪障碍物的方法。该方法包括以下步骤：使用车载接近传感器检测障碍物的接近；朝所述障碍物的位置摇摄车载摄像机，并向所述车辆的驾驶员显示所述障碍物的摄像机影像。在一个示例中，还响应于来自图像跟踪器的信号控制所述摄像机的摇摄。
当拖车挂接到车辆上时，出于安全性和性能最优化的原因，优选地让车辆控制系统察觉到已经连接了拖车。这以便关于例如动态稳定控制或主动悬架的系统可以设定到正确的工况下。通常这通过拖车到车辆的电气连接完成。然而，该方法不能区分拖车和关联于自行车架的灯条。根据本发明的又一方面，如权利要求10所述，后视摄像机用来检测拖车的存在。
本发明的又一方面提供了如权利要求11所述的用于协助将拖车挂接到车辆上的方法。使用车载后视摄像机。
一个或多个车载摄像机还可以配置用于检测如应急车辆发出的频闪的蓝光。然后可以产生用于显示给车辆驾驶员的警告消息。
本发明的一些实施例将仅作为示例，参考其附图进行描述。
附图说明
图1是拖车和车辆的示意图，车辆组合设备用于实现协助拖车-车辆组合的操纵的方法。
图2和图3是图1的车辆-拖车组合的俯视图，示出该组合的特定几何参数。
具体实施方式
在图1中，车辆1具有牵引球2，拖车4的挂接装置3连接到牵引球2上。
车辆1安装有三个摄像机。第一摄像机5安装在车辆1的后部并朝向拖车4摄像。这种后视摄像机具有缩放装置。此外提供两个安装在门镜上的摄像机6、7。这些安装在门镜上的摄像机6、7可以摇摄以便其向前、向后及向车辆1的一侧摄像。所有三个摄像机5、6、7可以由摄像机控制器8控制，每个摄像机的输出反馈到图像处理器9。
图像处理器9的输出反馈到计算单元10、显示屏11及摄像机控制器8。计算单元10产生用于控制摄像机控制器8和显示屏11的信号，显示屏11对于车辆1的驾驶员是可见的。计算单元10接收来自速度传感器12、转向角传感器13及车辆和拖车参数存储器14的信号。模式选择开关15具有连接到图像处理器9的输出。
超声波停车距离传感器16-23提供在车辆的前部和后部。这些传感器的输出连接到摄像机控制器8。车辆的每端安装四个传感器以提供较高的覆盖率和分辨率。
现参考图1和图2，描述了第一实施例的操作，包括测量挂接角(在车辆1和拖车4之间的水平面上)的方法。该方法利用粘贴到拖车或拖车的垂直边缘上的标志或标签，该标志或标签对于后视摄像机5是可见的。图像处理器9确定此标志在摄像机视野内的位置并将此信息反馈到计算挂接角的计算单元10中。
在第一示例中，高可见度标志24放置在拖车4(如图2)的中心线上。通过拖车和车辆的几何参数，例如牵引挂接装置的长度(保存在存储器14中)和摄像机5视野中标志的位置的获知，计算单元10可以计算挂接角θt。
标志可能不总是布置在拖车的中心线上或不方便布置在拖车的中心线上。因此在第二示例中，标志25以偏移角θo偏移中心线放置。因此，挂接角＝θc-θo，其中θc是在计算单元10中计算的目标角。
在获知阶段，当车辆直线行驶时，即当转向角传感器13输出的转向角θs为零值时，通过计算θc的值，偏移角θo由计算单元10得出。因此，当该条件满足时，θo＝θc，因此得出偏移角。
扩展上述第二示例的原理，图像处理器9可以挑选出在拖车4上特有的标志。例如这可以是拖挂式房车车窗或拖车的边缘。选择的特征可以在显示屏11上突出显示以便驾驶员可以确认其实际上牢固地连接到拖车上。然后计算单元10适用于将该目标的运动与转向运动进行比较并对任何异常情况进行检查。
作为挂接角计算的优化方法，特别是在获知阶段执行测量值的平均值。这可以帮助抵消由于拖车结构挠曲造成的误差。
在拖车再次使用时可以取消获知阶段。计算单元10可以存储所获得的拖车的几何参数以便再次调用该参数。或者，当要求更新时，可以继续执行获知阶段作为对存储的值的检查。这种继续的检查作为对由于其他变量造成的偏移的补偿在任何情况下都是有用的。
对于特定的拖车长度，通过将测量到的挂接角θt与存储器14中保存的参考值进行比较，计算单元10可以在倒车时检测到折叠(jack-knifing)的开始。当这种情况发生时，计算单元10向驾驶员产生警告信号。该警告是可以听到的或是在显示屏11上的可见信号。
除了测量挂接角之外，本发明提供了用于测量在车辆1和拖车4之间的倾斜角(即在垂直平面上)的方法。倾斜角通常为零或接近于零，但是当例如在不平坦地面上行驶或沿着滑道向下倒车时可以偏离零。同理，图像处理器9选择拖车的标志或水平边缘。通过将计算单元10确定的倾斜角与参考值作比较，计算单元10可以检测出挂接装置3即将触地，并向驾驶员发出警告信号。
本发明的第二实施例提供了预测拖车倒车路径并通过显示屏上的覆盖图将其显示给驾驶员的方法。
比如说，驾驶员需要将车辆和拖车的组合倒进到停车港。
获知挂接角θt(从上述第一实施例的方法或从其他方法或传感器输出获知)和挂接长度H(如图3所示为拖车轮轴和牵引挂接装置之间的距离)，计算单元10计算出拖车路径。
拖车4的路径可以由转向半径R描述。在实践中R和θt在操纵期间变化，但对于较小的转向角运动可以假设R和θt为常数。参考图3，可以得出挂接角θt、挂接长度H及转向半径R近似地具有下列关系：
α+β+δ＝π
代入β＝π/2，α＝π/2-θt
得出θt＝δ
在θt较小时，tanδ＝H/R＝δ＝θt
所以R＝H/θt(1)(θt为弧度)
在驾驶员执行后续操纵时可以将具体的拖车4的挂接长度H手动地输入到存储器14中，或在计算单元10中计算出挂接长度H。
在圆形路径中驱动车辆-拖车组合，且R可以从转向角θs、及车辆的尺寸得出。θt的值可以从摄像机5的影像得出。然后将这些值代入到方程(1)中以求出H的值。
当驱动车辆-拖车组合时，在替代的挂接长度H的获知阶段中，将使用计算出的R值(从转向角和车辆的尺寸得出)和H的估计值从方程(1)中计算出的θt的值与θt的测量值进行比较。在随后的计算中改变H的值直到实现与θt的测量值的最佳匹配。然后将该H的值存储。
由计算单元10计算出的倒进拖车4的路径作为在来自摄像机5、6、7中的一个的影像上的覆盖图显示在显示屏11上。通过将增量变化构建为R和θt的函数来计算该路径。投射的路径不断地随转向角θs的变化和随之造成的挂接角θt的变化而更新。
该路径可以覆盖在后部摄像机的影像上，但仅在拖车的后部角落也被显示，例如对于较低的拖车时，对驾驶员是有用的。对于较大的拖车，例如拖挂式房车，这是没有用的。在后面的例子中，投射的路径覆盖在来自安装在门镜上的摄像机6、7中的一个的影像上，具体地在操纵的特定的时刻，摄像机可以拍摄到拖车4。然而，若拖车路径是相对于后部摄像机的影像计算出的时，必须适用修正。
在任一摄像机中的任何失准将会在显示给驾驶员的信息中产生误差。通过将图像(或至少为像素数据)与已知的在车辆上的硬点对准，电子调节摄像机的影像可以修正失准。例如，镜摄像机向后拍摄但是侧向失准。图像处理器9重新对准图像以修正对准。极端地，这将允许装置使用折叠在其中的反射镜。
扩展该实施例以显示正在向前行驶的拖车车轮的路径以避免内拖车车轮在急转弯时“碰路缘”。拖车的路径可以方便地覆盖在前视的安装在门镜上的摄像机的影像上。
在拖车再次使用时可以免除获知阶段，存储器14存储了已知的拖车的几何参数以便可以再次调用该参数。然后可以马上获得倒车协助。当要求更新时，继续执行获知阶段作为对存储的值的检查。这种继续的检查作为对由于其他变量造成的偏移的补偿在任何情况下都是有用的。
覆盖图轨迹示出投射的拖车的路径可以方便地使起点位于拖车的车轮上。若牵引挂接装置的倾斜角明显地改变，那么包括覆盖图的导向路线看起来出现在半空中而不是在地面上。若倾斜角是已知的，则计算单元10可以对导向路线进行修正。
现描述本发明的第三实施例的操作，该操作有助于对障碍物的跟踪。
在该示例中，当车辆接近目标的范围时，安装在门镜上的摄像机6、7由停车距离传感器16-19中的一个或多个触发。在显示屏11上，将障碍物的影像和最接近于该障碍物的车辆的外部的一部分显示给驾驶员。
在越野或其他困难的操纵情形下，当驾驶通过目标时驾驶员想继续观察该目标。例如，当驾驶通过大石块时，驾驶员想确保大石块不被车辆的侧部接触到。
当驾驶通过目标时，显然，驾驶员可以手动地控制摄像机以调节其准心。然而，这要求由驾驶员干预并使她/他从其他驾驶任务中分神。
该实施例利用摄像机6、7的能力以电子摇摄和缩放。
采用停车距离传感器16-23，目标相对于车辆1的位置是已知的。该信息反馈到摄像机控制器8以便最适合地定位的摄像机可以朝着检测到的障碍物的位置摇摄和缩放。
作为进一步的优化方法，还向计算单元10提供相对于车辆的目标的位置、转向角(来自传感器13)和速度(来自速度传感器12)。
当车辆向前移动时，可以从车轮的速度结合转向角或从单独的车轮的速度计算目标的相对位置。因此可以计算近似的实时位置且在没有驾驶员的干预下摇摄摄像机以跟踪目标，计算单元10向摄像机控制器8提供控制信号。
会存在地面较滑造成单独的车轮打滑或车辆打滑的情况。在这样的例子中，速度测量值和/或转向角测量值将有误差。为了克服这样的问题，图像处理器9适用于分析图像并在相邻帧之间的视野中匹配目标。这将允许检测到地面速度误差并对其进行修正。例如，若车辆朝向目标侧向打滑，可以使摄像机朝向车辆摇摄。
作为第二实施例的进一步扩展，在图像处理器中使用相同的识别算法以使摄像机6、7能够跟踪移动的目标，随后通过停车距离传感器16-23进行初始检测。
例如，通过相关的摄像机将检测到的儿童或动物作为显示屏11上的图像显示出。图像处理器9随后通过相邻帧跟踪儿童的(或动物的)位置且摄像机控制器8调节摇摄和缩放控制以将移动的目标保持在视野之内。
摄像机5、6、7可以具有加强的红外线功能以便它们在确定较热目标，如人和动物的位置时特别敏感。这样的“热点”可以通过图像处理器9识别并在显示屏11上突出显示。
在一个替代的设置中，可以通过计算单元10而不是摄像机6、7执行缩放和摇摄操作。
现将描述启用拖车检测的第四实施例的操作。
向后面向的摄像机5检测拖车4的存在，并通过图像处理器9将其图像发送到计算单元10。通过将接收的图像与存储在存储器14中的参数进行比较，计算单元10可以确定拖车的类型，例如拖挂式房车、低架拖车等。拖车的尺寸和形状可以指示其重量和空气阻力。该信息可以被如稳定控制系统这样的车辆系统使用。
一旦车辆-拖车组合在移动，还可以通过使用车载传感器(未示出)监测组合的动态特性确认拖车的类型。
现将描述第五实施例的操作。该实施例提供了用于协助将拖车4连接到车辆1上的方法。
使用所示的摄像机系统，可以简化拖车挂接过程，驾驶员可以在摄像机的图像中看到拖车和牵引挂接装置两者。这允许不需要外部向导挂接拖车。
然而，图像必须较宽以允许拖车接近，但另一方面牵引球和挂接装置的图像较小很难辨认。此外，仍然要求驾驶员的判断以基于图像适当地转向车辆。
该实施例还提供了解决这两个问题的方法。后部摄像机的图像在图像处理器9中处理。
首先，驾驶员用模式选择开关15选择“挂接模式”。作为响应，若为典型的车架牵引挂接装置，图像处理器9选择后部摄像机的影像以显示在显示屏11上并寻找具有三角形形状和尺寸特征的目标。当检测到时，缩放图像以包含车辆牵引球2和牵引挂接装置3。这可以通过计算单元10或经摄像机控制器8通过启动在摄像机5上的缩放装置电动地完成。
具有选择的“确认”功能以让驾驶员确认识别的目标是拖车或对不正常成形的挂接调节装置的位置。
当车辆接近(或离开)拖车时，调节缩放装置以保持挂接装置和牵引球两者的影像。因此，当牵引球2接近挂接装置3时，给驾驶员最优化的影像以允许精确的对准。
在操作的替代模式中，图像处理器9连续地监测后部摄像机输出，而驾驶员不需要使用模式选择开关。在检测挂接装置3时，图像处理器9将后部摄像机的影像显示到显示屏11。
选择地，并作为附加的安全特征，若停车距离传感器16-23检测到目标在车辆路径中且足够接近以致具有遭受碰撞的危险但在缩放的图像外部，缩放图像以显示目标。
在该第四实施例的操作的进一步模式中，计算单元10在显示屏11上产生覆盖图像，该覆盖图像是牵引球2的投射的轨迹。这可以从车辆转向角(由转向角传感器13提供)和从保存在存储器14中的车辆几何参数计算。(通过摇摄摄像机以沿着轨迹寻找，该投射的轨迹可以协助初始找寻挂接装置)。
轨迹作为导向路线覆盖在缩放的图像上。以此方式，驾驶员可以调节转向角以使轨迹和挂接装置一致。之后倒车将挂接装置放置在牵引球上。
在某些车辆中，不能将摄像机定位在车体上以便其具有牵引球的影像。例如，牵引球被保险杠遮住。在该例子中，在图像上加上“虚拟的牵引球”，即在牵引球实际位置垂直上方的圆点，以对挂接操作进行对准和距离修正。圆点的准确位置可以参考在图像中的其他的固定点，例如车辆外围以及预定的绝对位置来确定。这允许在摄像机的安装中的公差。
当计算单元10确定了牵引球2和挂接装置3的位置并确定了当前转向角时，可以显示到驾驶员指令以向左转向或向右转向以最优化对准。
这可以与其他车辆控制装置(未示出)集成在一起以便通过动力转向系统自动地应用导向信息以将车辆转向对准牵引挂接装置。此外也可以自动地控制制动装置和节气门。

Claims (11)

1.一种通过牵引挂接装置确定在车辆和连接到所述车辆的拖车之间的挂接角(在垂直的或水平的平面中)的方法，所述方法包括以下步骤：
在后视摄像机的视野中跟踪关联于所述拖车的标志；
将在所述视野中的所述标志的横向位移转变成角位移。
2.如权利要求1所述的方法，其特征在于，所述标志位于所述拖车的中心线上。
3.如权利要求1所述的方法，其特征在于，偏离所述中心线定位所述标志，所述方法还包括对确定的挂接角应用偏移角修正，其中当所述车辆直线行驶时，通过计算目标角的值确定所述偏移角，其中所述目标角是所述中心线与连接牵引球和所述标志的线的夹角。
4.一种预测拖车路径并向连接所述拖车的车辆的驾驶员显示所述路径的方法，所述路径作为车载摄像机的影像上的覆盖图显示，所述方法包括以下步骤：
确定在所述车辆和拖车之间的挂接角(θt)，确定在所述拖车轮轴和所述拖车到所述车辆的连接点之间的挂接长度(H)，计算转向半径(R)，其中(R)＝(H)/(θt)，其中预测所述拖车沿着半径为(R)的圆的圆周运动。
5.如权利要求4所述的预测拖车倒车路径的方法，其特征在于，通过在圆形路径中驾驶车辆-拖车组合，同时测量车辆转向角(θs)，通过(θs)和获知的所述车辆的尺寸计算所述圆形路径的半径(R)，测量挂接角(θt)并通过关系式(H)＝(R)(θt)计算挂接长度(H)，确定所述挂接长度(H)。
6.如权利要求4或5中的任何一个所述的预测拖车倒车路径的方法，其特征在于，通过安装在所述车辆后部的摄像机监测所述拖车的运动，且所述覆盖图投射到由安装在车辆门镜上的摄像机产生的影像上，其中，对所述覆盖图的位置应用修正以补偿在两架摄像机之间的任何失准。
7.一种用于跟踪接近于车辆的路径的障碍物的方法，包括以下步骤：
使用车载接近传感器检测障碍物的接近；
朝所述障碍物的位置摇摄车载摄像机，并向所述车辆的驾驶员显示所述障碍物的摄像机影像。
8.如权利要求7所述的跟踪障碍物的方法，其特征在于，还响应于来自车辆转向角传感器和车辆速度传感器的信号控制所述摄像机的摇摄。
9.如权利要求7所述的跟踪障碍物的方法，其特征在于，还响应于来自图像跟踪器的信号控制所述摄像机的摇摄。
10.一种检测连接到车辆的拖车的存在的方法，包括以下步骤：
将车载后视摄像机的图像和表示车辆的存储的数据进行比较。
11.一种用于协助将拖车连接到车辆的方法，所述方法包括以下步骤：
在驾驶员可见的显示屏上显示来自车载后视摄像机的影像，在所述显示的影像中识别牵引挂接装置，缩放所述摄像机影像以显示所述车辆的牵引球和所述拖车的牵引挂接装置的特写镜头，且当所述车辆和拖车相对于彼此移动时调节所述摄像机的缩放装置以保持所述牵引球和挂接装置的影像的显示。
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