CN104590372A - Method and system for monitoring placement of a target on a trailer - Google Patents
Method and system for monitoring placement of a target on a trailer Download PDFInfo
- Publication number
- CN104590372A CN104590372A CN201410601828.2A CN201410601828A CN104590372A CN 104590372 A CN104590372 A CN 104590372A CN 201410601828 A CN201410601828 A CN 201410601828A CN 104590372 A CN104590372 A CN 104590372A
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- trailer
- mark
- vehicle
- reversing
- image
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- 238000000034 method Methods 0.000 title claims abstract description 65
- 238000012544 monitoring process Methods 0.000 title claims abstract description 20
- 230000008569 process Effects 0.000 claims abstract description 25
- 238000002372 labelling Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000012545 processing Methods 0.000 abstract description 6
- 230000000007 visual effect Effects 0.000 description 17
- 230000008859 change Effects 0.000 description 12
- 230000009471 action Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 11
- 238000005259 measurement Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 7
- 230000004913 activation Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 5
- 239000000853 adhesive Substances 0.000 description 4
- 230000001070 adhesive effect Effects 0.000 description 4
- 238000007689 inspection Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 2
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- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000026676 system process Effects 0.000 description 2
- 239000000654 additive Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/543—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating other states or conditions of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
Abstract
A vehicle trailer backup assist system and method includes a hitch angle detection apparatus and a target monitor controller. The target monitor controller processes images acquired of the trailer towed by a towing vehicle to assist with placement of a target on the trailer. The target monitor controller also monitors the target and provides feedback to the user as to proper positioning of the target on the trailer. A target move detection routine detects movement of a target by processing the pixels of the image to determine if a new trailer has been connected. Further, a trailer connection monitoring routine monitors for a changed trailer based on loss of the hitch angle or target for a predetermined time period.
Description
Technical field
The driving that the disclosure that the present invention makes relates generally in vehicle is assisted and active safety technologies, relates more specifically to reversing of trailer ancillary system.
Background technology
When drawbar trailer, reversing is very challenging for many chaufeurs.This for the unskilled vehicle in trailer of ining succession chaufeur all the more so, they comprise those people infrequently driving trailer (as rent trailer, infrequently use private trailer etc.).A reason of this difficulty be in succession trailer vehicle need turn to contrary with the normal direction of rotation when the vehicle of trailer of not ining succession input and/or needed to brake to make vehicle trailer combinative stability before folding (jackknife) situation occurs.The slight error that another reason of this difficulty turns to when being the vehicle when trailer of ining succession is exaggerated thus causes trailer to depart from expectation route.
In order to driver assistance turns to the vehicle of trailer of ining succession, reversing of trailer ancillary system needs the intention knowing chaufeur.A common hypothesis of known reversing of trailer ancillary system be in succession the vehicle driver of trailer want straight line car-backing and system impliedly or clearly for zero curvature route is taked in vehicle trailer combination.Unfortunately, the use case hanging upside down car in most of actual life comprises curved line, therefore takes zero curvature route significantly can limit the practicality of this system.Some known systems are taked from map or Route planners's known route.For this reason, some known reversing of trailer ancillary systems operate needed the requirement of known reversing of trailer route (such as from map or path planning algorithm) before trailer starts reversing.Undesirable, man-machine interface (HMI) equipment that the embodiment of known this reversing of trailer ancillary system has relative complex comes fixed route, obstacle and/or motor-driven target of moveing backward.In addition, this system also require to use in some way the means such as such as photographic camera, inertial navigation or high precision global positioning system (GPS) to determine how the route expected is followed and is known when arrive expectation target or bus stop and direction.These require to cause this system relative complex and expensive.
Summary of the invention
According to an aspect of the present invention, the method for the placement of a kind of monitoring mark on trailer is provided.The method comprises the following steps: use the photographic camera on tractor truck to produce image trailer marking put area, process image to detect the existence in the internal labeling of mark put area, and provides feedback alerts to user to show the detected state of the mark in mark put area.
According to another aspect of the present invention, a kind of system for the placement of monitoring mark on trailer is provided.This system comprises photographic camera, and it to be positioned on tractor truck and to be set to produce the image marking put area on trailer.This system also comprises image processor, and its process image to detect the existence in the internal labeling of mark put area, and produces feedback alerts signal.This system comprises external alarm further, and its feedback alerts produced in response to feedback alerts signal shows at the detected state marking put area internal labeling.
Those skilled in the art is by being appreciated that the study of following specification sheets, claim and accompanying drawing and understanding these and other aspect, target and characteristic of the present invention.
Accompanying drawing explanation
In the accompanying drawings:
Fig. 1 shows vehicle trailer combination, and vehicle configuration is used for performing reversing of trailer additional function according to embodiment;
Fig. 2 shows and assists relevant man-machine interface (HMI) equipment to reversing of trailer;
Fig. 3 shows and assists relevant diagram of circuit to reversing of trailer;
Fig. 4 shows the diagram of circuit arranging module according to an embodiment;
Fig. 5 shows the example of the image shown at HMI equipment according to embodiment;
Fig. 6 is the block diagram of the vehicle trailer reversing aid system that usage flag supervisory control device is described according to an embodiment;
Fig. 7 is the schematic diagram that the placement that user marks on the trailer drawn by vehicle is described;
Fig. 8 is the anterior enlarged drawing of the trailer further illustrating the mark put area relating to mark paster;
Fig. 9 is the front elevation of the portable set with telltale, describes the superposition being marked at and trailer marking put area;
Figure 10 illustrates that assisted user places the diagram of circuit of the method for mark on trailer;
Figure 11 is the diagram of circuit that the placement monitored and mark on trailer and the method producing feedback alerts are described;
Figure 12 is the anterior schematic diagram of the trailer according to an embodiment with the mark installment system be fitted thereon;
Figure 13 is the exploded view of the mark installment system shown in Figure 12 and trailer;
Figure 14 is the diagram of circuit illustrated for connecting and reset the initial set up routine that trailer is selected for mark change monitoring trailer;
Figure 15 illustrates the diagram of circuit that there is and reset the movement indicia trace routine that trailer is selected for monitoring trailer change;
Figure 16 A is the trailer image of show tags in primary importance;
Figure 16 B is the trailer image moving to the second place according to an example show tags; And
Figure 17 illustrates that the trailer disconnected for monitoring trailer connects the diagram of circuit of watchdog routine.
Detailed description of the invention
Although the various aspects of purport of the present invention are described with reference to specific illustrative embodiment, purport of the present invention is not limited to these embodiments, and can implement extra amendment, application and embodiment under the prerequisite not departing from purport of the present invention.In the accompanying drawings, identical Reference numeral will be used to same parts are described.Those skilled in the art will recognize that all parts of setting forth in the present invention can change when not departing from the scope of purport of the present invention.
Reversing of trailer ancillary system
With reference to figure 1, show the embodiment being configured for the vehicle 100 performing reversing of trailer additional function.The reversing of trailer ancillary system 105 of vehicle 100 is operatively connected to the curvature of trailer 110 running route of vehicle 100.This control is by the power-assisted steering system 115 of vehicle 100 and realizing alternately of reversing of trailer ancillary system 105.During the operation of reversing of trailer ancillary system 105 when vehicle 100 is moveed backward, the chaufeur of vehicle 100 be sometimes limited to he/or she can carry out turning to by the bearing circle of vehicle 100 mode of input.This is because in some vehicle reversing of trailer ancillary system 105 be controlled by power-assisted steering system 115 and power-assisted steering system 115 is directly coupled to bearing circle (i.e. the bearing circle of vehicle 100 and the wheel flutter uniform movement of vehicle 100).As discussed in more detail below, man-machine interface (HMI) equipment of reversing aid system 105 such as, for controlling the change of the route curvature of trailer 110, knob, thus the control that this bearing circle at vehicle 100 of decoupling zero carries out.But, according to purport of the present invention, some are configured for provides the vehicle of reversing of trailer additional function to have optionally from the performance of the mobile decoupling divertical motion of the wheel flutter of vehicle, thus allows bearing circle to assist period for controlling the change of the route curvature of trailer at this reversing of trailer.
Reversing of trailer ancillary system 105 comprises reversing of trailer secondary control module 120, reversing of trailer turns to input media 125 and angle of traction (hitch angle) detecting device 130.Reversing of trailer secondary control module 120 is connected to reversing of trailer and turns to input media 125 and angle of traction detecting device 130, for allowing the communication between them.Disclosing reversing of trailer at this turns to input media can be coupled to reversing of trailer secondary control module 120 in a wired or wireless manner.Reversing of trailer auxiliary control system module 120 is connected to the power steering secondary control module 135 of power steering ancillary system 115, transmits information between them for allowing.The deflection angle detecting device 140 of power steering ancillary system 115 is connected to power steering secondary control module 135, for providing information to it.Reversing of trailer ancillary system is also connected to brake system control module 145 and powertrain control module 150, for allowing the information communication between them.Jointly, reversing of trailer ancillary system 105, power steering ancillary system 115, brake system control module 145, powertrain control module 150 and gear select equipment (PRNDL) to define the reversing of trailer assist architecture configured according to embodiment.
Reversing of trailer secondary control module 120 is configured for and performs for turning to input media 125 from reversing of trailer, angle of traction detecting device 130, power steering secondary control module 135, brake system control module 145 and powertrain control module 150 receive the logic (i.e. instruction) of information.Reversing of trailer secondary control module 120 (the trailer curvature algorithm as wherein) according to turning to input media 125 from reversing of trailer, all or part of information that receives of angle of traction detecting device 130, power steering secondary control module 135, brake system control module 145 and powertrain control module 150 produces Vehicular turn information.After this, provide Vehicular turn information to power steering secondary control module 135, for being affected the running route turning to realize the trailer 110 controlled of vehicle 100 by power steering ancillary system 115.
Reversing of trailer turn to input media 125 for reversing of trailer secondary control module 120 provide limit trailer 110 running route that controls, to the information (i.e. trailer direction information) of reversing of trailer secondary control module 120.Trailer direction information can comprise the information relevant with the change (change as route radius of curvature) of running route controlled and with represent the information that route running (namely travelling along cardinal principle straight line path) that trailer defines along the longitudinal center's bobbin by trailer is relevant.Discuss in detail as following, reversing of trailer turns to input media 125 to preferably include to rotate control inputs equipment, turns to input media 125 to coordinate the trailer controlling to expect to turn to behavior (change that the running route radius as controlled trailer is expected and/or control trailer travel along the cardinal principle straight line path such as defined by longitudinal center's bobbin of trailer) for allowing the chaufeur of vehicle 100 and reversing of trailer.In a preferred embodiment, rotate control inputs equipment be around the upper surface extending through knob/above the rotatable knob of S. A..In another embodiment, rotate control inputs equipment be around the upper surface being in substantially parallel relationship to knob/above the rotatable knob of S. A. that extends.
Some vehicles (as those have the vehicle of active front wheel steering) have power steering Auxiliary System, and it allows bearing circle partly from the mobile decoupling of the wheel flutter of such vehicle.Therefore, it is possible to rotate bearing circle (the Vehicular turn information as provided by the power steering auxiliary control system module from the reversing of trailer auxiliary control system module configured according to an embodiment controls) in the mode of the power steering auxiliary control system wheel flutter independent of vehicle.Therefore, in the vehicle of these types, bearing circle can optionally with wheel flutter decoupling zero to allow its independent operation, the trailer direction information according to the reversing of trailer ancillary system of purport of the present invention configuration can be provided by the rotation of bearing circle.Therefore, when this discloses in purport of the present invention, in certain embodiments, bearing circle is the embodiment rotating control inputs equipment.In these embodiments, bearing circle can be biased (device as by optionally engaging/activating) to the dead position relatively rotated between action radius.
Angle of traction detecting device 130, its angle of traction detection part 155 together with trailer 110 operates, for reversing of trailer secondary control module 120 provides the information (i.e. angle of traction information) relevant with the angle between vehicle 100 and trailer 110.In a preferred embodiment, angle of traction detecting device 130 is the devices based on photographic camera, the rear view cameras of such as existing vehicle 100, when trailer 110 is moveed backward by vehicle 100, its reflection (visual monitor) is connected to the mark (angle of traction detection part 155) of trailer 110.Preferably, but uninevitable yet, and angle of traction detection part 155 is special-purpose member (specific purpose as identified to be pulled angle detecting device 130 is connected to trailer 110 surface or all-in-one-piece object surperficial with trailer 110).As selection, angle of traction detecting device 130 can be physically be arranged on the equipment on the cooperation hanging device parts of equipment on the hanging device parts of vehicle 100 and/or trailer 110, for determine vehicle 100 and trailer 110 the line of centers longitudinal axis between angle.Angle of traction detecting device 130 can be configured for and detect folding induced conditions and/or relevant information (as ought be met angle of traction critical value).
Power steering secondary control module 135 provides the information relevant with the position of rotation (as deflection angle) of the wheel flutter of the position of rotation of steering wheel angle (as angle) and/or vehicle 100 for reversing of trailer secondary control module 120.In certain embodiments, reversing of trailer secondary control module 120 can be the integrated component of power steering ancillary system 115.Such as, power steering secondary control module 135 can comprise reversing of trailer aided algorithm, for according to turning to input media 125 from reversing of trailer, all or part of information that receives of angle of traction detecting device 130, power steering secondary control module 135, brake system control module 145 and powertrain control module 150 produces Vehicular turn information.
Brake system control module 145 provides the information relevant with car speed for reversing of trailer secondary control module 120.This vehicle speed information can be determined from the single wheel velocity monitored by brake system control module 145 or can be provided by the engine control module with signal confidence level.Car speed also can be determined from engine control module.In some cases, single wheel velocity also may be used for determining vehicle yaw and in order to determine that Vehicular turn information can provide this yaw rate to reversing of trailer secondary control module 120.In certain embodiments, reversing of trailer secondary control module 120 can provide car brakeing information to brake system control module 145, controls the braking of vehicle 100 for allowing reversing of trailer secondary control module 120 during trailer 110 is moveed backward.Such as, the speed using reversing of trailer secondary control module 120 to control vehicle 100 during trailer 110 is moveed backward can reduce the possibility of unacceptable reversing of trailer condition.The example of unacceptable reversing of trailer condition includes but not limited to that overspeed of vehicle condition, high angle of traction rate, trailer angle dynamical instability, the theoretical trailer folded condition (being defined by maximum Vehicular turn angle, length of draw bar, towing vehicle wheelbase and effective trailer length) calculated or physical contact fold restriction (being defined by the angular transposition restriction of relative vehicle 100 and trailer 110) and the like.The signal that reversing secondary control module 120 can send the notice (as warning) corresponding to unacceptable reversing of trailer condition that is real, imminent and/or that expect is disclosed at this.
Powertrain control module 150 and reversing of trailer secondary control module 120 interact, for controlling speed and the acceleration/accel of vehicle 100 during trailer 110 reversing.As mentioned above, the control of the speed of vehicle 100 is necessary for the unacceptable reversing of trailer condition of restriction (such as folding and trailer angle dynamical instability) possibility.Similar with the consideration about high speed relating to unacceptable reversing of trailer condition, high acceleration and high dynamic driving curvature require also to cause this unacceptable reversing of trailer condition.
Man-machine interface
In order to implement controller characteristic curve, chaufeur can be mutual with configuration-system 105 with reversing of trailer ancillary system 105.As shown in Figure 2, vehicle 100 is also equipped with man-machine interface (HMI) equipment 102 to implement reversing of trailer additional function alternately by chaufeur and HMI equipment 102.
Fig. 2 to show in vehicle chaufeur for the example of the HMI equipment 102 mutual with reversing of trailer ancillary system 105.Present to the multiple menu 104 (merely illustrating an illustrated menu in fig. 2) shown via HMI 102 of chaufeur.HMI menu 104 is by arranging 600, calibrating module (as shown in Figures 3 and 4) driver assistance of 700 and activation 800 reversing of trailer ancillary systems 105, control method can be implemented with the reversing of driver assistance as shown trailer overall in the diagram of circuit of Fig. 3 and 4, discuss in more detail after in the present invention.Each module is for specific element or feature, and it is for configuring reversing of trailer ancillary system accurately to implement control method.Although the special characteristic of each module references purport of the present invention is described, it should be noted that each module is not necessarily limited to the special characteristic described in example of the present invention.Under the prerequisite not departing from main scope of the present invention, the element in reordering module or replacement module or feature are possible.
Step by necessary connection trailer and linkage flag is guided chaufeur by reversing of trailer ancillary system 105.Chaufeur can turn to input media 125 to activate via reversing and arrange, such as, by rotating or promoting knob, or only make the selection of reversing of trailer ancillary system from the menu on HMI equipment 102.With reference to figure 3, chaufeur starts reversing of trailer ancillary system by reversing of trailer assisted diversion input media.When knob, chaufeur pressing or rotation knob are to start reversing of trailer ancillary system.Step by the compatible trailer of connection 580 is guided chaufeur by this system.Compatible trailer is around the trailer relative to vehicle single-point rotation after the back axle of vehicle.
Once turn to input media 125 by reversing of trailer or by HMI equipment 105 selecting system, this system will guide chaufeur prepare vehicle and if desired vehicle trailer combine.Vehicle 100 should by " RUN " and vehicle 100 should at " STOP " 590.Such as, but if vehicle 100 is travelling to be greater than the speeds of predetermined restriction, five miles per hour, reversing of trailer ancillary system 105 will suspend and chaufeur is unavailable.Reversing of trailer ancillary system 105 arranges module 600 and can not start maybe will exit 585.If the type of the trailer 110 selected by chaufeur is the trailers 110 do not matched with reversing of trailer ancillary system 105, module 600 is set and will exits 585 or do not start.If trailer 110 and reversing of trailer ancillary system 105 match, and arrange module 600 and confirm that vehicle 100 mechanism of shifting gears is in " STOP ".Again, if vehicle not " RUN " and gearshift mechanism is not " STOP ", arranging module will not start 585.
In the connection 580 of compatible trailer 110, on vehicle 100 " RUN " 590 and vehicle 100 " STOP " 590 basis, HMI 102 has the menu 104 of " traction " the mode option selected by chaufeur by presenting.Chaufeur is selected " traction " pattern and is presented the menu 104 providing " trailer option " to select.Then, chaufeur selected " trailer option " pattern from " traction " menu.Point out chaufeur or " increase trailer " or " selection trailer " from the menu 104 be presented on HMI equipment, " setting " module 600 of purport of the present invention starts.For some trailer angle checking system based on photographic camera, executable operations 602, wherein can present warning menu to chaufeur via HMI, and driver trailer must point-blank, and mean does not have angle of traction between vehicle and trailer.Warning show that chaufeur needs to take corrective action, such as, towing vehicle forward in case according to arrange 600 need trailer and vehicle are in line.General class or still image can be presented with the alignment between the trailer 110 of driver assistance visual recognition necessity and vehicle 100, suitably to arrange and to calibrate reversing of trailer ancillary system 105 via HMI 102.Chaufeur applies any correction 603, and wherein, chaufeur makes the adjustment of any necessity that he has been warned, and by confirming that corrective action has been employed 603 and has shown trailer and vehicle point-blank.Other trailer angle checking systems do not need the stretching trailer of chaufeur during arranging pattern.
In order to help chaufeur at setting up procedure, light backing-up lamp available on vehicle or any other additional light equipment 604.If trailer is new trailer, is not connected on vehicle or is not stored in before in reversing of trailer ancillary system before it, 606 present to the option that chaufeur is name trailer or the trailer configuration stored before selecting.Name trailer 608 easily identifies so that chaufeur need not repeat setting up procedure when allowing trailer to be connected on vehicle next time.The unique name of chaufeur input configures with the trailer relevant to the trailer of ining succession identifying the trailer that is stored in reversing of trailer ancillary system or store before selecting.Reversing of trailer ancillary system has identical title by not allowing more than one trailer.Therefore, if chaufeur attempt to use be applied to before the name nominating trailer of trailer configuration that stores, display information to chaufeur is shown this problem and requires that chaufeur is the different title of trailer configuration input by HMI.If the trailer stored configures available and by chaufeur selected 610, can skip some step of setting up procedure before.
Below discuss and configure for for the trailer angle checking system first time trailer based on photographic camera.612 instruction chaufeurs place angle of traction mark on trailer, and it is for alignment purpose.General still image may be displayed on HMI, and it provides the guidance of placement direction about the mark detected for angle of traction on trailer for chaufeur.Mark is placed and is determined by the type of trailed trailer, therefore can present to chaufeur option and select suitable trailer type to help chaufeur.Still image can show that mark places acceptable region and mark places unacceptable region.Show that the still image in the region that linkage flag is suitable can be the superposition on the back view of trailer hanging device.Once chaufeur linkage flag shows to mark to trailer and via HMI be connected to trailer, 614 arrange module provides visible feedback to be located to chaufeur identification marking or caught.Via HMI, 616 chaufeurs confirm that mark is correctly identified by reversing of trailer ancillary system.Similarly, for the trailer configuration stored before, trailer will have the mark placed thereon.Reversing of trailer ancillary system will obtain mark and provides visible feedback to chaufeur to determine the acquisition marked 614.
If 614 there is no mark after predetermined time amount passage, 618 drivers need reorientate mark and present the corrective action that may take.Possible corrective action can be presented to chaufeur, if such as clean photographic camera border head, clean mark mark damaged or fade replacing mark, towing vehicle trailer combination forward to improve photographic camera and/or mark light condition around, and movement indicia extremely acceptable position.The correction that 603 chaufeur application are necessary.As mentioned above, some trailer angle checking systems do not need chaufeur linkage flag to trailer during arranging pattern.The acquisition of mark and mark is for the trailer angle checking system based on photographic camera.
When 614 by reversing of trailer ancillary system obtain mark and 616 chaufeurs confirmed obtain, so, 620 by a series of menu prompt chaufeur input trailer metrical information, and it can be stored in during reversing of trailer ancillary system configures for the trailer relevant to the trailer of name.When next time, same trailer was connected to vehicle, the trailer configuration of its uniqueness will be stored and will be faster by the progress arranging module, or in some cases, can skip completely and arrange module.In order to driver assistance metrical information, general still image can be shown on HMI screen.The vehicle that visual example (see Fig. 5) can be provided to help the input of chaufeur identification prompting chaufeur, trailer or the position between vehicle and trailer.In addition, the number range of the measurement of chaufeur input can arrange and can be shown to chaufeur in reversing of trailer ancillary system.Number range can be exceeded by alerting driver about the measurement inputted.In addition, prompting chaufeur input metrical information require can present to chaufeur so that should input measurement to reversing of trailer ancillary system.
Although it should be pointed out that the metrical information of above-mentioned discussion is inputted by chaufeur, under the prerequisite not departing from main scope of the present invention, also can use the method for various input measurement information.Such as, use existing vehicle and trailer data automatically to detect the system of measurement, include but not limited to car speed, wheel speed, steering wheel angle, vehicle and trailer relative angle, and vehicle and trailer angle variable rate.
The example of metrical information can comprise from vehicle rear to the horizontal throw at mounting bulb center, horizontal throw from vehicle rear to mark center, from mark to the vertical distance on ground, and mark is from the horizontal-shift of the line of centers of mounting bulb.If in the centerline linkage flag being different from mounting bulb, so reversing of trailer ancillary system known mark must be connected to which side, passenger side or the driver side of vehicle.Menu on HMI can present to chaufeur with show mark be placed on passenger side or driver side.Reversing of trailer ancillary system also needs the horizontal throw at the center of known one or more bridges from vehicle rear to trailer.English unit or metric unit input measurement can be used.
Before proceeding setting up procedure, 622 present revise any measurement option to chaufeur.If do not need amendment, 624 arrange module 600 completes and calibration module 700 starts.
Design calibration module 700 is for offseting with suitable trailer Measurement and calibration curvature control algorithm and any angle of traction that may exist of calibration reversing of trailer ancillary system.After completing module 600 be set, calibration module 700 start and 702 instruction chaufeur towing vehicle trailer combination straight lines forward until complete angle of traction pick up calibration.Via Pop-up telltale or screen display, HMI can notify that 704 driver vehicle's trailer combination need to front haulage until complete calibration.When calibration completes, HMI can notify 704 chaufeurs.Any angle of traction deviant is stored 706 in memory, if desired by curvature control algorithm accesses, terminates at 704 calibration modules 700.
Although it should be pointed out that the calibration of above-mentioned angle of traction is described to ask chaufeur to front haulage information, under the prerequisite of scope not departing from embodiment, also can use the various additive methods that angle of traction is calibrated.
After completing and arranging module 600 and calibration module 700, active module 800 can start.Active module 800 is described with reference to figure 4.Design active module 800 for activating the auto-steering of vehicle during reversing of trailer non-productive operation.Vehicle is placed in reverse gear by 802 instruction chaufeurs.After activation reversing of trailer ancillary system, steering swivel system will not accept any deflection angle order from any source except reversing of trailer ancillary system 804.Trailer arrange 600 and calibration 700 modules must to complete and current angle of traction must within the scope of the scheduled operation of reversing of trailer ancillary system 806.Car speed also must be less than predetermined rate of activation 808.If in these conditions 804,806,808 any one or all do not meet, prompting chaufeur application corrective action 810.Chaufeur must confirm that 814 have taked corrective action to start control module.If the corrective action of taking, but active module thinks that it is unacceptable, and instruction chaufeur 810 is attempted another kind of corrective action.
Bearing circle is directly coupled to the steering swivel system of the wheel flutter of vehicle, can not engages with bearing circle at reversing of trailer chaufeur of auxiliary period.If any recent movement is by chaufeur or otherwise block, reversing of trailer ancillary system will present instruction 810 to chaufeur to be removed from bearing circle by their hand.Activation 800 is by time-out or interrupt until remove obstacle.If if car speed exceedes critical speed or vehicle angle of traction is unacceptable, prompting chaufeur 810 is taked corrective action.Activate 800 and control 200,500 modules by interruption until take, accept and confirm corrective action.
When chaufeur moving gear shift from " STOP " to " reversing " 802 and pressing or rotate reversing of trailer turn to input media 125 time, rear view cameras image appears on the telltale of HMI.If the whenever angle of traction during reversing process is too large, system can not control the curvature of trailer, and TBA (backing towing vehicle is assisted) will provide and warn to chaufeur to front haulage to reduce angle of traction.If the whenever system during reversing process can not follow the trail of angle of traction mark, present to driver command with correct problems.If at any time car speed exceedes predetermined rate of activation, visual and audibly alerting driver parking or deceleration.When all conditions of active module all meets and keeps, control module can start.
Trailer mark is placed and monitoring
Vehicle trailer reversing aid system can utilize the mark placed on trailer to play angle of traction detection part 155.According to an embodiment, in this case, reversing of trailer ancillary system can use the information obtained by Image Acquisition and the process of mark to use in angle of traction detecting device 130.According to another embodiment, mark may be used for identifying whether the trailer connected changes, and trailer connects or disconnects and information that other trailers are relevant.Mark is discernible witness marking, and it can be caught by video picture camera in the picture and be detected by image procossing and process.According to an embodiment, mark can comprise adhesive mark, be also referred to as paster, it can stick on trailer by the adhesives of side, preferably in mark put area, so that photographic camera and image processing apparatus can certification mark with its position on trailer such as, to determine the information that trailer is relevant, the angle of traction between trailer and tractor truck.Reversing of trailer ancillary system can be supplied to the image of the trailer marked region of the one or more suitable placement mark of user to assist the placement marked on trailer.In addition, vehicle trailer reversing aid system can monitoring mark to determine whether trailer is correctly placed on the mark put area of expectation and provides feedback alerts to user.Further, reversing of trailer ancillary system can be monitored trailer by monitoring mark and connect to determine to mark whether to move, thus determines whether that identical trailer is still connected to tractor truck, and can start the responsive measures to this.Further, reversing of trailer ancillary system can be monitored angle of traction or mark to determine whether trailer is replaced (namely disconnect and be replaced by another trailer), and can start the responsive measures to this.
With reference to figure 6, the vehicle trailer reversing aid system 105 illustrated comprises angle of traction detecting device 130 and mark supervisory control device 10, and for monitoring mark, the placement of aid mark, the connection of monitoring trailer, determines whether trailer moves, and start some measure.Mark supervisory control device 10 can comprise microprocessor 12 and/or other simulation and/or digital circuit, for the treatment of one or more program.In addition, mark supervisory control device 10 can comprise memory device 14, for storing one or more program, comprising image processing program 16, mark places auxiliary routine 900, mark watchdog routine 920, the initial setting up 940 of movement indicia trace routine, movement indicia trace routine 960 and trailer connect watchdog routine 990.Such as, it is intended that mark supervisory control device 10 can be independent nonshared control unit can be maybe the shared control unit be combined with other controlling functions, is combined with angle of traction detecting device 130, also perform relevant function to process trailer with the image of mark.In one embodiment, angle of traction detecting device 130 processes from the mark marking image that obtains of supervisory control device 10 and other information (such as trailer length) for use in the angle of traction determined between trailer and tractor truck.
Photographic camera 20 is illustrated as providing video image to the input of the mark supervisory control device 10 of vehicle trailer reversing aid system 105.Photographic camera 20 can be rear view cameras, and it installs position certain on the towing vehicle and direction with the image of the trailer obtaining vehicle rear and drawn by vehicle.Photographic camera 20 can comprise image camera, and it produces the camera images of one or more trailer, comprises the region that mark put area is expected to be positioned on trailer.Photographic camera 20 can comprise video picture camera, and it takes the continuous print trailer image processed by mark supervisory control device 10 repeatedly.The one or more image processing program 16 of mark supervisory control device 10 processes one or more image from photographic camera 20 with identification marking and its position on trailer.Mark supervisory control device 14 further process and one or more program 900,920,940,960,990 relevant process images.
Trailer supervisory control device 10 can with one or more devices communicating comprising outside vehicle siren horn 24, it can comprise for providing the vehicle brake lamp of visual cautionary and vehicle emergency light and for providing the horn for vehicle can listening warning.In addition, trailer supervisory control device can communicate with one or more Human-machine interface (HMI) 25 comprising vehicle display, navigation/amusement display that central control panel such as, install.Further, trailer supervisory control device 10 or portable set 26 handheld with one or more can be communicated by wireless telecommunications 22, such as one or more smart mobile phone.Portable set 26 can comprise telltale 28, for showing one or more image with other information to user.Portable set 26 can show the image of one or more trailer and the mark position in the mark put area expected on the display 28.In addition, portable set 26 associated vehicle can be provided to mark connect, comprising can be visual and can listen the feedback information of warning.
With reference to figure 7-10, according to an exemplary embodiment, describe the mark supervisory control device 10 using marks for treatment to place auxiliary routine 900 and place mark 30 on trailer 110.In figures 7 and 8, tractor truck 100 drawbar trailer 110 is shown.Trailer 110 has the trailer hanging device adaptor union with coupler assembly 114 form, and it is connected to the vehicle hanging device adaptor union with receptor hanging device and bulb 15 form.Coupler assembly 114 withholds mounting bulb 15 to provide screw joint.The trailer 110 illustrated has the structure comprising longitudinal extension bar or trailer towing tongue 112.The upper horizontal plane of the trailer towing tongue 112 illustrated provides the mark put area 32 of expectation for receiving mark 30.It is intended that trailer 110 can be configured to various shape and size and can provide other suitable mark put areas 32 of one or more reception mark 30.Mark put area 32 defines the position of mark 30 placement expected.
Vehicle 100 is equipped with video picture camera 20, the shown top being positioned at the rear body back shield of vehicle 100.Video picture camera 20 is elevated relative to mark put area and has field of view and locate and be oriented to the image taking one or more trailer 110, comprises the region of the mark put area comprising one or more expectation.It is intended that one or more photographic camera can be located at other positions on vehicle 100 to obtain the image of trailer 110 and mark put area 32.
In order to utilize the mark on the current trailer not being equipped with suitable existing mark, can indicate or place mark 30 in mark put area 32 that commander user 2 expects on trailer 110, so that photographic camera 20 can take the image of one or more mark 30 to determine the trailer relevant information of reversing of trailer ancillary system, such as, for the angle of traction information of angle of traction detecting device 130.In this case, can by can listen or on trailer 110, place mark 30 the upper visual information indicating user 2 of HMI (such as vehicle HMI 25 or portable set 26).Vehicle HMI 25 can comprise generation that is visual and/or that can listen for suitably placing the output of the instruction of mark.
In order to allow effectively and suitably place mark 30 on trailer 110, reversing of trailer ancillary system uses the mark shown in Figure 10 to place householder method or program 900, and it processes by marking supervisory control device 10.Mark is placed householder method 900 and is comprised step 902, in this step user can connect the portable set with display plotter with vehicle communication.According to an embodiment, user can electronically connecting device be to vehicle, and it can realize via wireless protocols.Equipment can be can by Wi-Fi,
or the wireless device of other wireless protocol communications.As selection, equipment can be connected by wired connection.Next step, in step 904, user starts angle of traction checking system and arranges, and it requires the setting program starting angle of traction checking system.As a part for this program, place mark by the mark put area requiring user on the trailer of vehicle.In step 906, system photographic camera produces the image of one or more trailed trailer, and it mark put area comprising expectation expects the region be positioned at.There is more than one mark put area and a region can be better than another region.In step 908, the image that system process produces also determines the mark put area of the expectation on trailer.The mark put area expected can be determined apart from the desired distance of hanging device connecting portion and the physical structure of trailer according to position of camera and direction, mark.In step 910, system produces mark superposition on the image of one or more generation.Mark superposition is the visible instruction at the desired locations marking the mark in put area, places mark according to its indicating user.Mark superposition can comprise boundary line or other marks of mark mark put area.Mark superposition can be illustrated on the image of display by the colour glimmered (as redness) line.Can produce and illustrate the mark superposition of multiple mark put area.In step 912, if the system telltale of passing on one or more image and mark to be superimposed to vehicle and telltale by utilizing wireless or wired connection to be connected to user on portable devices in step 902.Next step, in step 914, the telltale display of user is on portable devices superposed the image of the mark put area shown by mark.Then, in step 916, mark on trailer in put area under the help of pointing out the display image of user on the telltale carrying out comfortable vehicle and/or on portable display and mark to superpose by HMI and place mark.
Fig. 9 describes an example of the image of display on the telltale 28 of portable set 26, and image shows the superposition of the mark position of the mark placed on trailer.Display image on the display 28 comprises the image of the trailer 110 as taken by photographic camera and comprises the superposition of mark put area 32 of expectation further.User 2 can check that image on the telltale 28 of portable set 26 is to determine to place relative to trailer 110 position of mark.In this example, mark 30 can be placed on and be superposed on the mark put area 32 that shows by mark by user.The placement of mark can be realized by adhesive label paster on the surface of trailer.Therefore, user can use the portable set with telltale, such as phone, panel computer or computing machine with on trailer apply mark before or period check the correct position placing mark on trailer.
Therefore, mark place householder method 900 advantageously assisted user with simple and practical, accurately and actv. mode on trailer 110, place mark 30.User 2 can before mark put procedure or period easily carry the portable set with telltale with vehicle communication with check correct mark placement location, vehicle or otherwise cue mark placement need not be back to.
Reversing of trailer ancillary system 105 comprises mark method for supervising or program further, places and provide to feed back to user about marking whether to be placed in suitable mark put area for monitoring mark on trailer.User can place mark in a different manner on trailer.In some cases, can by vehicle HMI by TBA system prompts user place on trailer mark and user can be given the instruction about position.User can place by usage flag placement householder method 900 aid mark on trailer.In other cases, user can use their the best to judge or follow to be printed on and marks upper or on trailer, place mark with the instruction in its packaging provided.Under any circumstance, once mark is placed on trailer, monitoring mark provides and feeds back to user relative to the position of trailer about what be marked at that correct on trailer or mal places by mark method for supervising 920.
According to an embodiment, Figure 11 describes mark method for supervising 920.In step 922, method 920 requires if trailer not yet connects just be connected trailer to vehicle on bulb with connecting device.Next step.In step 924, angle of traction detects and arranges beginning.In step 926, on trailer, place mark by interface prompt user.According to an embodiment, user can judge according to the best of preassigned or user or knowledge places mark on trailer.According to other embodiments, can pass on indicating user on trailer, place the position of mark by utilizing users' guidebook, specification sheets or other visual instructions maybe can listened.Usually, mark the visual field that be placed on photographic camera and there is no the region of obstacle and the determination of its permission acquisition of image and the trailer relevant information of expectation, such as angle of traction.According to trailer configuration and camera orientations and height, can require to mark be placed on trailer some region in, having (such as 7 inches (17.78cm)) in the distance range connecting minor increment apart from hanging device apart from trailer hanging device connecting portion, in the certain limit of distance tractor truck bumper/spoiler and in the certain limit of distance floor level.Mark places the position that may be required in apart from the line of centers certain distance of the longitudinal axis of trailer, and can require horizontal or vertical angle or some angle between vertical and level attitude.According to another embodiment, user can utilize mark to place householder method 900 and place mark on trailer.
In step 928, system produces the image of one or more mark put area on trailed trailer.Then in step 930, the one or more image of system process is to determine the existence in the mark put area internal labeling expected.The mark put area expected can be determined by certain standard, such as, apart from the distance of trailer hanging device connecting portion 114, apart from the distance of the line of centers of the longitudinal axis of trailer, photographic camera relative to the height of trailer and the photographic camera distance apart from trailer.At determination step 932, method 900 determines that the image detection marking whether to be processed arrives, if do not had, is back to step 926 to point out user to place mark on trailer by HMI.
If the image detection that mark has been processed arrives, in step 934, vehicle trailer reversing aid system provides feedback alerts to user.Feedback alerts can comprise the warning of one or more outside vehicle, the warning (such as making horn for vehicle sound) comprising visual cautionary (such as make car brakeing flick of lamp and/or make the urgent flick of lamp of vehicle) and/or can listen.In addition, feedback alerts can comprise provides information by portable set 26, provides audible sound or the visual lamplight pointing by portable set 26 by portable set 26.Further, feedback alerts can comprise and sends text message by portable set (such as phone or computing machine) instruction maybe can be listened to user.It is intended that other outside vehicles and optional feedback alerts can be transmitted to user to show the correct mark placed to have been detected at trailer.As selection, feedback alerts may be used for the mark showing that mal is placed on trailer.Once trailer is suitably equipped with mark in position, reversing of trailer ancillary system can by monitoring mark process information to determine the function that angle of traction is relevant with other trailer towings.
Mark 30 can comprise paster, and it has adhesives in lower surface and provide the predetermined image style for some size and dimension taken by video camera and by image processing apparatus identification at upper surface.According to an embodiment, marking 30 shapes can be rectangle, and can have the discernible style of camera images, routine as directed gridiron pattern style.Image processing apparatus can comprise the known image style recognizer for identification marking style and its position on trailer.But, it is intended that, other mark shape, size and style can be used.Further it is intended that, mark can use adaptor union to be otherwise connected to trailer, and adaptor union is fastener such as, and it can be connected to trailer or to the coupling link to trailer.Further it is intended that, mark can pass through magnetic force, bonding, spraying perhaps many other suitable methods connections.
It is intended that not every trailer must be configured for provides the suitable placement location marking paster on trailer.Therefore, according to an embodiment, can be that given trailer increases mark position by utilizing mark installment system 40 as shown in Figures 12 and 13.Shown mark installment system 40 is arranged on mark 30 visual with photographic camera in the mark put area being presented on expectation on trailer 110.Mark installment system 40 comprises vertical installation column or support 44, and it has multiple vertical extension to allow the bolt receiver hole 46 of the vertical dimension adjustment expected.Support 44 can passing hole 54 use bolt 48, packing ring 52 and nut 50 to be assembled on trailer.According to which hole 46 aim at trailer hole 54, can the height of adjusting pole 44.The top being installed to support 44 is the marking plate 42 of the upper marker put area 32 had for settling mark 30.Similarly, plate 42 also has multiple hole 46, the hole of its on even keel coupling on support 44, and can be assembled on it by bolt 48, packing ring 52 and nut 50.Therefore, can vertically and horizontal adjustment plate 42 to expect position, as long as adjustably expect position in place mark 30 in case easily by photographic camera obtain mark and by image processing apparatus process.It is intended that the auxiliary installation of mark installment system 40 approves to realize by utilizing the mark of above-mentioned discussion to place householder method 900 and marking method for supervising 920 really together with the suitable position of mark 30 and mark installment system 40 and mark 30.
Movement indicia method of inspection comprises movement indicia and detects initial set up routine 940 and handler subsequently 960, uses for pointing out during the typing of trailer information.Movement indicia method of inspection determines whether move in the position of the upper angle of traction mark of trailer (such as trailer towing tongue), and also can determine whether distance changes.Marking image relatively in the image stored before and the image just obtained is to determine whether position and/or the distance apart from mark change.Relatively can comprise the camera images pixel size of movement images.If or position or distance change, so point out user to be that new trailer information is re-entered in the process of reversing of trailer ancillary system subsequently by HMI.
Figure 14 describes initial set up routine 940.First, vehicle must be connected in step 942 trailer.In step 944, follow the trail of for the trailer of ining succession arranges angle of traction.For the system of view-based access control model, this can comprise and is applied on trailer by mark paster, such as, near the traction tongue of trailer, so that the photographic camera of vehicle can the motion that is motor-driven and certification mark when turning round around curve at trailer.In addition, can input many parameters relevant with the position of mark, it is for correctly calculating angle of traction according to visual field process.These parameters can comprise the Distance geometry of mark apart from ground from mark to the distance of the bumper/spoiler of vehicle.In step 946, commander's vehicle and trailer straight line are driven, and it can by realizing at the trailer of the direction steering vehicle advanced and traction.This to guarantee that under trailer and the straight situation of vehicle angle of traction between vehicle and trailer is approximately zero and the image that will produce in later step in the shooting of identical direction and be comparatively actv. for image ratio.In step 948, obtain the photo (image) of mark and trailer by means of photographic camera when vehicle and trailer angle of traction on straight line is approximately zero degree.In step 950, image processing apparatus performs visual processes on image.Then first visual processes can calculate size and the position of mark by certification mark according to the pixel of process image.In step 952, the image obtained in step 948 is stored in memory and is stored in memory in the information that step 950 calculates.Then, image and the information calculated mark whether to move for determining subsequently.If mark moves, system can suppose that trailer may change or replace with different trailers, and therefore points out user to input trailer information by HMI.
With reference to Figure 15, the movement indicia trace routine 960 illustrated starts from step 962, indicate in step 962 chaufeur again connect to vehicle before arrange and the trailer used in initial set up routine 940.In step 964, by angle of traction checking system point out user select before arrange and store trailer instead of select new trailer.In step 966, prompting user drives trailer and vehicle combination straight line is approximately zero degree to realize angle of traction forward.Next step, in step 968, obtain new mark and the image of trailer by photographic camera.In step 970, image performs visual processes also calculates mark by the pixel of process image size and position with certification mark.In step 972, position and the size of the above-mentioned mark position that calculates and size and the mark in the image taken in initial setting up before compare.In step 974, make and determine whether new label information mates or whether in the tolerance of original tally information.If the new mark obtained remains same size and position same on image compared with the image of initial setting up before, thisly to determine if made so in step 980, mark probably will allow suitable angle of traction to detect in identical position.If mark has different positions or is of different sizes, so mean that mark has moved and program 960 forwards step 976 to.When being different trailers compared with the trailer that trailer and user finally select, detect that the movement of mark may occur.The use of before selected trailer configuration may follow the trail of for angle of traction mark the result providing mistake.Therefore, method 960 forwards step 978 to and reselects or reset trailer configuration to point out user's (as chaufeur) by new trailer and trailer information.Therefore, the movement of movement indicia trace routine 960 advantageously certification mark, it can show that new trailer is connected with the potential of vehicle, to point out user to select new trailer configuration information by HMI.In addition, owing to having installed the draw bar than the draw bar different size installed when initial setting up trailer, movement indicia program also can detect that mark moves.
Figure 16 A and Figure 16 B describes trailer and moves to the example of image of mark of different positions.As shown in Figure 16 A, show trailer and mark 30 in alignment with the image of primary importance on trailer, compared with the image of Figure 16 B subsequently, Figure 16 B shows mark 30 and moves to new second nearer position.The change of position of mark can indicate trailer replaced with new trailer or otherwise mark on trailer move.When this happens, marking mobile monitoring program 960 requires user to re-enter trailer configuration information so that the information of mistake is not used in the angle of traction data providing mistake.In addition, correct (appropriate) trailer has been selected and has marked still identical on trailer position, but it is also possible that system still shows to mark movement.When length of draw bar on vehicle changes, this situation may occur.
Mark supervisory control device 10 further process trailer connects watchdog routine 990 to determine trailer and whether be connected to vehicle and whether new trailer connects.When trailer and vehicle disconnect, label information and angle of traction information unavailable within a period of time.Therefore, trailer connection method for supervising 990 monitors the availability of angle of traction data and/or mark detection to determine whether angle of traction data or flag data were lost in the quite a while.If this situation occurs, so reselect the trailer of connection by HMI prompting chaufeur or re-enter trailer configuration data to guarantee that the trailer information of mistake is not used.
Figure 17 describes trailer and connects watchdog routine 990.In step 992, trailer is connected to vehicle.In step 994, for trailer arranges angle of traction examination and controlling.If use the system of view-based access control model, this can be included in the mark and input correlation parameter of trailer being placed the systems axiol-ogy supplying view-based access control model.As selection, if be set up before trailer angle of traction monitoring, for that trailer select before store arrange configuration be possible.In step 996, detect once trailer has been set up angle of traction, angle of traction checking system will constantly monitor angle of traction or mark.At determination step 998, program 990 is determined angle of traction or is marked whether to lose the time period being greater than X second.
According to the type of angle of traction system, angle of traction signal may be lost due to different reasons or become unavailable, but a potential cause is that trailer disconnects from vehicle.It is unavailable that the trailer disconnected also can cause mark to detect.Therefore, inspection is made to check since how long the angle of traction signal detected or label loss pass by.If angle of traction or mark detect lost the time period being less than X second, so return to follow the trail of angle of traction or mark in step 996 program 990.If angle of traction or mark detect lost the time period being greater than X second, so user is pointed out to reselect or reset trailer configuration in step 1000 by HMI.Setup times section X represents the reasonable time amount exchanging or replace trailer and need.Such as, for very little lightweight trailer, to exchange trailer 60 (60) seconds be possible being less than, and therefore this can be the rational time period.According to an embodiment, setup times section X was 30 (30) seconds.
Although monitoring angle of traction is to determine that trailer disconnects from vehicle, but it is intended that as selection, trailer connects watchdog routine 990 can the detection of monitoring mark, if so that X no longer detects mark second, vehicle driver so can be pointed out to reselect or reconfigure trailer.
Should be understood that, when not departing from concept of the present invention, said structure can make changes and modifications, and should be understood that further, these concepts are intended to be covered by following claim, unless these claims are by their word clear stipulaties separately.
Claims (7)
1. a method for the placement of monitoring mark on trailer, is characterized in that, comprise:
The photographic camera on tractor truck is used to produce image trailer marking put area;
Process image is to detect the existence in the internal labeling of mark put area; And
There is provided feedback alerts to user to show the detected state of the mark in mark put area.
2. method according to claim 1, is characterized in that, feedback alerts comprises outside warning.
3. method according to claim 1, is characterized in that, produces the step of image and comprises and produce multiple video image with video camera, wherein, process multiple video image to determine the existence in the internal labeling of mark put area.
4. method according to claim 1, is characterized in that, provides feedback alerts to portable set.
5. method according to claim 4, is characterized in that, portable set comprises phone.
6. method according to claim 1, is characterized in that, detected state is the state when mark being detected in mark put area.
7. method according to claim 1, is characterized in that, detected state is state mark not detected in marked region.
Applications Claiming Priority (2)
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| US14/068,431 | 2013-10-31 | ||
| US14/068,431 US9283892B2 (en) | 2011-04-19 | 2013-10-31 | Method and system for monitoring placement of a target on a trailer |
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| CN104590372A true CN104590372A (en) | 2015-05-06 |
| CN104590372B CN104590372B (en) | 2017-04-12 |
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| CN201410601828.2A Expired - Fee Related CN104590372B (en) | 2013-10-31 | 2014-10-31 | Method and system for monitoring placement of a target on a trailer |
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| DE (1) | DE102014222034B4 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104590372B (en) | 2017-04-12 |
| DE102014222034B4 (en) | 2021-03-25 |
| DE102014222034A1 (en) | 2015-04-30 |
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