CN104590372B - 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
- CN104590372B CN104590372B CN201410601828.2A CN201410601828A CN104590372B CN 104590372 B CN104590372 B CN 104590372B CN 201410601828 A CN201410601828 A CN 201410601828A CN 104590372 B CN104590372 B CN 104590372B
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- trailer
- labelling
- vehicle
- reversing
- image
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 27
- 230000008569 process Effects 0.000 claims abstract description 21
- 238000012545 processing Methods 0.000 claims abstract description 11
- 238000002372 labelling Methods 0.000 claims description 220
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Classifications
-
- 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
-
- 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
-
- 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
-
- 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
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
Driving auxiliary and active safety technologies that the disclosure that the present invention is made is related generally in vehicle, more specifically
It is related to reversing of trailer aid system.
Background technology
The reversing when drawbar trailer is very challenging for many drivers.This is for unskilled in
In succession trailer vehicle driver for it is even more so, they include those infrequently drive trailer people (as rent trailer,
It is not frequently used private trailer etc.).A this difficult reason is that the in succession vehicle of trailer needs and ought not in succession
The contrary steering input of normal direction of rotation during the vehicle of trailer and/or system was needed before (jackknife) situation of folding occurs
Move so that vehicle trailer combinative stability.This another difficult reason is the minor error turned to when the vehicle of trailer of ining succession
It is exaggerated and expects route so as to cause trailer to deviate.
In order to aid in driver to turn to the vehicle of trailer of ining succession, reversing of trailer aid system needs the meaning for knowing driver
Figure.One of known reversing of trailer aid system common hypothesis is that the in succession vehicle driver of trailer wants straight line car-backing and is
System is impliedly or clearly either that zero curvature route is taken in vehicle trailer combination.Unfortunately, in most of actual lives
The use case of projecting car includes curved line, therefore takes zero curvature route to significantly limit the practicality of the system.Some
Known system is taken from known route at map or Route planners.For this purpose, some known reversing of trailer aid systems exist
Trailer starts to need to be operated under the requirement of known reversing of trailer route (such as from map or path planning algorithm) before moveing backward.Order
People it is unhappy be, it is known that the embodiment of this reversing of trailer aid system has relative complex man machine interface (HMI) equipment
Come fixed route, obstacle and/or motor-driven target of moveing backward.Additionally, this system is also required that in some way using for example taking a picture
The means such as machine, inertial navigation or high accuracy global positioning system (GPS) determine that how desired route is followed and knows assorted
When reach expectation target or bus stop and direction.These requirements cause the system relatively complex and expensive.
The content of the invention
According to an aspect of the invention, there is provided a kind of method that monitoring is marked at the placement on trailer.The method bag
Include following steps：The image of labelling placement region on trailer is produced using the photographing unit on tractor, processes image to detect
The presence of labelling placement region internal labeling, and feedback alerts are provided to user to show the labelling in labelling placement region
Detection state.
According to another aspect of the present invention, there is provided a kind of system of the placement being marked at for monitoring on trailer.Should
System includes photographing unit, and it is located on tractor and is set to produce the image of the labelling placement region on trailer.The system
Including image processor, it processes image to detect the presence in labelling placement region internal labeling, and produces feedback alerts signal.
The system further includes external alarm, and its generation shows in labelling rest area in response to the feedback alerts of feedback alerts signal
The detection state of domain internal labeling.
Those skilled in the art is understood and appreciated that by the study to following description, claims and drawings
The these and other aspect of the present invention, target and characteristic.
Description of the drawings
In the accompanying drawings：
Fig. 1 shows that vehicle trailer is combined, and vehicle is configured to perform reversing of trailer miscellaneous function according to embodiment；
Fig. 2 shows man machine interface (HMI) equipment related to reversing of trailer auxiliary；
Fig. 3 shows the flow chart related to reversing of trailer auxiliary；
Fig. 4 shows the flow chart of the setup module according to one embodiment；
Fig. 5 shows the example of the image shown in HMI device according to one embodiment；
Fig. 6 is the frame of the vehicle trailer reversing aid system that labelling supervisory control device is used according to one embodiment explanation
Figure；
Fig. 7 is the schematic diagram for illustrating user's placement of labelling on the trailer drawn by vehicle；
Fig. 8 is the anterior enlarged drawing of the trailer for further illustrating the labelling placement region for being related to labelling paster；
Fig. 9 is the front view of the portable set with display, illustrates to be marked at labelling placement region on trailer
Superposition；
Figure 10 is the flow chart of the method for illustrating to aid in user that labelling is placed on trailer；
Figure 11 is the flow chart for illustrating to monitor the method for the placement of labelling and generation feedback alerts on trailer；
Figure 12 is the anterior schematic diagram of the trailer for having the mark installment system being fitted thereon according to one embodiment；
Figure 13 is the exploded view of the mark installment system shown in Figure 12 and trailer；
Figure 14 is explanation for connecting and resetting the initial setting up journey of trailer selection for labelling change monitoring trailer
The flow chart of sequence；
Figure 15 is explanation for monitoring the movement indicia detection program that trailer change has and reset trailer selection
Flow chart；
Figure 16 A are to show the trailer image for being marked at first position；
Figure 16 B are to show that labelling is moved to the trailer image of the second position according to an example；And
Figure 17 is explanation for monitoring the flow chart that the trailer that trailer is disconnected connects monitoring programme.
Specific embodiment
Although the various aspects of present subject matter are described with reference to specific illustrative embodiment, the present invention is main
Purport is not limited to these embodiments, and can implement extra modification on the premise of without departing from present subject matter, apply and real
Apply example.In the accompanying drawings, identical reference will be used to illustrate same part.It will be appreciated by the appropriately skilled person that this
Bright middle illustrated all parts can change in the case of the scope without departing from present subject matter.
Reversing of trailer aid system
With reference to Fig. 1, the embodiment of the vehicle 100 for being configured to carry out reversing of trailer miscellaneous function is shown.Vehicle 100
The control of reversing of trailer aid system 105 is connected to the curvature of the travel route of trailer 110 of vehicle 100.This control passes through vehicle
100 power-assisted steering system 115 and the interaction of reversing of trailer aid system 105 are realizing.In reversing of trailer aid system
During 105 operation when vehicle 100 is moveed backward, the driver of vehicle 100 be limited to sometimes he/or she can pass through vehicle 100
Steering wheel carry out turn to input mode.This is because reversing of trailer aid system 105 is auxiliary by power in some vehicles
It is helping that steering 115 controls and power-assisted steering system 115 is to be directly coupled to steering wheel (the i.e. direction of vehicle 100
The deflecting roller uniform movement of disk and vehicle 100).As discussed in more detail below, the man machine interface of reversing aid system 105
(HMI) equipment is used for the change of the route curvature for controlling trailer 110, such as knob, so as to decouple this direction in vehicle 100
The control that disk is carried out.However, according to the purport of the present invention, some vehicles for being configured to provide for reversing of trailer miscellaneous function will have
Selectively from the performance of the mobile decoupling divertical motion of the deflecting roller of vehicle, so as to allow steering wheel in this reversing of trailer
During auxiliary be used for control trailer route curvature change.
Reversing of trailer aid system 105 includes that reversing of trailer secondary control module 120, reversing of trailer turns to input equipment
125 and the angle of traction (hitch angle) detection means 130.Reversing of trailer secondary control module 120 is connected to trailer and falls
Car turns to input equipment 125 and traction angle detecting device 130, for allowing the communication between them.It is disclosed that trailer falls
Car turns to input equipment and can in a wired or wireless manner be coupled to reversing of trailer secondary control module 120.Reversing of trailer
Auxiliary control system module 120 is connected to the electronic-controlled power steering secondary control module 135 of electronic-controlled power steering aid system 115, is used for
Allow to transmit information between them.The steering angle detecting device 140 of electronic-controlled power steering aid system 115 is connected to electronic-controlled power steering
Secondary control module 135, for providing it information.Reversing of trailer aid system is also coupled to brake system control module
145 and powertrain control module 150, for allowing the information communication between them.Jointly, reversing of trailer aid system
105th, electronic-controlled power steering aid system 115, brake system control module 145, powertrain control module 150 and gear select equipment
(PRNDL) define according to the reversing of trailer auxiliary framework of embodiment configuration.
Reversing of trailer secondary control module 120 be configured to carry out for from reversing of trailer turn to input equipment 125, lead
Draw angle detecting device 130, electronic-controlled power steering secondary control module 135, brake system control module 145 and powertrain control module
The logic (instructing) of 150 receive informations.Reversing of trailer secondary control module 120 (such as trailer curvature algorithm therein) according to from
Reversing of trailer turn to input equipment 125, traction angle detecting device 130, electronic-controlled power steering secondary control module 135, brakes control
All or part of information that molding block 145 and powertrain control module 150 are received produces Vehicular turn information.Hereafter, carry
For Vehicular turn information to electronic-controlled power steering secondary control module 135, for affecting vehicle by electronic-controlled power steering aid system 115
100 steering with realize control trailer 110 travel route.
It is that reversing of trailer secondary control module 120 provides the trailer 110 for limiting control that reversing of trailer turns to input equipment 125
Travel route, information (i.e. trailer direction information) to reversing of trailer secondary control module 120.Trailer direction information can be wrapped
Include the relevant information of change (such as the change of route curvature radius) with the travel route of control and with represent trailer along by hanging
The relevant information of the route running (i.e. along substantially linear route) of the longitudinal center bobbin definition of car.As in detail below
Discuss, reversing of trailer turns to input equipment 125 and preferably includes Spin Control input equipment, for allowing the driver of vehicle 100
Turning to input equipment 125 with reversing of trailer coordinates the desired trailer of control to turn to behavior (the travel route radius as controlled trailer
Desired change and/or control trailer are along the substantially linear route for such as being defined by longitudinal center's bobbin of trailer).Excellent
In selecting embodiment, Spin Control input equipment is around the rotatable rotation of rotary shaft for extending through the upper surface of knob/above
Button.In another embodiment, Spin Control input equipment is around the rotation for being in substantially parallel relationship to the upper surface of knob/extend above
The rotatable knob of rotating shaft.
Some vehicles (as those have the vehicle of active front wheel steering) have electronic-controlled power steering Auxiliary System, its permission
Steering wheel is partly from the mobile decoupling of the deflecting roller of such vehicle.Therefore, it is possible to auxiliary with the electronic-controlled power steering independently of vehicle
The mode of auxiliary system control deflecting roller rotates steering wheel (such as by from the reversing of trailer aid system according to one embodiment configuration
The Vehicular turn information control that the electronic-controlled power steering auxiliary control system module of control module is provided).Therefore, in the car of these types
In, steering wheel can be optionally with deflecting roller decoupling to allow its independent operation, according to the extension of present subject matter configuration
The trailer direction information of car reversing aid system can be provided by the rotation of steering wheel.Therefore, it is disclosed that in the present invention
In the case of purport, in certain embodiments, steering wheel is the embodiment of Spin Control input equipment.In these embodiments, side
To disk (such as the device by being selectively engageable/activating) can be biased to the rest position relatively rotated between range of activity
Put.
Traction angle detecting device 130, it is operated together with the angle of traction detection part 155 of trailer 110, is reversing of trailer
Secondary control module 120 provides the information (draw angle information) relevant with the angle between vehicle 100 and trailer 110.Excellent
In selecting embodiment, it is the device based on photographing unit to draw angle detecting device 130, such as the rear view cameras of existing vehicle 100,
Its reflection (i.e. visual monitor) when trailer 110 is moveed backward by vehicle 100 is connected to labelling (the i.e. angle of traction test section of trailer 110
Part 155).Preferably, but also not necessarily, angle of traction detection part 155 is special-purpose member (such as in order to by traction angle detecting device
130 identification specific purposes be connected to the surface of trailer 110 or with the surface all-in-one-piece object of trailer 110).Alternatively, draw
Angle detecting device 130 can be matching somebody with somebody for the equipment that is physically mounted on the hanging device part of vehicle 100 and/or trailer 110
The equipment on hanging device part is closed, for determining the angle between vehicle 100 and the centrage longitudinal axis of trailer 110.The angle of traction
Detection means 130 may be configured to detection and fold induced conditions and/or relevant information (such as ought meet angle of traction marginal value).
Electronic-controlled power steering secondary control module 135 is the rotation of the offer of reversing of trailer secondary control module 120 and steering wheel angle
The relevant information in rotation position (such as steering angle) of the deflecting roller of (such as angle) and/or vehicle 100 is put in indexing.In some embodiments
In, reversing of trailer secondary control module 120 can be the integrated component of electronic-controlled power steering aid system 115.For example, electronic-controlled power steering is auxiliary
Help control module 135 can include reversing of trailer aided algorithm, for basis from reversing of trailer turn to input equipment 125, traction
Angle detecting device 130, electronic-controlled power steering secondary control module 135, brake system control module 145 and powertrain control module
The 150 all or part of information for receiving produce Vehicular turn information.
Brake system control module 145 is that reversing of trailer secondary control module 120 provides the information relevant with car speed.
This vehicle speed information can determine from the single wheel velocity monitored by brake system control module 145 or can be by having
The engine control module of signal credibility is provided.Car speed can also determine from engine control module.In some situations
Under, single wheel velocity can be used for determining vehicle yaw and in order to determine that Vehicular turn information can provide this driftage
Rate is to reversing of trailer secondary control module 120.In certain embodiments, reversing of trailer secondary control module 120 can provide car
Braking information to brake system control module 145, for allowing the reversing of trailer secondary control module during trailer 110 is moveed backward
The braking of 120 control vehicles 100.For example, car is controlled using reversing of trailer secondary control module 120 during the reversing of trailer 110
100 speed can reduce the probability of unacceptable reversing of trailer condition.The example of unacceptable reversing of trailer condition
Son includes but is not limited to overspeed of vehicle condition, high angle of traction rate, trailer angle dynamic instability, the theoretical trailer that calculates and folds
Condition (being defined by maximum Vehicular turn angle, length of draw bar, towing vehicle wheelbase and effective trailer length) or physical contact are rolled over
Folded restriction (limited by the angular displacement of relative vehicle 100 and trailer 110 and defined) and the like.It is disclosed that reversing auxiliary
Control module 120 can be sent corresponding to real, imminent and/or expected unacceptable reversing of trailer condition
Notify the signal of (as alerted).
Powertrain control module 150 interacts with reversing of trailer secondary control module 120, for falling in trailer 110
The speed and acceleration of vehicle 100 are controlled during car.As mentioned above, the control of the speed of vehicle 100 can not for restriction
It is necessary for reversing of trailer condition (such as the folding and trailer angle dynamic instability) probability of acceptance.Be related to can not
The consideration with regard to high speed of the reversing of trailer condition of acceptance is similar to, and high acceleration and high dynamic drive curvature to require to cause
This unacceptable reversing of trailer condition.
Man machine interface
In order to implement control characteristic, driver can interact to configure system 105 with reversing of trailer aid system 105.Such as
Shown in Fig. 2, vehicle 100 is also equipped with man machine interface (HMI) equipment 102 and is hung so that enforcement is interacted with HMI device 102 by driver
Car reversing miscellaneous function.
Fig. 2 shows that driver is used for showing for the HMI device 102 interacted with reversing of trailer aid system 105 in vehicle
Example.Present to the multiple menus 104 (merely illustrating an illustrated menu in fig. 2) shown via HMI 102 of driver.HMI
Menu 104 is auxiliary by the module (as shown in Figures 3 and 4) for arranging 800 reversing of trailer aid systems 105 of 600, calibration 700 and activation
Driver is helped, falling so as to the trailer shown in totality in implementing control method to aid in the driver such as flow chart of Fig. 3 and 4
Car, discusses in more detail afterwards in the present invention.Each module is that it is used to configure reversing of trailer for specific element or feature
Aid system is accurately implementing control method.Although the special characteristic of each module references present subject matter is described,
It is it should be noted that each module is not necessarily limited to the special characteristic described in example of the present invention.Without departing from present subject matter
On the premise of scope, element in reordering module or replacement module or it is characterized in that possible.
Reversing of trailer aid system 105 by necessary connection trailer and will guide driver the step of linkage flag.Drive
The person of sailing can turn to the activation of input equipment 125 via moveing backward and arrange, such as by rotation or promotion knob, or only from HMI
Menu on equipment 102 makes the selection of reversing of trailer aid system.With reference to Fig. 3, driver passes through reversing of trailer assisted diversion
Input equipment starts reversing of trailer aid system.In the case of knob, driver's pressing or rotary knob are fallen with starting trailer
Car aid system.The system will guide driver the step of trailer compatible by connection 580.Compatible trailer is around relative to vehicle
The trailer of single-point rotation behind the back axle of vehicle.
Or once turning to input equipment 125 by the selecting system of HMI device 105 by reversing of trailer, the system will draw
Lead driver and prepare vehicle and if necessary vehicle trailer combination.Vehicle 100 should be by " RUN " and vehicle 100 should be in " STOP "
590.If but vehicle 100 is being travelled to travel more than the speed of predetermined limit, such as per hour five miles, trailer
Reversing aid system 105 will suspend and driver is unavailable.The setup module 600 of reversing of trailer aid system 105 will not start
Or will move out 585.If the type of the trailer 110 selected by driver is the extension not matched with reversing of trailer aid system 105
Car 110, setup module 600 will move out 585 or not start.If trailer 110 matches with reversing of trailer aid system 105, arrange
Module 600 confirms that the gearshift mechanism of vehicle 100 is in " STOP ".Again, if vehicle not " RUN " and gearshift mechanism is not " to stop
Car ", setup module will not start 585.
On the connection 580 of compatible trailer 110, the " RUN " 590 of vehicle 100 and the basis of 100 " STOP " of vehicle 590, HMI
102 menus 104 by presenting with " traction " the mode option selected by driver.Driver selectes " traction " pattern and presentation
The menu 104 that " trailer option " is selected is provided.Then, driver selectes " trailer option " pattern from " traction " menu.From being in
Or now the menu 104 on HMI device points out driver's " increase trailer " or " selection trailer ", " setting " of present subject matter
Module 600 starts.For some trailer angle detecting systems based on photographing unit, operation 602 is performed, wherein can be in via HMI
Menu is now alerted to driver, notifies that driver's trailer must be point-blank, it is meant that do not have between vehicle and trailer
The angle of traction.Warning shows that driver needs to take corrective action, and for example, towing vehicle is forward so as to according to the needs for arranging 600
Trailer and vehicle is set to be in line.General class or still image can be presented via HMI 102 to aid in driver's visual recognition must
Alignment between the trailer 110 wanted and vehicle 100, suitably to arrange and calibrating reversing of trailer aid system 105.Driver
Using any correction 603, wherein, driver makes any necessary adjustment that he has been warned, and by confirming that correction is arranged
Apply and be employed 603 and show trailer and vehicle point-blank.Other trailer angle detecting systems are not required to during Setting pattern
Driver is wanted to stretch trailer.
In order to help driver in setting up procedure, light on vehicle available back-up lamp 604 or any other is additional
Luminaire.If trailer is new trailer, it was not attached on vehicle or was not stored in trailer before fall before it
In car aid system, 606 present to the option that driver is either the trailer configuration named trailer or store before selecting.Life
Name trailer 608 allows trailer to readily recognize so that driver need not repeat setting up procedure when being connected on vehicle next time.Drive
The person of sailing either is input into the name of uniqueness with storage before recognizing the trailer being stored in reversing of trailer aid system or selecting
Related to the trailer ined succession trailer configuration.Reversing of trailer aid system would not allow for more than one trailer and have identical name
Claim.Therefore, if driver attempts the name nominating trailer using the trailer configuration for being applied to store before, HMI will
Display information shows the problem and requires that driver configures the different title of input for trailer to driver.If stored before
Trailer configuration is available and selectes 610 by driver, can skip some steps of setting up procedure.
Following discussion is for for the trailer angle detecting system first time trailer configuration based on photographing unit.612 indicate to drive
Member places traction corner mark on trailer, and it is used for alignment purpose.General still image may be displayed on HMI, and it is driving
Member provides the guidance of the placement direction of the labelling with regard to being used for angle of traction detection on trailer.Labelling is placed by trailed trailer
Type depending on, therefore driver's option can be presented to help driver to select appropriate trailer type.Still image can
To show that labelling places acceptable region and labelling places unacceptable region.Show the appropriate region of linkage flag
Still image can be the superposition on the rearview of trailer hanging device.Once driver's linkage flag is to trailer and via HMI
Show that labelling has been connected to trailer, 614 setup modules provide visible feedback and have been positioned or captured to driver's identification labelling.
616 drivers are correctly identified by reversing of trailer aid system via HMI confirmation flags.Similarly, for what is stored before
Trailer is configured, and trailer will have the labelling placed thereon.Reversing of trailer aid system will obtain labelling and provide 614
Visible feedback determines the acquisition of labelling to driver.
If 614 there is no labelling after predetermined time amount passage, 618 notify that driver needs to reposition labelling
And the corrective action that presentation may be taken.Possible corrective action can be presented to driver, for example, cleans photographing unit border head, clear
If clean labelling, labelling have been damaged or have faded replacing labelling, towing vehicle trailer combination forward to improve photographing unit and/or mark
Light condition around note, and movement indicia is to acceptable position.603 drivers apply necessary correction.It is as mentioned above
And, some trailer angle detecting systems do not need driver's linkage flag to trailer during Setting pattern.Labelling and labelling
Acquisition is for the trailer angle detecting system based on photographing unit.
When 614 by reversing of trailer aid system acquisition labelling and 616 drivers have confirmed that acquisition, then, 620 are by one
Row menu prompt driver is input into trailer metrical information, and it can be stored in reversing of trailer aid system for the trailer with name
In related trailer configuration.When next time, same trailer was connected to vehicle, its unique trailer configuration will be stored and
Setup module faster, or in some cases, can will completely be skipped by the progress of setup module.In order to aid in driver
Metrical information, can show general still image on HMI screen.Visualization example (see Fig. 5) can be provided and help driver
Vehicle, the position between trailer or vehicle and trailer of identification prompting driver's input.Additionally, the number of the measurement of driver's input
Value scope can arrange and can be shown to driver in reversing of trailer aid system.Driver can be alerted with regard to input
Measurement exceedes numerical range.Additionally, the metrical information of prompting driver's input requires that driver can be presented to, so as to should be defeated
Enter to measure reversing of trailer aid system.
Although it should be pointed out that metrical information discussed above be by driver be input into, without departing from this
The method that can also use various input measurement information on the premise of bright main scope.For example, using existing vehicle and trailer
The system of data automatic detection measurement, including but not limited to car speed, wheel speed, steering wheel angle, vehicle is relative with trailer
Angle, and vehicle and trailer angle variable rate.
The example of metrical information can include from vehicle rear to the horizontal range at mounting bulb center, from vehicle rear to
The horizontal range of mark center, from the vertical dimension for being tagged to ground, and labelling is inclined from the level of the centrage of mounting bulb
Move.If in the centerline linkage flag different from mounting bulb, then reversing of trailer aid system must known mark company
It is connected on the which side of vehicle, passenger side or driver side.Menu on HMI can present to driver to show putting for labelling
Put in passenger side or driver side.Reversing of trailer aid system is also required to known one or more bridges from vehicle rear to trailer
Center horizontal range.Can be with either English unit or metric unit input measurement.
Before setting up procedure is proceeded, 622 are presented the option of any measurement of modification to driver.If need not repair
Change, 624 setup modules 600 are completed and calibration module 700 starts.
Design calibration module 700 is used for appropriate trailer measurement calibration curvature control algorithm and calibration reversing of trailer auxiliary
Any traction angular variation that may be present of system.After setup module 600 is completed, calibration module 700 starts and 702 indicate to drive
The person's of sailing towing vehicle trailer combination straight line is forward until completing angle of traction pick up calibration.HMI can be via Pop-up display
Or screen display notifies that 704 driver vehicle's trailer combinations are needed to front haulage until completing calibration.When calibration is completed,
HMI can notify 704 drivers.Any angle of traction deviant is stored 706 in memory, if necessary by curvature control algorithm
Access, terminate in 704 calibration modules 700.
Although it should be pointed out that the above-mentioned angle of traction calibration be described as asking driver to front haulage information,
It is various other methods that angle of traction calibration can also be used on the premise of the scope without departing from embodiment.
After setup module 600 and calibration module 700 is completed, active module 800 can start.Describe with reference to Fig. 4
Active module 800.Design active module 800 is used to activate the auto-steering of vehicle during reversing of trailer auxiliary operation.802 refer to
Show that vehicle is placed in reverse gear by driver.After activation reversing of trailer aid system, steering will not receive except trailer falls
Any steering angle order from any source outside car aid system 804.It is necessary with 700 modules of calibration that trailer arranges 600
Complete and the current angle of traction must be in the range of the scheduled operation of reversing of trailer aid system 806.Car speed is also necessarily less than
Predetermined rate of activation 808.If in these conditions 804,806,808 any one or all do not meet, point out driver
Using corrective action 810.Driver must confirm that 814 have taken corrective action to start control module.If taking school
Positive measure, but active module thinks that it is unacceptable, will indicate that driver 810 attempts another kind of corrective action.
For the steering of the deflecting roller that steering wheel is directly coupled to vehicle, driver is not during reversing of trailer is aided in
Can engage with steering wheel.If the motion of any direction disk is blocked by driver or otherwise, reversing of trailer aid system will
Instruction 810 to driver is presented to remove their handss from steering wheel.Activation 800 will suspend or interrupt until removing barrier
Hinder.If car speed exceedes critical velocity or if the vehicle angle of traction is unacceptable, will be prompted to driver 810 and take correction to arrange
Apply.Activation 800 and 200,500 modules of control will be interrupted until taking, receiving and confirming corrective action.
When driver's moving gear shift is from " STOP " to " reversing " 802 and presses or rotation reversing of trailer steering input equipment
When 125, rear view cameras image is appeared on the display of HMI.If the whenever angle of traction during reversing process
Too big, system can not control the curvature of trailer, and TBA (backing towing vehicle auxiliary) will provide warning to driver to front haulage to reduce
The angle of traction.If during reversing process whenever system can not follow the trail of traction corner mark, present to driver command with
Correct problems.If at any time car speed exceedes predetermined rate of activation, it is visual and audibly alert driver stop or
Slow down.When all conditions of active module all meet and keep, control module can start.
Trailer labelling is placed and monitored
Vehicle trailer reversing aid system can utilize the labelling placed on trailer to play the work of angle of traction detection part 155
With.According to one embodiment, in this case, reversing of trailer aid system can use and be obtained and located by the image of labelling
The information that reason is obtained is so as to used in traction angle detecting device 130.According to another embodiment, labelling can be used for identification and connect
Whether the trailer for connecing changes, the related information of trailer connection or disconnection and other trailers.Labelling is discernible witness marking,
It can detect and process by video picture camera capture and by image procossing in the picture.According to one embodiment,
Labelling can include adhesive labelling, also referred to as paster, and it can be sticked on trailer by the binding agent of side, preferably
In labelling placement region, so that photographing unit and image processing apparatus can detect labelling and its position on trailer to determine
The related information of trailer, such as angle of traction between trailer and tractor.Reversing of trailer aid system can be supplied to user
The image of one or more appropriate trailer marked regions for placing labellings is aiding in the placement of the labelling on trailer.Additionally, vehicle
Reversing of trailer aid system can monitor labelling to determine whether trailer has been properly placed at desired labelling placement region simultaneously
Feedback alerts are provided to user.Further, reversing of trailer aid system can monitor trailer and connect with true by monitoring labelling
Surely mark whether to have moved, determine whether that identical trailer is still connected to tractor, and the response to this can be started
Measure.Further, reversing of trailer aid system can monitor the angle of traction or labelling and (be disconnected with determining whether trailer is replaced
And it is replaced by another trailer), and the responsive measures to this can be started.
With reference to Fig. 6, the vehicle trailer reversing aid system 105 for illustrating includes traction angle detecting device 130 and labelling monitoring
Controller 10, for monitoring labelling, the placement of aid mark monitors the connection of trailer, determines whether trailer moves, Yi Jikai
Begin some measures.Labelling supervisory control device 10 can include microprocessor 12 and/or other analog and/or digital circuits, be used for
Process one or more programs.Additionally, labelling supervisory control device 10 can include memorizer 14, for storing one or more journeys
Sequence, including image processing program 16, labelling placement auxiliary program 900, labelling monitoring programme 920, movement indicia detection program
Initial setting up 940, movement indicia detects program 960 and trailer connection monitoring programme 990.It is intended that, labelling monitoring
Controller 10 can be single nonshared control unit or can be the shared control unit combined with other control functions, for example with lead
Draw angle detecting device 130 to combine, to process trailer to the image of labelling and perform related function.In one embodiment, lead
Draw angle detecting device 130 process the labelling image that obtains from labelling supervisory control device 10 and other information (such as trailer length) with
Just it is used to determine the angle of traction between trailer and tractor.
Photographing unit 20 is illustrated as the labelling for providing video image to vehicle trailer reversing aid system 105 and monitors control
The input of device 10.Photographing unit 20 can be rear view cameras, and it installs certain on the towing vehicle position and direction to obtain
The image of the trailer that vehicle rear is drawn by vehicle.Photographing unit 20 can include image camera, and it produces one or more extensions
The camera images of car, including the region that labelling placement region is desirably located on trailer.Photographing unit 20 can include video figure
As photographing unit, it shoots the continuous trailer image processed by labelling supervisory control device 10 repeatedly.Labelling supervisory control device 10 is used
One or more image processing programs 16 process one or more from the image of photographing unit 20 to recognize labelling with it in trailer
On position.Labelling supervisory control device 14 further processes relevant with one or more programs 900,920,940,960,990
Process image.
The equipment communication that trailer supervisory control device 10 can include outside vehicle siren 24 with one or more, it can be with
Including for providing the vehicle brake lamp and vehicle emergency light and horn for vehicle for providing audible alert of visual cautionary.This
Outward, the Human-machine interface (HMI) 25 that trailer supervisory control device can include vehicle display with one or more communicates, for example
Navigation/the amusement display installed on central control panel.Further, trailer supervisory control device 10 can by wireless telecommunications 22 with
One or more handheld or portable sets 26 communicate, such as one or more smart mobile phones.Portable set 26 can be wrapped
Display 28 is included, for showing one or more images and other information to user.Portable set 26 can be in display 28
The upper image for showing one or more trailers and the mark position in desired labelling placement region.Additionally, portable set
26 can provide the connection of the relevant marking of cars, including can visually and audible alert feedback information.
With reference to Fig. 7-10, according to an exemplary embodiment, illustrate using the mark for processing labelling placement auxiliary program 900
Note supervisory control device 10 places labelling 30 on trailer 110.In figures 7 and 8, the drawbar trailer 110 of tractor 100 is shown.Hang
Car 110 has with the trailer hanging device adapter of the form of coupler assembly 114, and it is connected to receptor hanging device and ball
The vehicle hanging device adapter of 15 forms.Coupler assembly 114 withholds mounting bulb 15 to provide rotation spherojoint.Show
The trailer 110 for going out has the structure for including longitudinal extension bar or trailer towing tongue 112.The upper water of the trailer towing tongue 112 for illustrating
Plane provides desired labelling placement region 32 to receive labelling 30.It is intended that, trailer 110 is configurable to various shapes
Shape and size and one or more other appropriate labelling placement regions 32 for receiving labellings 30 can be provided.Labelling placement region
32 define the position that desired labelling 30 is placed.
Vehicle 100 equipped with video picture camera 20, the shown rear body backboard positioned at vehicle 100 it is upper
Portion.Video picture camera 20 is elevated relative to labelling placement region and with field of view and positions and be oriented to shooting one
The image of individual or multiple trailers 110, including the region comprising one or more desired labelling placement regions.It should also be appreciated that
It is that one or more photographing units may be located at the other positions on vehicle 100 to obtain trailer 110 and labelling placement region 32
Image.
In order to using the labelling on currently without the trailer equipped with suitable existing labelling, indicate or command
User 2 places labelling 30 on trailer 110 in desired labelling placement region 32, so that photographing unit 20 can shoot one or many
The image of individual labelling 30 to determine the trailer relevant information for reversing of trailer aid system, such as drawing angle detecting device
130 traction angle information.In this case, can be by audible or in HMI (such as vehicle HMI 25 or portable set
26) information alert user 2 visual on places labelling 30 on trailer 110.Vehicle HMI 25 can include visual and/or can
The output of instruction of the generation listened for suitably placing labelling.
In order to allow the effective and appropriate placement labelling 30 on trailer 110, reversing of trailer aid system to use shown in Figure 10
Labelling place householder methods or program 900, it is processed by labelling supervisory control device 10.Labelling places householder methods 900 to be included
Step 902, in this step user can connect the portable set with image display with vehicle communication.According to one
Embodiment, user can electronically connect equipment to vehicle, and it can be realized via wireless protocols.Equipment can be
By Wi-Fi,Or the wireless device of other wireless protocols communication.Alternatively, equipment can be by having
Line connection is attached.Next step, in step 904, user starts the setting of angle of traction detecting system, and it requires to start the angle of traction
The setting program of detecting system.As a part for the program, labelling placement region of the user on the trailer of vehicle will be required
Interior placement labelling.In step 906, system photographing unit produces the image of one or more trailed trailers, and it includes expecting
The region that is desirably located at of labelling placement region.There is more than one labelling placement region and a region can be better than another area
Domain.In step 908, desired labelling placement region of the image and determination that system process is produced on trailer.Desired labelling
Placement region can be tied according to the physics of the desired distance of position of camera and direction, labelling away from hanging device connecting portion and trailer
Structure determines.In step 910, system produces labelling superposition on the image that one or more are produced.Labelling superposition is put in labelling
The visible instruction of the desired locations of labelling in region is put, labelling is placed according to its instruction user.Labelling superposition can include mark
The boundary line of note labelling placement region or other marks.Labelling superposition can be by colour (as the red) line for flashing in the figure for showing
Illustrate on picture.Can produce and illustrate the labelling superposition of multiple labelling placement regions.In step 912, system passes on one or many
Individual image and labelling are superimposed to the display of vehicle and if by using being wirelessly or non-wirelessly connected in step 902
The display of user on portable devices.Next step, in step 914, the display of user on portable devices shows
Show the image of the labelling placement region shown by labelling superposition.Then, in step 916, user is pointed out to carry out comfortable car by HMI
Display on and/or portable display on display image and labelling superposition with the help of on trailer labelling rest area
Labelling is placed in domain.
Fig. 9 illustrates an example of the image shown on the display 28 of portable set 26, and image shows
The superposition of the mark position of the labelling placed on trailer.Show that image on the display 28 includes the extension for such as being shot by photographing unit
The image of car 110 and further include the superposition of desired labelling placement region 32.User 2 can check portable set 26
Display 28 on image with determine relative to trailer 110 place labelling position.In this example, user will can mark
Note 30 is placed in the labelling placement region 32 shown by labelling superposition.Placing for labelling can be by gluing on the surface of trailer
Affix remembers paster to realize.Therefore, user can use with display portable set, such as phone, panel computer or
Computer is applying on the trailer to check the correct position that labelling is placed on trailer before or during labelling.
Therefore, labelling place householder methods 900 advantageously aid in user with it is simple and practical, accurately with effective manner in extension
Labelling 30 is placed on car 110.User 2 can be easily carried with the portable of display before or during labelling placement process
Formula equipment with vehicle communication and check correct labelling placement location, it is not necessary to be back to vehicle or otherwise cue mark
Place.
Reversing of trailer aid system 105 further includes labelling monitoring method or program, and for monitoring trailer is marked at
Place and provide and feed back to user with regard to marking whether to be placed in appropriate labelling placement region.User can be with not
Same mode places labelling on trailer.In some cases, vehicle HMI can be passed through by TBA system prompts users in trailer
It is upper to place labelling and user be given the instruction with regard to position.User can place the auxiliary mark of householder methods 900 using labelling
Note is placed on trailer.In other cases, user can be printed on labelling using their optimal judgement or follow or with
Labelling is placed in instruction in its packaging for providing on trailer.Under any circumstance, once labelling is placed on trailer, labelling
Monitoring method 920 by monitor the relative trailer of labelling position and offer with regard to being marked at correct on trailer or incorrect placement
Feed back to user.
According to one embodiment, Figure 11 illustrates labelling monitoring method 920.In step 922, method 920 is required if hung
Car not yet connects and just connects trailer on bulb and attachment means to vehicle.Next step.In step 924, angle of traction detection is arranged
Start.In step 926, labelling is placed on trailer by interface prompt user.According to one embodiment, user can be according to pre-
The optimal judgement of calibration standard or user or knowledge place labelling on trailer.According to other embodiment, can be by using user
Guide, description or other visual or audible instructions are passed on and come the position that instruction user places labelling on trailer.Generally,
Labelling should be placed on the visual field of photographing unit do not have obstacle region and its allow image acquisition it is related to desired trailer
The determination of information, such as angle of traction.According to trailer configuration and camera orientations and height, can require that labelling is placed on trailer
In some regions, (such as 7 in the distance range having away from trailer hanging device connecting portion away from hanging device connection minimum range
Inch (17.78cm)), in the certain limit away from tractor bumper and in the certain limit of ground level.Labelling
Placement may be required in the position in the centrage certain distance of the longitudinal axis away from trailer, and can require horizontal or vertical angle
Or in some angles vertically and horizontally between position.According to another embodiment, user can place auxiliary square using labelling
Method 900 places labelling on trailer.
In step 928, system produces the image of one or more labelling placement regions on trailed trailer.Then
In step 930, system processes one or more images to determine the presence in desired labelling placement region internal labeling.It is desired
Labelling placement region can be determined by certain standard, such as away from the distance of trailer hanging device connecting portion 114, away from the longitudinal axis of trailer
The distance of centrage, photographing unit relative to trailer distance away from trailer of height and photographing unit.In determination step 932, side
The determination of method 900 marks whether that the image detection being processed is arrived, if it did not, being back to step 926 to point out user by HMI
Labelling is placed on trailer.
If the image detection that labelling has been processed is arrived, in step 934, vehicle trailer reversing aid system provides feedback police
Accuse to user.Feedback alerts can include one or more outside vehicle warnings, including visual cautionary (for example makes vehicle brake lamp
Glisten and/or make the urgent flick of lamp of vehicle) and/or audible warning (for example making horn for vehicle send sound).Additionally, feedback police
Announcement can be included by the offer information of portable set 26, by the offer audible sound of portable set 26 or by portable set
26 visual lamplight pointing.Further, feedback alerts can include being sent out by portable set (such as phone or computer)
Text message or audible instruction are sent to user.It is intended that, other outside vehicles and optional feedback alerts can be passed
Give user to show to be had detected that in trailer the labelling of correct placement.Alternatively, feedback alerts may be used to indicate that and hang
The labelling of incorrect placement on car.Once trailer is suitably provided with position labelling, reversing of trailer aid system can
With by the monitoring labelling processing information function related to other trailer towings to determine the angle of traction.
Labelling 30 can include paster, and it has binding agent and is provided with for by camera in upper surface in lower surface
The predetermined image style of some size and dimensions for shooting and being recognized by image processing apparatus.According to one embodiment, labelling
30 shapes can be rectangle, and can have the discernible style of camera images, the as directed gridiron pattern style of example.At image
Reason device can include the known image style recognizer for recognizing labelling style and its position on trailer.So
And, it is intended that, it is possible to use other mark shapes, size and style.Further it is intended that, labelling can make
Trailer is otherwise connected to adapter, adapter such as securing member, it can be connected to trailer or to trailer
Junctional complex.Further it is intended that, labelling can be connected by magnetic force, bonding, spraying or many other suitable methods.
It is intended that, not every trailer must be configured to provide for putting for the appropriate labelling paster on trailer
Seated position.Therefore, can be given by using mark installment system 40 as shown in Figures 12 and 13 according to one embodiment
Trailer increases mark position.Shown mark installment system 40 is arranged on trailer 110 to be presented on desired labelling rest area
The visual labelling 30 of photographing unit in domain.Mark installment system 40 includes vertical installation column or support 44, and it has multiple vertical
Extend to allow the bolt receiver hole 46 of desired vertical height adjustment.Support 44 can use bolt 48, packing ring by hole 54
52 and nut 50 be assembled on trailer.It is aligned with trailer hole 54 according to which hole 46, the height of support 44 can be adjusted.It is installed to
The top of support 44 is that have the marking plate 42 for disposing the upper marker placement region 32 of labelling 30.Similarly, plate 42
With multiple holes 46, it flatly matches the hole on support 44, and can be assembled to by bolt 48, packing ring 52 and nut 50
Thereon.Therefore, it can vertically and horizontally adjustment plate 42 to desired position, as long as adjustably in desired position place mark
Note 30 is so as to easily by photographing unit acquisition labelling and by image processing apparatus process.It is intended that, mark installment system
40 auxiliary installs the confirmation together with labelling 30 and the appropriate position of mark installment system 40 and labelling 30 can be by using
Labelling discussed above places householder methods 900 and labelling monitoring method 920 to realize.
Movement indicia detection method includes that movement indicia detects initial set up routine 940 and subsequent processing routine 960, uses
Use when the typing of trailer information is pointed out.Movement indicia detection method determines the angle of traction on trailer (such as trailer towing tongue)
Whether the position of labelling moves, and can also determine whether distance changes.Obtain relatively in the image for storing before and just
Image in distance of the labelling image to determine position and/or away from labelling whether changed.Comparison can include movement images
Camera images pixel size.If position or distance change, then point out user for subsequently extension by HMI
New trailer information is re-entered in the process of car reversing aid system.
Figure 14 illustrates initial set up routine 940.First, it is necessarily connected to vehicle in step 942 trailer.In step 944,
Trailer in succession arranges the angle of traction and follows the trail of.For the system of view-based access control model, this can include labelling paster being applied in trailer
On, such as in the vicinity of the traction tongue of trailer, inspection when can be motor-driven in trailer and turn round around curve so as to the photographing unit of vehicle
The motion of mark note.Furthermore, it is possible to be input into many parameters relevant with the position of labelling, it according to the visual field by processing based on correctly
Calculate the angle of traction.These parameters can include distance and distance from the bumper that be tagged to vehicle of the labelling away from ground.In step
946, command vehicle and trailer straight line to drive, it can be realized by driving vehicle in the direction advanced with the trailer for drawing.
This guarantees in the case of trailer and vehicle are straight between vehicle and trailer that the angle of traction is about zero and will be in identical direction
Shoot later step produce image and for image is relatively effective.In step 948, when vehicle and trailer are on straight line
The photo (image) of labelling and trailer is obtained when the angle of traction is about zero degree by means of photographing unit.In step 950, image procossing dress
Put and visual processes are performed on image.Visual processes can first detect labelling and then calculate labelling according to the pixel for processing image
Size and position.In step 952, the letter that the image obtained in step 948 is stored in memorizer and calculates in step 950
Breath is stored in memorizer.Then, image and the information that calculates are used subsequently to determination and mark whether movement.If labelling is
Mobile, system assume that trailer may be altered or replaces with different trailers, and therefore point out user input by HMI
Trailer information.
With reference to Figure 15, the movement indicia detection program 960 for illustrating starts from step 962, driver is indicated in step 962
Again to trailer that is arranging before vehicle connection and using in initial set up routine 940.In step 964, detected by the angle of traction
The trailer for arranging before system prompts user selection and storing rather than the new trailer of selection.In step 966, user is pointed out to drive
Trailer and vehicle combination straight line are about forward zero degree to realize the angle of traction.Next step, in step 968, obtains new by photographing unit
Labelling and trailer image.In step 970, visual processes are performed on image to detect labelling and pass through to process the picture of image
Element calculates the size of labelling and position.In step 972, the above-mentioned mark position for calculating and size with clap in initial setting up before
The positions and dimensions of the labelling in the image taken the photograph compare.In step 974, determination is made to determine whether new label information matches
Or whether in the tolerance of original marking information.If the new labelling for obtaining is remained compared with the image of initial setting up before
Same size and same position on image, then if making this determination in step 980, labelling is likely in phase
With position and the appropriate angle of traction will be allowed to detect.If labelling has different position or is of different sizes, then
Mean that labelling has been moved and program 960 goes to step 976.When trailer is different extensions compared with the trailer that user finally selectes
Che Shi, detecting the mobile of labelling may occur.The use of selected trailer configuration before may be followed the trail of for traction corner mark and carried
For the result of mistake.Therefore, method 960 goes to step 978 to point out user (such as driver) with new trailer and trailer information
Reselect or reset trailer configuration.Therefore, movement indicia detection program 960 advantageously detects the movement of labelling, and it can
To show the potential connection of new trailer and vehicle, will pass through HMI prompting users new trailer configuration information is selected.Further, since
The various sizes of draw bar of draw bar than installing when initial setting up trailer is mounted with, movement indicia program may also detect that
Labelling is moved.
Figure 16 A and Figure 16 B illustrate trailer and move to the example of the image of the labelling of different positions.Such as Figure 16 A institutes
Show, show trailer and labelling 30 on trailer in alignment with the image of first position, compared with the image of subsequent Figure 16 B, Figure 16 B
Show that labelling 30 moves to the second new closer proximity.It is new that the change of the position of labelling can indicate that trailer has been replaced with
Trailer or the labelling otherwise on trailer are moved.When this happens, labelling mobile monitoring program 960 requires that user re-enters
Trailer configuration information is not used in the traction angular data for providing mistake so as to the information of mistake.Additionally, correct (appropriate) trailer
It has been selected and labelling identical position still on trailer, but system still shows that movement is also possible to labelling.
When length of draw bar on vehicle changes, such case may occur.
Labelling supervisory control device 10 further processes trailer connection monitoring programme 990 to determine whether trailer is connected to vehicle
And whether new trailer connects.When trailer and vehicle disconnect, label information and traction angle information can not within a period of time
With.Therefore, trailer connection monitoring method 990 monitoring draws the availability of angular data and/or marker detection to determine angle of traction number
According to or flag data whether lose in the quite a while.If such case occurs, then point out driver again by HMI
The trailer for selecting connection or the trailer information for re-entering trailer configuration data to guarantee mistake are not used.
Figure 17 illustrates that trailer connects monitoring programme 990.In step 992, trailer is connected to vehicle.In step 994, it is
Trailer arranges angle of traction detection and monitors.If using the system of view-based access control model, this can be included on trailer and place for being based on
The labelling and input relevant parameter of the system detectio of vision.Alternatively, if angle of traction monitoring has been set before trailer,
The setting configuration stored before selecting for that trailer is possible.In step 996, once trailer has been set angle of traction inspection
Survey, angle of traction detecting system will constantly monitor the angle of traction or labelling.In determination step 998, program 990 determines the angle of traction or labelling
Whether time period more than X second has been lost.
According to the type of angle of traction system, traction angle signal is lost or is become unavailable because of due to difference, but
Be potential cause be that trailer disconnects from vehicle.The trailer of disconnection can also cause marker detection unavailable.Therefore, make
Check to check since how long the traction angle signal or label loss that detect pass by.If the angle of traction or marker detection
The time period less than the X seconds has been lost, then return to follow the trail of the angle of traction or labelling in step 996 program 990.If the angle of traction or
Marker detection has lost the time period more than the X seconds, then point out user to reselect or reset by HMI in step 1000
Trailer is configured.The representative of time period X is set and exchanges or replace the reasonable time amount that trailer needs.For example, for very little light weight
Level trailer, is possible trailer is exchanged less than 60 (60) seconds, therefore this can be the rational time period.According to an enforcement
Example, setting time period X was 30 (30) seconds.
Although the monitoring angle of traction is disconnected with determining trailer from vehicle, it is to be appreciated that, it is alternatively that, trailer connection
Monitoring programme 990 can monitor the detection of labelling, if so that the X seconds no longer detect labelling, then can point out vehicle drive
Member reselects or reconfigures trailer.
It should be appreciated that in the case of without departing from idea of the invention, said structure can make changes and modifications,
And it should be further understood that these concepts are intended to be covered by claims below, unless these claim are by them
Word separately clear stipulaties.
Claims (7)
1. a kind of method that monitoring is marked at the placement on trailer, it is characterised in that include：
The image of labelling placement region on trailer is produced using the photographing unit on tractor；
Labelling superposition is produced on the image for representing labelling placement region to aid in placing labelling on trailer；
The presence of the labelling for processing image to be placed in labelling placement region based on produced labelling superposition detection；And
Feedback alerts are provided to user to show the detection state of the labelling in labelling placement region.
2. method according to claim 1, it is characterised in that feedback alerts include outside warning.
3. method according to claim 1, it is characterised in that the step of producing image includes and produce multiple regarding with camera
Frequency image, wherein, process multiple video images to determine the presence in labelling placement region internal labeling.
4. method according to claim 1, it is characterised in that provide feedback alerts to portable set.
5. method according to claim 4, it is characterised in that portable set includes phone.
6. method according to claim 1, it is characterised in that detection state is when detecting mark in labelling placement region
The state for clocking.
7. method according to claim 1, it is characterised in that detection state is that labelling is not detected by marked region
State.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| Publication Number | Publication Date |
|---|---|
| CN104590372A CN104590372A (en) | 2015-05-06 |
| CN104590372B true 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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| CN (1) | CN104590372B (en) |
| DE (1) | DE102014222034B4 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US10011299B2 (en) * | 2016-04-21 | 2018-07-03 | Robert Bosch Gmbh | Trailer angle detection using rear camera |
| US10160274B1 (en) * | 2017-10-23 | 2018-12-25 | GM Global Technology Operations LLC | Method and apparatus that generate position indicators for towable object |
| CN109145797B (en) * | 2018-08-13 | 2021-06-25 | 东南大学 | Square induction method for road rescue equipment based on vehicle bottom shadow positioning license plate |
| CN109664940A (en) * | 2018-12-03 | 2019-04-23 | 零八电子集团四川红轮机械有限公司 | A kind of trailer and its steering-alarming device |
| GB2584824B (en) * | 2019-05-23 | 2021-06-16 | Jaguar Land Rover Ltd | Vehicle control system and method |
| US20210380109A1 (en) * | 2020-06-03 | 2021-12-09 | GM Global Technology Operations LLC | System and method for determining a hitch angle for controlling a vehicle with active rear steering |
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| EP2634071A1 (en) * | 2012-03-03 | 2013-09-04 | WABCO GmbH | Method and device for controlling the parking procedure of an articulated vehicle |
| EP2644477A1 (en) * | 2012-03-27 | 2013-10-02 | Volkswagen Aktiengesellschaft | Assistance devices and method for operating an assistance device for controlling the driving of a traction vehicle with trailer |
| CN103372715A (en) * | 2012-04-20 | 2013-10-30 | 先进科技新加坡有限公司 | Image-assisted system for adjusting a bonding tool |
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| DE10117650A1 (en) * | 2001-04-09 | 2002-10-10 | Daimler Chrysler Ag | Bringing vehicle to target position, involves outputting control commands to drive train, braking system and/or steering so vehicle can be steered to target position independently of driver |
| GB2447672B (en) * | 2007-03-21 | 2011-12-14 | Ford Global Tech Llc | Vehicle manoeuvring aids |
| CA2692277A1 (en) * | 2007-07-03 | 2009-01-08 | J. Edward Ramsey | Trailer hitch alignment device and method |
| DE102009058034A1 (en) * | 2009-12-11 | 2010-08-05 | Daimler Ag | Collision avoidance system operating method for use in vehicle i.e. passenger car, involves outputting warning signals based on detected free areas in monitoring mode of collision avoidance system, where only sensors are active in mode |
| WO2012103193A1 (en) * | 2011-01-26 | 2012-08-02 | Magna Electronics Inc. | Rear vision system with trailer angle detection |
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2014
- 2014-10-29 DE DE102014222034.3A patent/DE102014222034B4/en active Active
- 2014-10-31 CN CN201410601828.2A patent/CN104590372B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2634071A1 (en) * | 2012-03-03 | 2013-09-04 | WABCO GmbH | Method and device for controlling the parking procedure of an articulated vehicle |
| EP2644477A1 (en) * | 2012-03-27 | 2013-10-02 | Volkswagen Aktiengesellschaft | Assistance devices and method for operating an assistance device for controlling the driving of a traction vehicle with trailer |
| CN103372715A (en) * | 2012-04-20 | 2013-10-30 | 先进科技新加坡有限公司 | Image-assisted system for adjusting a bonding tool |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102014222034B4 (en) | 2021-03-25 |
| CN104590372A (en) | 2015-05-06 |
| DE102014222034A1 (en) | 2015-04-30 |
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