DE102008045436A1 - Method for determining inclination angle between tractor and trailer for e.g. lorry, involves automatically determining inclination angle based on comparison of detected image with reference images and reference image inclination angle - Google Patents

Method for determining inclination angle between tractor and trailer for e.g. lorry, involves automatically determining inclination angle based on comparison of detected image with reference images and reference image inclination angle

Info

Publication number
DE102008045436A1
DE102008045436A1 DE200810045436 DE102008045436A DE102008045436A1 DE 102008045436 A1 DE102008045436 A1 DE 102008045436A1 DE 200810045436 DE200810045436 DE 200810045436 DE 102008045436 A DE102008045436 A DE 102008045436A DE 102008045436 A1 DE102008045436 A1 DE 102008045436A1
Authority
DE
Germany
Prior art keywords
image
trailer
reference
reference image
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE200810045436
Other languages
German (de)
Inventor
Thomas Dr. Barthenheier
Stefan Dr. Brosig
Fabian Dr. Gräfe
Alexander Karmrodt
Stephan Dr. Scholz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volkswagen AG
Original Assignee
Volkswagen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volkswagen AG filed Critical Volkswagen AG
Priority to DE200810045436 priority Critical patent/DE102008045436A1/en
Publication of DE102008045436A1 publication Critical patent/DE102008045436A1/en
Application status is Withdrawn legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60DVEHICLE CONNECTIONS
    • B60D1/00Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/30Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for sway control, e.g. stabilising or anti-fishtail devices; Sway alarm means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60DVEHICLE CONNECTIONS
    • B60D1/00Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58Auxiliary devices

Abstract

The present invention provides a method for determining a kink angle (alpha) between a towing vehicle (1) and a trailer (2). The method comprises capturing the image of the tag (2) using an image capture device (5), automatically comparing the captured image with a plurality of predetermined reference images (11-13), each associated with a reference image bend angle (14-16), and automatically determining the kink angle (alpha) depending on the comparison of the captured image with the reference images (11-13) and the reference image kink angles (14-16).

Description

  • The The present invention relates to a method and an apparatus for determining a kink angle between a towing vehicle and a trailer and more particularly to a method and apparatus in which the bending angle between the towing vehicle and the trailer with Help of image processing of an image captured by the trailer determines becomes.
  • a Buckling angle between a towing vehicle and a trailer too determine is for many applications both in the field of passenger cars as well useful in the field of trucks. For example, a kink angle determination of an assistance system needed which a driver of a team, which consists of a towing vehicle and a trailer exists, in a reverse drive or maneuvering the team. In addition, a capture a kink angle, for example, for a so-called parking garage assistant required, which in a forward drive of the team a Driver warns if he drives a turn with the team too tight and There is a danger that the trailer will stick to an object in the car Range of the inner curve, such. B. a corner in a parking garage, hang remains. After all is the detection of a kink angle also in the context of a electronic stability program (ESP) of the towing vehicle makes sense to the team in critical driving situations using the Electronic Stability Program (ESP) to be able to.
  • to Determining the bending angle between the towing vehicle and the trailer is in the prior art, a kink angle sensor in a trailer hitch to integrate the towing vehicle. Such a kink angle sensor For example, in a ball hitch of a passenger car a magnetic sensor in a ball of the ball hitch coupling on the passenger car and a magnet on a counterpart to the Ball, the so-called ball socket, include on the drawbar of the trailer. at a change the bending angle between the towing vehicle and the trailer changes thus the orientation of the magnet to the magnetic sensor, which in turn is detected by the magnetic sensor and for a kink angle determination can be used. Such a kink angle determination device However, that requires the ball socket of the trailer with a corresponding magnet Is provided. If, however, a trailer is used, which does not have a equipped ball socket has a kink angle determination not possible. About that In addition, this magnet-based type of buckling angle determination is susceptible to magnetic fields or magnetic field distortions due to a loading of the Towing vehicle or trailer with metallic objects may occur.
  • task The present invention is therefore a method and a Device for determining a bending angle between a towing vehicle and a trailer which has no special requirements for devices of the trailer put, so that any trailer can be used. About that In addition, the method and the device to a high accuracy and a high degree of robustness influences, which may occur during operation of a team. Finally, should the method and the device can be realized inexpensively on the towing vehicle be.
  • These Tasks are performed according to the invention a method for determining a kink angle between a towing vehicle and a trailer according to claim 1, a method for creating a plurality of reference information according to claim 9, a system for determining a kink angle between a towing vehicle and a trailer according to claim 16 and a system for creating a plurality of reference information solved according to claim 18. The dependent ones claims define preferred and advantageous embodiments of the invention.
  • According to the present The invention provides a method for determining a kink angle between a towing vehicle and a trailer provided. The method includes capturing an image of the trailer with the help of an image capture device and an automated Compare the detected by means of the image capture device Picture with several default reference pictures. The reference pictures in each case a reference image bending angle is assigned. In dependence of the automated comparison of the captured image with the reference images and reference image kink angles associated with the reference images then becomes the bending angle between the towing vehicle and the trailer automatically certainly.
  • By determining the kink angle by automatically comparing the captured image of the trailer with reference images and the reference image kink angles, no special features are required on the trailer, so this method can be used in conjunction with any trailer. Since many vehicles have an image sensing device at a rear of the vehicle, such as a camera which assists the driver of the vehicle when parking, the method can be realized inexpensively in the presence of such an image sensing device. In addition, with a suitably high-resolution camera or Bil derfassungvorrichtung a very high accuracy of the detected kink angle can be achieved.
  • According to one embodiment capturing the image of the trailer involves equalizing the image, for optical properties and a pickup position of the image capture device compensate. Image capture devices used as parking aids attached to a vehicle's rear, usually have a wide-angle lens with very short focal length. This can cause severe distortions in particular occur in peripheral areas of the recorded image. With knowledge The optical properties of the image capture device may include such Distortions, however, suitably rectified in a simple manner be, whereby a subsequent determination of the bending angle improved can be, to a higher To achieve bending angle accuracy.
  • According to one another embodiment capturing the image of the trailer additionally transform the image. The transformation takes place such that the transformed image is at least a partial view of the trailer from a bird's eye view. When the image capture device for example, at the rear of the towing vehicle in a suitable Height above a trailer hitch is arranged for connecting the towing vehicle with the trailer and the Captured image of the trailer the trailer hitch, one Tiller of the trailer and at least part of the trailer can, knowing the position and the angle of view of the Image capture device to the trailer hitch transformed the image so be that the transformed image is a bird's eye view of at least the trailer hitch, the drawbar and a part of the trailer comprises. The reference pictures, which for the automatic determination of the bending angle with the captured image are compared in this embodiment also reference images of the trailer from a bird's eye view. Bird's eye view is a comparison the captured image with the reference images particularly easy, which The bending angle can be determined quickly, accurately and reliably.
  • The Comparing the captured image with the plurality of predetermined reference images determining a correlation vector between the detected Include image and the reference images. The correlation vector describes a similarity of the captured image to the multiple reference images. Because every reference picture a corresponding reference image kink angle is assigned, provides the correlation vector simultaneously a membership measure of a reference image kink angle to an actual Bending angle of the captured image. By interpolating the Correlation vector, d. H. through an interpolation between the Support points that can be provided by the correlation vector, an accuracy the kink angle determination increases by taking a correlation maximum of the interpolated correlation vector is determined.
  • According to one another embodiment the method comprises identifying the trailer to be dependent thereon Provide reference images. Identifying the trailer can for example, by a manual input by a user of the Vehicle by reading a barcode attached to the trailer, by comparing a captured image of the trailer with reference images or by determining the driveability of the trailer during a journey of the vehicle respectively. If the trailer is identified, d. H. a special kind of pendant recognized This can be automated comparing the captured image with the several predetermined reference pictures on the reference pictures be reduced, which represent the identified type of trailer. As a result, fewer image comparisons are required, reducing the determination of the bending angle can be accelerated.
  • According to the present invention, there is further provided a method of creating a plurality of reference information. Each reference information includes a reference image of a trailer in an assembly to a towing vehicle and a reference image kink angle associated with the arrangement between the towing vehicle and the trailer. The method comprises detecting a first reference image of the trailer in a predetermined arrangement to the towing vehicle by means of an image capture device. The predetermined arrangement has a predetermined first reference image kink angle between the towing vehicle and the trailer. This first reference information, which comprises the first reference image and the first reference image bending angle, is then stored. From the first reference image and the first reference image bending angle and a further reference image bending angle, a further reference image of the trailer is then determined in a further arrangement with the further reference image bending angle between the trailer and the towing vehicle. This further reference image is also stored together with the further reference image bending angle as another reference information. In this way, a plurality of further reference images for further reference image bending angles can be determined from the first reference image. Determining the further reference image of the trailer may, in one embodiment, be determined by rotating the first reference image about a pivot point of a trailer hitch by a differential angle between the first reference image kink angle and the further reference image kink angle become.
  • On this way it is possible build a database containing a variety of reference information , wherein each reference information is a reference image of the trailer in a certain arrangement to the towing vehicle shows and in addition a corresponding reference image bending angle, which this arrangement corresponds, includes. The first reference image kink angle for the predetermined Arrangement can be made of dynamic vehicle sizes of the tractor, such. As a steering wheel angle, a speed and / or a yaw rate of the towing vehicle. Preferably, the first reference image detected during a straight ahead of the towing vehicle. The first reference image bending angle is accordingly an angle of zero degrees. A straight ahead of the towing vehicle together with the trailer let yourself from driving dynamics of the Towing vehicle, especially the steering wheel angle and speed easy and determine very precisely. So can a first reference picture of the trailer and an associated reference image bend angle can be determined and from it then, as previously described, determines further reference information become.
  • According to one embodiment The detection of the first reference image of the trailer additionally includes Equalize the first reference image to optical properties and to compensate for a pickup position of the image capture device. The Image capture device is typically at a rear of the vehicle above the trailer hitch arranged. As such an image capture device, for example a camera, also as a reversing aid is used, the image capture device is generally equipped with a wide-angle lens with very low focal length. Thereby can geometric distortions especially in the edge region of the image arise. About that In addition, the image capture device may also laterally offset to the trailer hitch be arranged so that a view of the trailer hitch is made obliquely from above. By this laterally offset view creates additional distortions. There one Position and orientation of the image capture device based on the trailer hitch are known and beyond optical properties of the image capture device are known, can a corresponding equalization of the image in a simple way and Manner performed become.
  • Furthermore detecting the reference image of the trailer may further comprise transforming the Reference image include, so that the transformed reference image a view of the trailer from a bird's eye view. Since, as previously mentioned, the Position and orientation of the image capture device to the trailer hitch are known, a corresponding transformation is relatively simple perform. From a reference image with a bird's eye view of the Trailer can by simply turning the picture around a pivot point of the trailer hitch Further reference images are generated, wherein the bending angle of the further reference images simply from the bending angle of the first reference image and the rotation angle of the image can be determined. The pivot point of the trailer hitch is due to the fixed relationship between the image capture device and the trailer hitch known, whereby a rotation of the image around the pivot point of the trailer hitch easy possible is.
  • According to the present The invention further provides a system for determining a kink angle between a towing vehicle and a trailer provided. The system includes an image capture device for capturing a Picture of the trailer, an image memory for storing a plurality of reference images of the trailer and multiple reference image kink angles, with each reference image Reference image kink angle is assigned, and a processing unit, which is coupled to the image capture device and the image memory. The processing unit detects with the aid of the image capture device a picture of the trailer and compares the captured image with the multiple reference images of the image memory. Dependent on from the comparison of the captured image with the reference images then the kink angle from the reference image kink angles of the reference images certainly.
  • The System allows thus a bending angle between the towing vehicle and the trailer determine without being attached to the trailer special devices must be provided, which for the determination contribute to the bending angle. About that In addition, the system is very cost effective, especially if the Image capture device anyway at the rear of the towing vehicle available is, for example, a driver of the vehicle in a reverse drive an image information of an area behind the rear of the vehicle to give. About that In addition, with the appropriate quality and angular resolution of Reference pictures and the assigned reference picture bend angle one very accurate determination of the bending angle possible.
  • According to one embodiment the system can perform of the previously described method for determining a kink angle between a towing vehicle and a trailer and includes thus the advantages described in connection with the method.
  • According to the invention, a system for creating a plurality of reference information will be further Semi asked. Each reference information includes a reference image of a trailer in an assembly to a towing vehicle and a reference image kink angle associated with the arrangement between the towing vehicle and the trailer. The system includes an image capture device for capturing an image of the trailer, an image store for storing the plurality of reference information, and a processing unit coupled to the image capture device and the image store. In order to create the plurality of reference information, a first reference image information is first created by the processing unit. For this purpose, the processing unit with the aid of the image acquisition device detects a first reference image of the trailer in a predetermined arrangement to the towing vehicle. The predetermined arrangement to the towing vehicle is chosen such that in this arrangement there is a predetermined first reference image kink angle between the towing vehicle and the trailer. The first reference image and the predetermined reference image kink angle are then stored as first reference information in the image memory. From the first reference image is then determined by the processing unit another reference image of the trailer in a further arrangement. The further reference image can be generated for example by rotating the first reference image by a predetermined angle about a pivot point of a trailer hitch. A further reference image bending angle, which is assigned to the further reference image, is then determined by the processing unit from the first reference image bending angle and the rotation angle of the first reference image to the further reference image. This provides further reference information that includes another reference image of the trailer in another reference image kink angle arrangement. The further reference information is stored by the processing unit in the image memory.
  • On this way the system generates extensive reference information, which are stored in the image memory. So, for example Reference pictures of the trailer generated in one-degree increments and along with their corresponding ones Reference picture bend angles be stored in the image memory. In addition, for different Types of trailers stored different reference information in the image memory become.
  • The System may further be configured such that it is used to perform the previously described method for creating multiple reference information is designed and therefore also includes the related advantages described in the process.
  • The The present invention will be described below with reference to FIGS Drawings explained with reference to preferred embodiments.
  • 1 shows a towing vehicle and a trailer, which are coupled together, in a first arrangement to each other.
  • 2 shows the towing vehicle and the trailer of the 1 in a further arrangement to each other.
  • 3 shows a system for determining a kink angle between a towing vehicle and a trailer and for generating a plurality of reference information according to an embodiment of the present invention.
  • 4 FIG. 12 shows an image memory having a plurality of reference information according to an embodiment of the present invention. FIG.
  • 5 FIG. 12 shows a diagram of a correlation vector between a captured image of a trailer and reference images of the trailer in accordance with an embodiment of the present invention. FIG.
  • 1 shows a towing vehicle 1 which with a trailer 2 is coupled. The coupling takes place via a trailer hitch 3 , which are about a pivot point of the trailer hitch 3 is rotatable such that a longitudinal axis 6 of the towing vehicle 1 and a longitudinal axis 7 of the trailer 2 may have a bending angle to each other. In the in 1 illustrated arrangement of the towing vehicle 1 and the trailer 2 fall the longitudinal axes 6 and 7 on each other, which defines a bend angle of zero degrees. The trailer 2 is about a drawbar 4 with the trailer hitch 3 connected. The towing vehicle 1 includes an image capture device 5 , For example, a monocamera, which is capable of at least the trailer hitch 3 and part of the trailer 2 such as the drawbar 4 and a part of a cargo bed of the trailer 2 to capture as an image and to provide an electronic processing unit, not shown.
  • In 2 is the team of towing vehicle 1 and followers 2 of the 1 shown in an arrangement in which the longitudinal axes 6 and 7 do not fall on each other, but form a kink angle α.
  • To a bending angle α between the longitudinal axis 6 of the towing vehicle 1 and the longitudinal axis 7 of the trailer 2 with the help of the image capture device 5 to determine, has the towing vehicle 1 about a in 3 schematically illustrated system 8th , which next to the image capture device 5 a processing unit 9 and a frame store 10 includes. The image memory 10 contains, as in 4 shown, a plurality of reference information, each reference information is a reference image 11 - 13 of a trailer and multiple reference image kink angles 14 - 16 includes. Every reference picture 11 - 13 shows the trailer in a specific angular arrangement to the towing vehicle 1 from a bird's eye view. The resulting from the arrangement to the towing vehicle angle between the longitudinal axis 6 of the towing vehicle 1 and the longitudinal axis 7 of the trailer 2 is the respective reference picture 11 - 13 via a corresponding reference image kick angle 14 - 16 assigned. For example, the reference image 11 a reference image bend angle 14 assigned by zero degrees. Another reference picture 12 is the further reference image bending angle 15 the size α 1 assigned and yet another reference image 13 is the reference image bend angle 16 the size α 2 assigned. The reference image bending angle 14 - 16 correspond to the buckling angles α, which in a corresponding arrangement of the trailer 2 to the towing vehicle 1 result.
  • Hereinafter, a method will first be described to a kink angle between the towing vehicle 1 and the trailer 2 with the help of the system 8th to determine. Afterwards a procedure is described, with the help of the system 8th the reference information for the image memory 10 to create.
  • The image capture device 5 is how in 1 and 2 shown at a stern of the towing vehicle 1 above the trailer hitch 3 arranged. To a current bending angle α between the towing vehicle 1 and the trailer 2 to determine, detects the processing unit 9 with the help of the image capture device 5 a current picture of an area behind the rear of the towing vehicle 1 , The captured image includes at least the trailer hitch 3 and at least part of the trailer 2 such as the drawbar 4 , A position and a viewing angle of the image capture device 5 to the rear of the vehicle and in particular to the trailer hitch 3 is the processing unit 9 known. In addition, the processing unit 9 also optical properties of a lens of the image capture device 5 known. With the help of this information is this processing unit 9 able to recover from the captured image by equalizing and transforming a view of the trailer 2 to calculate from a bird's-eye view. This rectified and transformed image of the trailer 2 is now by the processing unit 9 with the reference pictures 11 - 13 of the image memory 10 compared. In addition to the in 4 exemplified reference pictures 11 - 13 and associated reference image kink angles 14 - 16 includes the image memory 10 a variety of reference pictures showing the trailer 2 for example, in 181 different arrangements with reference image kink angles from -90 degrees to +90 degrees in one-degree increments. Alternatively, for example, 361 reference pictures of the trailer 2 in the image memory 10 be deposited, which the trailer 2 in 361 different arrangements with a kink angle of -90 degrees to +90 degrees in 0.5 degree increments. In addition, besides the reference pictures of the trailer 2 also other reference pictures of other trailers in different arrangements in the image memory 10 be stored with correspondingly assigned reference image kink angles.
  • The processing unit 9 compares the captured, rectified and transformed image of the trailer 2 with the reference pictures 11 - 13 and determines a similarity or correlation between the captured image and each of the reference images 11 - 13 , The reference image kink angle from the reference image having the greatest similarity or correlation with the captured image is then expressed as the actual kink angle α between the towing vehicle 1 and the trailer 2 certainly.
  • Alternatively, in order to further increase the bend angle accuracy, interpolation between the determined correlation values may be performed and the current bend angle determined by determining the correlation maximum taking into account the interpolation values. 5 illustrates this method graphically: In the diagram of 5 For example, reference image bend angle values are plotted on the x-axis and correlation values for correlations between the captured image and the reference images are plotted on the y-axis. In the diagram, the correlation values and their associated kink angles, which were determined by comparing the captured image with the reference images, are shown as black solid dots. By means of a suitable interpolation, which uses these correlation and bend angle values as interpolation points, further interpolated correlation values and associated bend angle values can be calculated. These are in 5 shown as circles. The current bending angle α between the towing vehicle 1 and the trailer 2 is then determined by determining the correlation maximum of both the correlation values determined by the comparison and the interpolated correlation values. In the present example the 5 Thus, there is a kink angle of one degree, whereas by looking only at the correlations determined by the image comparison, a kink angle of approximately 1.5 degrees would have been determined. Thus, by the interpolation accuracy of the bending angle can be increased.
  • To the number of reference images to be considered 11 - 13 can reduce the trailer 2 Initially identified to be dependent of which the comparison of the captured image only with reference images of the identified trailer 2 perform. The identification of the trailer may, for example, be done by a manual input by a user of the vehicle. In addition, the trailer may, for example, have a bar code print which, for example, of the image capture device 5 recorded and allows identification of the trailer. In addition, first a picture of the trailer can be captured and this with reference pictures 11 - 13 of the image memory 10 be compared and thus a trailer 2 be identified. Another kink angle determination then uses only the reference images 11 - 13 which belong to the identified tag. Finally, the trailer can also be identified on the basis of its driving behavior, which can be derived for example from parameters of the towing vehicle.
  • The method described above for determining the bending angle between the towing vehicle 1 and the trailer 2 can be accelerated even if a first bending angle α was determined for a first time as described above. If a further bending angle is then to be determined for a subsequent time, it can be assumed that the bending angle has not changed in any way in the meantime. Depending on the time passed between the two determinations, it is thus possible to limit the amount of reference images which are used for a comparison of the captured image. For example, if the buckling angle measurement is performed once per second, the buckling angle α will change at most by a predetermined angle, for example ± 20 degrees, in this one second. Accordingly, a comparison of the captured image with reference images must be performed only with the reference images showing the trailer in the corresponding angular range.
  • Hereinafter, how the previously used reference information of the image memory using the in 3 shown system 8th of the towing vehicle 1 can be determined.
  • First, the processing unit detects 9 with the help of the image capture device 5 a picture of the trailer 2 at a known bending angle α between the towing vehicle 1 and the trailer 2 , A particularly suitable bending angle α is an angle of zero degrees, since this angle already sets after a very short time when driving straight ahead when driving forwards on a towing vehicle. This information relates to the processing unit 9 For example, from a steering angle signal and a speed signal of the vehicle, wherein the processing unit 9 of course with the appropriate devices of the towing vehicle 1 is to couple. In this way, the processing unit detects 9 a first reference picture of the trailer 2 with an associated reference image kink angle of zero degrees. As described above, the detected reference image is equalized and transformed to, on the one hand, distortions due to the optical characteristics of the image capture device 5 and their arrangement on the vehicle to compensate and on the other hand, a view of the trailer 2 to get a bird's-eye view. The thus rectified and transformed captured image of the trailer 2 becomes as a first reference picture 11 a first reference information together with the first reference image bending angle 14 of zero degrees in the image memory 10 saved.
  • Starting from the first reference picture 11 Now further reference information can be generated as follows: Since the position of a pivot point of the trailer hitch 3 in the first reference picture 11 is known, the first reference image 11 around this pivot, for example one degree, using a suitable image processing program from the processing unit 9 to be turned around. This creates another reference image 12 . 13 , The this further reference picture 12 . 13 assigned reference image bending angle 15 . 16 results from the bending angle 14 of the first reference picture 11 and the angle of rotation around which the first reference image 11 was filmed. In the present case, the further reference image bending angle is accordingly 1 degree. So any number of reference images 12 . 13 to any bending angles 15 . 16 from the processing unit 9 be generated and in the image memory 10 be filed.
  • The generating of the reference information can be carried out continuously whenever a bending angle between the towing vehicle 1 and the trailer 2 , for example, as described above in a straight-ahead driving, is known. As a result, the reference information is always up to date, so that a very accurate determination of the buckling angle is possible. Due to the always current reference information, a kink angle determination is possible even with a change in the lighting conditions or the visibility. In addition, a kink angle determination is independent of the trailer used 2 possible.
  • 1
    towing vehicle
    2
    pendant
    3
    trailer hitch
    4
    shaft
    5
    Image capture device
    6
    longitudinal axis of the towing vehicle
    7
    longitudinal axis of the trailer
    8th
    system
    9
    processing unit
    10
    image memory
    11-13
    reference image
    14-16
    Reference image-bending angle

Claims (19)

  1. Method for determining a bending angle between a towing vehicle and a trailer, comprising: - capturing an image of the trailer ( 2 ) using an image capture device ( 5 ), - automated comparison of the image acquisition device ( 5 ) captured image with a plurality of predetermined reference images ( 11 - 13 ), each of which has a reference image bending angle ( 14 - 16 ), and - automatically determining the kink angle (α) as a function of the comparison of the captured image with the reference images ( 11 - 13 ) and the reference image bending angles ( 14 - 16 ).
  2. A method according to claim 1, characterized in that capturing the image of the trailer ( 2 ) further comprises equalizing the image to provide optical properties and a pickup position of the image capture device ( 5 ), which captures the image.
  3. A method according to claim 1 or 2, characterized in that capturing the image of the trailer ( 2 ) further comprising transforming the image, wherein the transformed image comprises at least a partial view of the trailer ( 2 ) from a bird's eye view.
  4. Method according to one of the preceding claims, characterized in that the comparing comprises determining a correlation vector between the acquired image and the reference images ( 11 - 13 ).
  5. Method according to claim 4, characterized in that that the procedure is an increase a kink angle accuracy by interpolation of the correlation vector includes.
  6. Method according to claim 4 or 5, characterized in that determining the kink angle (α) comprises determining a correlation maximum.
  7. Method according to one of the preceding claims, characterized in that the method comprises identifying the trailer ( 2 ) in order to depend on the reference images ( 11 - 13 ).
  8. Method according to claim 7, characterized in that the identification of the trailer ( 2 ) - a manual input by a user of the vehicle ( 1 ), - a reading of a barcode of the trailer ( 2 ), - comparing the captured image of the trailer ( 2 ) with reference images ( 11 - 13 ), and / or - determining a driving behavior of the trailer ( 2 ).
  9. Method for creating a plurality of reference information, each reference information being a reference image ( 11 - 13 ) of a trailer ( 2 ) in an arrangement with a towing vehicle ( 1 ) and a reference image bending angle associated with the arrangement ( 14 - 16 ) between the towing vehicle ( 1 ) and the trailer ( 2 ), the method comprising: - acquiring a first reference image ( 11 ) of the trailer ( 2 ) in a predetermined arrangement to the towing vehicle ( 1 ) using an image capture device ( 5 ), wherein the predetermined arrangement has a predetermined first reference image bending angle ( 14 ) between the towing vehicle ( 1 ) and the trailer ( 2 ), - storing the first reference image ( 11 ) and the first reference image bending angle ( 14 ) as a first reference information of the plurality of reference information, - determining a further reference image ( 12 . 13 ) of the trailer ( 2 ) in a further arrangement with a further reference image bending angle ( 15 . 16 ) between the trailer ( 2 ) and the towing vehicle ( 1 ) from the first reference image ( 11 ), the first reference image bending angle ( 14 ) and the further reference image bending angle ( 15 . 16 ), and - storing the further reference image ( 12 . 13 ) and the further reference image bending angle ( 15 . 16 ) as another reference information of the plurality of reference information.
  10. A method according to claim 9, characterized in that the predetermined arrangement and the first reference image bending angle ( 14 ) from driving dynamics of the vehicle ( 1 ) is determined.
  11. A method according to claim 10, characterized in that the driving dynamics variables of the vehicle ( 1 ) comprise a steering wheel angle, a speed and / or a yaw rate of the vehicle.
  12. Method according to one of claims 9-11, characterized in that the predetermined arrangement a straight travel of the vehicle ( 1 ) and that the first reference image bending angle ( 14 ) is an angle of zero degrees.
  13. Method according to one of claims 9-12, characterized in that the detection of the ers reference image ( 11 ) of the trailer ( 2 ) further equalizing the first reference image ( 11 ) to provide optical properties and a pick-up position of the image capture device ( 5 ), which is the first reference image ( 11 ), compensate.
  14. Method according to one of claims 9-13, characterized in that the detection of the first reference image ( 11 ) of the trailer ( 2 ) further transforming the first reference image ( 11 ), wherein the transformed first reference image ( 11 ) a view of the trailer ( 2 ) from a bird's eye view.
  15. Method according to one of claims 9-14, characterized in that the determination of the further reference image ( 12 . 13 ) of the trailer ( 2 ) turning the first reference image ( 11 ) about a pivot point of a trailer hitch ( 3 ) by a difference angle between the first reference image bending angle ( 14 ) and the further reference image bending angle ( 15 . 16 ).
  16. System for determining a kink angle between a towing vehicle and a trailer, comprising - an image capture device ( 5 ) for capturing an image of the trailer ( 2 ), - an image memory ( 10 ) for storing several reference pictures ( 11 - 13 ) of the trailer ( 2 ) and several reference image bending angles ( 14 - 16 ), each reference image ( 11 - 13 ) a reference image bending angle ( 14 - 16 ), and - a processing unit ( 9 ), which with the image acquisition device ( 5 ) and the image memory ( 10 ), - wherein the processing unit ( 9 ), - a picture of the trailer ( 2 ) using the image capture device ( 5 ), - the captured image with the several reference images ( 11 - 13 ) of the image memory ( 10 ), and - the bending angle (α) depending on the comparison of the captured image with the reference images ( 11 - 13 ) and the reference image bending angles ( 14 - 16 ).
  17. System according to claim 16, characterized in that the system ( 8th ) for carrying out the method according to one of claims 1-15 is configured.
  18. System for generating multiple reference information, each reference information being a reference image ( 11 - 13 ) of a trailer ( 2 ) in an arrangement with a towing vehicle ( 1 ) and a reference image bending angle associated with the arrangement ( 14 - 16 ) between the towing vehicle ( 1 ) and the trailer ( 2 ), the system ( 8th ) comprises: - an image capture device ( 5 ) for capturing an image of the trailer ( 2 ), - an image memory ( 10 ) for storing the multiple reference information ( 11 - 13 ), and - a processing unit ( 9 ), which with the image acquisition device ( 5 ) and the image memory ( 10 ), - wherein the processing unit ( 9 ), - a first reference image ( 11 ) of the trailer ( 2 ) in a predetermined arrangement to the towing vehicle ( 1 ) using the image capture device ( 5 ), wherein the predetermined arrangement has a predetermined first reference image kink angle ( 14 ) between the towing vehicle ( 1 ) and the trailer ( 2 ), - the first reference image ( 11 ) and the first reference image bend angle ( 14 ) as first reference information of the plural reference information in the image memory ( 10 ), - another reference image ( 12 . 13 ) of the trailer ( 2 ) in a further arrangement with a further reference image bending angle ( 15 . 16 ) between the trailer ( 2 ) and the towing vehicle ( 1 ) from the first reference image ( 11 ), the first reference image bending angle ( 14 ) and the further reference image bending angle ( 15 . 16 ), and - the further reference image ( 12 . 13 ) and the further reference image bending angle ( 15 . 16 ) as further reference information of the plurality of reference information in the image memory ( 10 ) save.
  19. System according to claim 18, characterized in that the system ( 8th ) for carrying out the method according to one of claims 1-15 is configured.
DE200810045436 2008-09-02 2008-09-02 Method for determining inclination angle between tractor and trailer for e.g. lorry, involves automatically determining inclination angle based on comparison of detected image with reference images and reference image inclination angle Withdrawn DE102008045436A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE200810045436 DE102008045436A1 (en) 2008-09-02 2008-09-02 Method for determining inclination angle between tractor and trailer for e.g. lorry, involves automatically determining inclination angle based on comparison of detected image with reference images and reference image inclination angle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200810045436 DE102008045436A1 (en) 2008-09-02 2008-09-02 Method for determining inclination angle between tractor and trailer for e.g. lorry, involves automatically determining inclination angle based on comparison of detected image with reference images and reference image inclination angle

Publications (1)

Publication Number Publication Date
DE102008045436A1 true DE102008045436A1 (en) 2010-03-04

Family

ID=41606137

Family Applications (1)

Application Number Title Priority Date Filing Date
DE200810045436 Withdrawn DE102008045436A1 (en) 2008-09-02 2008-09-02 Method for determining inclination angle between tractor and trailer for e.g. lorry, involves automatically determining inclination angle based on comparison of detected image with reference images and reference image inclination angle

Country Status (1)

Country Link
DE (1) DE102008045436A1 (en)

Cited By (59)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010053818A1 (en) * 2010-12-08 2012-06-14 Audi Ag Method and device for detecting a trailer of a motor vehicle
DE102011104256A1 (en) * 2011-06-15 2012-07-26 Audi Ag Bend angle sensor for driver assistance system of motor car formed for drawing trailer with drawbar, has computing unit comparing image features with current image to determine bend angle, where features are stored in calibration phase
DE102011101990B3 (en) * 2011-05-19 2012-10-18 Volkswagen Aktiengesellschaft Method for determining relative drawbar angle in articulated train, involves coupling tensile unit and trailer by rotatably mounted shaft and two-dimensional image is captured by unit for imaging two-dimensional image
EP2551132A1 (en) * 2011-07-23 2013-01-30 Volkswagen Aktiengesellschaft Method and device for determining the total length of a trailer
DE102011113191A1 (en) 2011-09-10 2013-03-14 Volkswagen Aktiengesellschaft Method for determining initial angle between e.g. passenger car and associated trailer, involves evaluating acquired image by image data analysis such that angle between vehicle and trailer is determined based on image data analysis
DE102011113197A1 (en) * 2011-09-10 2013-03-14 Volkswagen Aktiengesellschaft Method for determining angle between towing vehicle and trailer, involves evaluating image by image evaluation unit, where angle between towing vehicle and trailer is determined based on image evaluation
DE102011120814A1 (en) * 2011-12-10 2013-06-13 Volkswagen Aktiengesellschaft Method for determining angle between towing vehicle e.g. car and trailer, involves determining color information for multitude of fields of detected image comprising drawbar movement between towing vehicle and trailer
WO2014177380A1 (en) * 2013-05-01 2014-11-06 Jaguar Land Rover Limited Method for predicting instability in a vehicle-trailer combination
DE102013214368A1 (en) * 2013-07-23 2015-01-29 Application Solutions (Electronics and Vision) Ltd. Method and device for reproducing a lateral and / or rear surrounding area of a vehicle
DE102013014908A1 (en) 2013-09-06 2015-03-12 Man Truck & Bus Ag Driver assistance system of a vehicle, in particular a commercial vehicle
US9290202B2 (en) 2011-04-19 2016-03-22 Ford Global Technologies, Llc System and method of calibrating a trailer backup assist system
US9290203B2 (en) 2011-04-19 2016-03-22 Ford Global Technologies, Llc Trailer length estimation in hitch angle applications
US9315212B1 (en) 2014-10-13 2016-04-19 Ford Global Technologies, Llc Trailer sensor module and associated method of wireless trailer identification and motion estimation
US9335163B2 (en) 2011-04-19 2016-05-10 Ford Global Technologies, Llc Trailer length estimation in hitch angle applications
US9340228B2 (en) 2014-10-13 2016-05-17 Ford Global Technologies, Llc Trailer motion and parameter estimation system
US9346396B2 (en) 2011-04-19 2016-05-24 Ford Global Technologies, Llc Supplemental vehicle lighting system for vision based target detection
US9352777B2 (en) 2013-10-31 2016-05-31 Ford Global Technologies, Llc Methods and systems for configuring of a trailer maneuvering system
WO2016119920A1 (en) * 2015-01-29 2016-08-04 Volkswagen Aktiengesellschaft Method and device for identifying a trailer
US9434414B2 (en) 2011-04-19 2016-09-06 Ford Global Technologies, Llc System and method for determining a hitch angle offset
US9513103B2 (en) 2011-04-19 2016-12-06 Ford Global Technologies, Llc Hitch angle sensor assembly
US9517668B2 (en) 2014-07-28 2016-12-13 Ford Global Technologies, Llc Hitch angle warning system and method
US9522699B2 (en) 2015-02-05 2016-12-20 Ford Global Technologies, Llc Trailer backup assist system with adaptive steering angle limits
US9533683B2 (en) 2014-12-05 2017-01-03 Ford Global Technologies, Llc Sensor failure mitigation system and mode management
US9555832B2 (en) 2011-04-19 2017-01-31 Ford Global Technologies, Llc Display system utilizing vehicle and trailer dynamics
US9566911B2 (en) 2007-03-21 2017-02-14 Ford Global Technologies, Llc Vehicle trailer angle detection system and method
US9607242B2 (en) 2015-01-16 2017-03-28 Ford Global Technologies, Llc Target monitoring system with lens cleaning device
US9610975B1 (en) 2015-12-17 2017-04-04 Ford Global Technologies, Llc Hitch angle detection for trailer backup assist system
US9616923B2 (en) 2015-03-03 2017-04-11 Ford Global Technologies, Llc Topographical integration for trailer backup assist system
US9683848B2 (en) 2011-04-19 2017-06-20 Ford Global Technologies, Llc System for determining hitch angle
US9723274B2 (en) 2011-04-19 2017-08-01 Ford Global Technologies, Llc System and method for adjusting an image capture setting
US9798953B2 (en) 2015-12-17 2017-10-24 Ford Global Technologies, Llc Template matching solution for locating trailer hitch point
US9796228B2 (en) 2015-12-17 2017-10-24 Ford Global Technologies, Llc Hitch angle detection for trailer backup assist system
WO2017182193A1 (en) * 2016-04-21 2017-10-26 Robert Bosch Gmbh Trailer angle detection using rear camera
US9804022B2 (en) 2015-03-24 2017-10-31 Ford Global Technologies, Llc System and method for hitch angle detection
US9827818B2 (en) 2015-12-17 2017-11-28 Ford Global Technologies, Llc Multi-stage solution for trailer hitch angle initialization
US9836060B2 (en) 2015-10-28 2017-12-05 Ford Global Technologies, Llc Trailer backup assist system with target management
US9854209B2 (en) 2011-04-19 2017-12-26 Ford Global Technologies, Llc Display system utilizing vehicle and trailer dynamics
US9895945B2 (en) 2015-12-08 2018-02-20 Ford Global Technologies, Llc Trailer backup assist system with hitch assist
US9926008B2 (en) 2011-04-19 2018-03-27 Ford Global Technologies, Llc Trailer backup assist system with waypoint selection
US9934572B2 (en) 2015-12-17 2018-04-03 Ford Global Technologies, Llc Drawbar scan solution for locating trailer hitch point
US9937953B2 (en) 2011-04-19 2018-04-10 Ford Global Technologies, Llc Trailer backup offset determination
US9963004B2 (en) 2014-07-28 2018-05-08 Ford Global Technologies, Llc Trailer sway warning system and method
EP3318469A1 (en) * 2016-11-02 2018-05-09 LG Electronics Inc. Apparatus for providing around view image, and vehicle
US9969330B2 (en) 2013-06-26 2018-05-15 Conti Temic Microelectronic Gmbh Mirror substitute device and vehicle
US10005492B2 (en) 2016-02-18 2018-06-26 Ford Global Technologies, Llc Trailer length and hitch angle bias estimation
US10011228B2 (en) 2015-12-17 2018-07-03 Ford Global Technologies, Llc Hitch angle detection for trailer backup assist system using multiple imaging devices
US10017115B2 (en) 2015-11-11 2018-07-10 Ford Global Technologies, Llc Trailer monitoring system and method
US10046800B2 (en) 2016-08-10 2018-08-14 Ford Global Technologies, Llc Trailer wheel targetless trailer angle detection
DE102017203704A1 (en) 2017-03-07 2018-09-13 Robert Bosch Gmbh Method for the trailer load-dependent control of a towing vehicle system, means for the trailer load-dependent control of a towing vehicle system and towing vehicle with such a device
DE102017106152A1 (en) * 2017-03-22 2018-09-27 Connaught Electronics Ltd. Determine an angle of a trailer with optimized template
US10106193B2 (en) 2016-07-01 2018-10-23 Ford Global Technologies, Llc Enhanced yaw rate trailer angle detection initialization
US10106082B2 (en) 2014-10-07 2018-10-23 Continental Automotive Gmbh System and method for warning of an imminent collision between a towing vehicle and its trailer when reversing
US10127459B2 (en) 2015-12-17 2018-11-13 Ford Global Technologies, Llc Trailer type identification system
US10155478B2 (en) 2015-12-17 2018-12-18 Ford Global Technologies, Llc Centerline method for trailer hitch angle detection
US10222804B2 (en) 2016-10-21 2019-03-05 Ford Global Technologies, Llc Inertial reference for TBA speed limiting
DE102017219123A1 (en) 2017-10-25 2019-04-25 Volkswagen Aktiengesellschaft Method for determining object boundaries of an object in an exterior area of a motor vehicle and control device and motor vehicle
WO2019133537A1 (en) * 2017-12-27 2019-07-04 Robert Bosch Gmbh Determining an angle of a movement path of a trailer
US10384607B2 (en) 2015-10-19 2019-08-20 Ford Global Technologies, Llc Trailer backup assist system with hitch angle offset estimation
EP3537382A1 (en) * 2018-03-09 2019-09-11 Continental Automotive GmbH Device and method for calculating a vehicle trailer pose using a camera

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004022113A1 (en) * 2004-05-05 2005-11-24 Robert Bosch Gmbh Monitoring a car trailer with a reversing camera
DE102006056408A1 (en) * 2006-11-29 2008-06-19 Universität Koblenz-Landau Method for determining a position, device and computer program product
DE102008013457A1 (en) * 2007-03-21 2008-09-25 Ford Global Technologies, LLC, Dearborn fahrzeugmanövrierhilfen

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004022113A1 (en) * 2004-05-05 2005-11-24 Robert Bosch Gmbh Monitoring a car trailer with a reversing camera
DE102006056408A1 (en) * 2006-11-29 2008-06-19 Universität Koblenz-Landau Method for determining a position, device and computer program product
DE102008013457A1 (en) * 2007-03-21 2008-09-25 Ford Global Technologies, LLC, Dearborn fahrzeugmanövrierhilfen

Cited By (68)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9566911B2 (en) 2007-03-21 2017-02-14 Ford Global Technologies, Llc Vehicle trailer angle detection system and method
US9971943B2 (en) 2007-03-21 2018-05-15 Ford Global Technologies, Llc Vehicle trailer angle detection system and method
US8768535B2 (en) 2010-12-08 2014-07-01 Audi Ag Method and apparatus for the recognition of a trailer of a motor vehicle
DE102010053818A1 (en) * 2010-12-08 2012-06-14 Audi Ag Method and device for detecting a trailer of a motor vehicle
US9335163B2 (en) 2011-04-19 2016-05-10 Ford Global Technologies, Llc Trailer length estimation in hitch angle applications
US9937953B2 (en) 2011-04-19 2018-04-10 Ford Global Technologies, Llc Trailer backup offset determination
US9346396B2 (en) 2011-04-19 2016-05-24 Ford Global Technologies, Llc Supplemental vehicle lighting system for vision based target detection
US9723274B2 (en) 2011-04-19 2017-08-01 Ford Global Technologies, Llc System and method for adjusting an image capture setting
US9434414B2 (en) 2011-04-19 2016-09-06 Ford Global Technologies, Llc System and method for determining a hitch angle offset
US10471989B2 (en) 2011-04-19 2019-11-12 Ford Global Technologies, Llc Trailer backup offset determination
US9513103B2 (en) 2011-04-19 2016-12-06 Ford Global Technologies, Llc Hitch angle sensor assembly
US9854209B2 (en) 2011-04-19 2017-12-26 Ford Global Technologies, Llc Display system utilizing vehicle and trailer dynamics
US9683848B2 (en) 2011-04-19 2017-06-20 Ford Global Technologies, Llc System for determining hitch angle
US9290203B2 (en) 2011-04-19 2016-03-22 Ford Global Technologies, Llc Trailer length estimation in hitch angle applications
US9926008B2 (en) 2011-04-19 2018-03-27 Ford Global Technologies, Llc Trailer backup assist system with waypoint selection
US9290202B2 (en) 2011-04-19 2016-03-22 Ford Global Technologies, Llc System and method of calibrating a trailer backup assist system
US9555832B2 (en) 2011-04-19 2017-01-31 Ford Global Technologies, Llc Display system utilizing vehicle and trailer dynamics
DE102011101990B3 (en) * 2011-05-19 2012-10-18 Volkswagen Aktiengesellschaft Method for determining relative drawbar angle in articulated train, involves coupling tensile unit and trailer by rotatably mounted shaft and two-dimensional image is captured by unit for imaging two-dimensional image
DE102011104256A1 (en) * 2011-06-15 2012-07-26 Audi Ag Bend angle sensor for driver assistance system of motor car formed for drawing trailer with drawbar, has computing unit comparing image features with current image to determine bend angle, where features are stored in calibration phase
EP2551132A1 (en) * 2011-07-23 2013-01-30 Volkswagen Aktiengesellschaft Method and device for determining the total length of a trailer
DE102011113197A1 (en) * 2011-09-10 2013-03-14 Volkswagen Aktiengesellschaft Method for determining angle between towing vehicle and trailer, involves evaluating image by image evaluation unit, where angle between towing vehicle and trailer is determined based on image evaluation
DE102011113191A1 (en) 2011-09-10 2013-03-14 Volkswagen Aktiengesellschaft Method for determining initial angle between e.g. passenger car and associated trailer, involves evaluating acquired image by image data analysis such that angle between vehicle and trailer is determined based on image data analysis
DE102011120814B4 (en) * 2011-12-10 2015-04-09 Volkswagen Aktiengesellschaft Method and device for determining an angle between a towing vehicle and a trailer coupled thereto
DE102011120814A1 (en) * 2011-12-10 2013-06-13 Volkswagen Aktiengesellschaft Method for determining angle between towing vehicle e.g. car and trailer, involves determining color information for multitude of fields of detected image comprising drawbar movement between towing vehicle and trailer
WO2014177380A1 (en) * 2013-05-01 2014-11-06 Jaguar Land Rover Limited Method for predicting instability in a vehicle-trailer combination
US9969330B2 (en) 2013-06-26 2018-05-15 Conti Temic Microelectronic Gmbh Mirror substitute device and vehicle
US10000155B2 (en) 2013-07-23 2018-06-19 Application Solutions (Electronics and Vision) Ltd. Method and device for reproducing a lateral and/or rear surrounding area of a vehicle
DE102013214368A1 (en) * 2013-07-23 2015-01-29 Application Solutions (Electronics and Vision) Ltd. Method and device for reproducing a lateral and / or rear surrounding area of a vehicle
DE102013014908A1 (en) 2013-09-06 2015-03-12 Man Truck & Bus Ag Driver assistance system of a vehicle, in particular a commercial vehicle
US9352777B2 (en) 2013-10-31 2016-05-31 Ford Global Technologies, Llc Methods and systems for configuring of a trailer maneuvering system
US9517668B2 (en) 2014-07-28 2016-12-13 Ford Global Technologies, Llc Hitch angle warning system and method
US9963004B2 (en) 2014-07-28 2018-05-08 Ford Global Technologies, Llc Trailer sway warning system and method
US10106082B2 (en) 2014-10-07 2018-10-23 Continental Automotive Gmbh System and method for warning of an imminent collision between a towing vehicle and its trailer when reversing
US9340228B2 (en) 2014-10-13 2016-05-17 Ford Global Technologies, Llc Trailer motion and parameter estimation system
US9315212B1 (en) 2014-10-13 2016-04-19 Ford Global Technologies, Llc Trailer sensor module and associated method of wireless trailer identification and motion estimation
US9533683B2 (en) 2014-12-05 2017-01-03 Ford Global Technologies, Llc Sensor failure mitigation system and mode management
US9607242B2 (en) 2015-01-16 2017-03-28 Ford Global Technologies, Llc Target monitoring system with lens cleaning device
WO2016119920A1 (en) * 2015-01-29 2016-08-04 Volkswagen Aktiengesellschaft Method and device for identifying a trailer
US9522699B2 (en) 2015-02-05 2016-12-20 Ford Global Technologies, Llc Trailer backup assist system with adaptive steering angle limits
US9616923B2 (en) 2015-03-03 2017-04-11 Ford Global Technologies, Llc Topographical integration for trailer backup assist system
US9804022B2 (en) 2015-03-24 2017-10-31 Ford Global Technologies, Llc System and method for hitch angle detection
US10384607B2 (en) 2015-10-19 2019-08-20 Ford Global Technologies, Llc Trailer backup assist system with hitch angle offset estimation
US10496101B2 (en) 2015-10-28 2019-12-03 Ford Global Technologies, Llc Trailer backup assist system with multi-purpose camera in a side mirror assembly of a vehicle
US9836060B2 (en) 2015-10-28 2017-12-05 Ford Global Technologies, Llc Trailer backup assist system with target management
US10017115B2 (en) 2015-11-11 2018-07-10 Ford Global Technologies, Llc Trailer monitoring system and method
US9895945B2 (en) 2015-12-08 2018-02-20 Ford Global Technologies, Llc Trailer backup assist system with hitch assist
US9827818B2 (en) 2015-12-17 2017-11-28 Ford Global Technologies, Llc Multi-stage solution for trailer hitch angle initialization
US9610975B1 (en) 2015-12-17 2017-04-04 Ford Global Technologies, Llc Hitch angle detection for trailer backup assist system
US9798953B2 (en) 2015-12-17 2017-10-24 Ford Global Technologies, Llc Template matching solution for locating trailer hitch point
US10011228B2 (en) 2015-12-17 2018-07-03 Ford Global Technologies, Llc Hitch angle detection for trailer backup assist system using multiple imaging devices
US9796228B2 (en) 2015-12-17 2017-10-24 Ford Global Technologies, Llc Hitch angle detection for trailer backup assist system
US10155478B2 (en) 2015-12-17 2018-12-18 Ford Global Technologies, Llc Centerline method for trailer hitch angle detection
US10127459B2 (en) 2015-12-17 2018-11-13 Ford Global Technologies, Llc Trailer type identification system
US9934572B2 (en) 2015-12-17 2018-04-03 Ford Global Technologies, Llc Drawbar scan solution for locating trailer hitch point
US10005492B2 (en) 2016-02-18 2018-06-26 Ford Global Technologies, Llc Trailer length and hitch angle bias estimation
WO2017182193A1 (en) * 2016-04-21 2017-10-26 Robert Bosch Gmbh Trailer angle detection using rear camera
US10011299B2 (en) 2016-04-21 2018-07-03 Robert Bosch Gmbh Trailer angle detection using rear camera
US10106193B2 (en) 2016-07-01 2018-10-23 Ford Global Technologies, Llc Enhanced yaw rate trailer angle detection initialization
US10046800B2 (en) 2016-08-10 2018-08-14 Ford Global Technologies, Llc Trailer wheel targetless trailer angle detection
US10222804B2 (en) 2016-10-21 2019-03-05 Ford Global Technologies, Llc Inertial reference for TBA speed limiting
US10496892B2 (en) 2016-11-02 2019-12-03 Lg Electronics Inc. Apparatus for providing around view image, and vehicle
EP3318469A1 (en) * 2016-11-02 2018-05-09 LG Electronics Inc. Apparatus for providing around view image, and vehicle
DE102017203704A1 (en) 2017-03-07 2018-09-13 Robert Bosch Gmbh Method for the trailer load-dependent control of a towing vehicle system, means for the trailer load-dependent control of a towing vehicle system and towing vehicle with such a device
DE102017106152A1 (en) * 2017-03-22 2018-09-27 Connaught Electronics Ltd. Determine an angle of a trailer with optimized template
DE102017219123A1 (en) 2017-10-25 2019-04-25 Volkswagen Aktiengesellschaft Method for determining object boundaries of an object in an exterior area of a motor vehicle and control device and motor vehicle
WO2019133537A1 (en) * 2017-12-27 2019-07-04 Robert Bosch Gmbh Determining an angle of a movement path of a trailer
WO2019170469A1 (en) * 2018-03-09 2019-09-12 Continental Automotive Gmbh Device and method for calculating a vehicle trailer pose using a camera
EP3537382A1 (en) * 2018-03-09 2019-09-11 Continental Automotive GmbH Device and method for calculating a vehicle trailer pose using a camera

Similar Documents

Publication Publication Date Title
EP2185400B1 (en) Method and device for driver support when routing a vehicle or vehicle combination
JP4425495B2 (en) Outside monitoring device
DE102008029612B4 (en) System and method for calculating a hitch joint angle
EP1249365B1 (en) Driving aiding system
US7777615B2 (en) System for assisting the attachment of a trailer to a vehicle
JP4045862B2 (en) Optical axis deviation detection device for in-vehicle camera
US10300855B2 (en) Trailer driving assist system
US20150002670A1 (en) Trailering assist system for vehicle
JP3643076B2 (en) Connecting angle detector
US20070273554A1 (en) Parking assist method and parking assist apparatus
EP2988958B1 (en) Vehicle hitch assistance system
US10099614B2 (en) Vision system for vehicle
EP1927962A1 (en) Obstacle detection device
US10493917B2 (en) Vehicular trailer backup assist system
US20150115571A1 (en) Smart tow
DE102004029129B4 (en) Method and device for coupling a trailer to a motor vehicle
US20140247354A1 (en) Calibration system and method for multi-camera vision system
US9290204B2 (en) Hitch angle monitoring system and method
JP3898709B2 (en) Vehicle lane marking recognition device
JP4636346B2 (en) Car camera calibration apparatus, method, and program
DE102014217746A1 (en) A control system for moving a vehicle relative to an implement to be mounted on the vehicle
US9779313B2 (en) Vehicle vision system with trailer angle detection
DE102011101990B3 (en) Method for determining relative drawbar angle in articulated train, involves coupling tensile unit and trailer by rotatably mounted shaft and two-dimensional image is captured by unit for imaging two-dimensional image
US20080199069A1 (en) Stereo Camera for a Motor Vehicle
JP2008077628A (en) Image processor and vehicle surrounding visual field support device and method

Legal Events

Date Code Title Description
OM8 Search report available as to paragraph 43 lit. 1 sentence 1 patent law
R012 Request for examination validly filed
R016 Response to examination communication
R119 Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee