US 10,870,449 B2Granted

Vehicular trailering system

AssigneeMagna Electronics Inc.

InventorsAchim Gieseke, Ralph Latotzki, Ruediger Boegel

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Abstract

A vehicular trailering system includes a plurality of cameras disposed at a vehicle, and a control having an image processor that processes image data captured by the plurality of cameras. With a trailer hitched to the vehicle, the system determines trailer angle of the trailer relative to the vehicle responsive at least in part to processing of image data captured by at least some of the cameras during forward motion of the vehicle. With the cameras disposed at the vehicle and with the trailer hitched to the vehicle and responsive at least in part to processing of image data captured by at least some of the cameras during forward motion of the vehicle, an object exterior of the vehicle is detected. Responsive to detection of the detected object, the system plans a path of forward travel of the vehicle towing the trailer that avoids contact with the detected object.

Claims20

Dependent claims

A vehicular trailering system, said vehicular trailering system comprising:

a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle;
said plurality of cameras comprising a forward viewing camera disposed at a front portion of the vehicle, said forward viewing camera viewing at least forward of the vehicle;
said plurality of cameras comprising a rearward viewing camera disposed at a rear portion of the vehicle, said rearward viewing camera viewing at least rearward of the vehicle;
said plurality of cameras comprising a left-side viewing camera disposed at a left side portion of the vehicle, said left-side viewing camera viewing at least sideward of the vehicle;
said plurality of cameras comprising a right-side viewing camera disposed at a right side portion of the vehicle, said right-side viewing camera viewing at least sideward of the vehicle;
a control comprising an image processor;
wherein said image processor processes image data captured by said plurality of cameras;
wherein, with a trailer hitched to the vehicle, said vehicular trailering system determines trailer angle of the trailer relative to the vehicle responsive at least in part to processing by said image processor of image data captured by at least some one selected from the group consisting of said rearward viewing camera, said left-side viewing camera and said right-side viewing camera of said plurality of cameras during forward motion of the vehicle;
wherein, with said plurality of cameras disposed at the vehicle and with the trailer hitched to the vehicle and during forward motion of the vehicle and responsive at least in part to processing by said image processor of image data captured by at least one selected from the group consisting of said forward viewing camera, said left-side viewing camera and said right-side viewing camera of said plurality of cameras, an object exterior of the vehicle is detected;
and
wherein, responsive to detection of the detected object, said vehicular trailering system plans a path of forward travel of the vehicle towing the trailer that avoids contact by the trailer with the detected object.

8 more elements

A vehicular trailering system, said vehicular trailering system comprising:

a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle;
said plurality of cameras comprising a forward viewing camera disposed at the in-cabin side of a windshield of the vehicle, said forward viewing camera viewing forward of the vehicle through the windshield;
said plurality of cameras comprising a rearward viewing camera disposed at a rear portion of the vehicle, said rearward viewing camera viewing at least rearward of the vehicle;
said plurality of cameras comprising a left-side viewing camera disposed at a left side portion of the vehicle, said left-side viewing camera viewing at least sideward of the vehicle;
said plurality of cameras comprising a right-side viewing camera disposed at a right side portion of the vehicle, said right-side viewing camera viewing at least sideward of the vehicle;
a control comprising an image processor;
wherein said image processor processes image data captured by said plurality of cameras;
wherein, with a trailer hitched to the vehicle, said vehicular trailering system determines trailer angle of the trailer relative to the vehicle responsive at least in part to processing by said image processor of image data captured by at least one selected from the group consisting of said rearward viewing camera, said left-side viewing camera and said right-side viewing camera of said plurality of cameras during forward motion of the vehicle;
wherein, with said plurality of cameras disposed at the vehicle and with the trailer hitched to the vehicle and during forward motion of the vehicle and responsive at least in part to processing by said image processor of image data captured by at least one selected from the group consisting of said forward viewing camera, said left-side viewing camera and said right-side viewing camera of said plurality of cameras, another vehicle exterior of the vehicle is detected;
wherein, responsive to detection of the detected other vehicle, said vehicular trailering system plans a path of forward travel of the vehicle towing the trailer that avoids contact by the trailer with the detected other vehicle;
and
wherein said vehicular trailering system is operable to control a braking system of the vehicle and wherein said vehicular trailering system is operable to control a steering system of the vehicle.

9 more elements

A vehicular trailering system, said vehicular trailering system comprising:

a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle;
said plurality of cameras comprising a forward viewing camera disposed at the in-cabin side of a windshield of the vehicle, said forward viewing camera viewing forward of the vehicle through the windshield;
said plurality of cameras comprising a rearward viewing camera disposed at a rear portion of the vehicle, said rearward viewing camera viewing at least rearward of the vehicle;
said plurality of cameras comprising a left-side viewing camera disposed at a left side portion of the vehicle, said left-side viewing camera viewing at least sideward of the vehicle;
said plurality of cameras comprising a right-side viewing camera disposed at a right side portion of the vehicle, said right-side viewing camera viewing at least sideward of the vehicle;
a control comprising an image processor;
wherein said image processor processes image data captured by said plurality of cameras;
wherein, with a trailer hitched to the vehicle, said vehicular trailering system determines trailer angle of the trailer relative to the vehicle responsive at least in part to processing by said image processor of image data captured by at least one selected from the group consisting of said rearward viewing camera, said left-side viewing camera and said right-side viewing camera of said plurality of cameras during forward motion of the vehicle;
wherein, with said plurality of cameras disposed at the vehicle and with the trailer hitched to the vehicle and during forward motion of the vehicle and responsive at least in part to processing by said image processor of image data captured by at least one selected from the group consisting of said forward viewing camera, said left-side viewing camera and said right-side viewing camera of said plurality of cameras, a pedestrian exterior of the vehicle is detected;
wherein, responsive to detection of the detected pedestrian, said vehicular trailering system plans a path of forward travel of the vehicle towing the trailer that avoids contact by the trailer with the detected pedestrian;
and
wherein said vehicular trailering system is operable to control a braking system of the vehicle and wherein said vehicular trailering system is operable to control a steering system of the vehicle.

9 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/147,946Filed 1 Oct 2018 · continuation
Priority: 18 Aug 2015
Published: US 2019/0039649 A17 Feb 2019
Granted: 22 Dec 2020
Term ends: Not estimatedThe source records don’t support an estimate.

Classification17 codes

B62D 13/06
Steering specially adapted for trailers: for backing a normally drawn trailer
B60R 1/26
With a predetermined field of view: to the rear of the vehicle
B60R 1/27
With a predetermined field of view: providing all-round vision, e.g. using omnidirectional cameras
B60W 10/184
Including control of braking systems: with wheel brakes

Family

Application62/206,443Us provisional application · filed 18 Aug 2015
Application15/238,005Parent of this continuation · filed 16 Aug 2016
US 2019/0039649 A1Pre-grant publication · published 7 Feb 2019
US 10,086,870 B2Parent of this continuation
US 2017/0050672 A1Published application
US 10,870,449 B2This patent

From the US filing history. Foreign family members aren’t listed.

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