Camera monitor system trailer backup trajectory overlay with vehicle speed-based correction
AssigneeStoneridge Electronics AB
InventorsYu He, Utkarsh Sharma, Liang Ma
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Abstract
A method of determining a trailer trajectory for a trailer includes the steps while the trailer is moving: determining a trailer location based upon at least one captured image, determining a trailer angle change rate based upon the at least one captured image, determining a trailer trajectory based upon the trailer location and the trailer angle change rate, and displaying an overlay related to the trailer trajectory. While the trailer is below a threshold speed the method includes the steps of: determining a steering change, revising the trailer trajectory based upon the steering change, and displaying a modified overlay related to the trailer trajectory based upon the steering change.
Claims20
A method of determining a trailer trajectory for a trailer, comprising the steps of:
- a) while the trailer is moving above a threshold speed, providing the trailer rear trajectory using an image-based analysis by:
- a1) determining a trailer location based upon at least one captured image;
- a2) determining a trailer angle change rate based upon the at least one captured image;
- a3) determining the trailer rear trajectory based upon the trailer location and the trailer angle change rate;
- a4) displaying an overlay related to the trailer rear trajectory during the image-based analysis;
- b) while the trailer is below the threshold speed, providing a revised trailer rear trajectory using a non-image-based analysis by:
- b1) determining a steering change;
- b2) revising the trailer rear trajectory from the image-based analysis in step a) based upon the steering change;
- and
- b3) displaying a modified overlay related to the revised trailer rear trajectory based upon the steering change during the non-image-based analysis.
A camera monitor system (CMS) for a vehicle, comprising:
- at least one rear-facing camera configured to obtain at least one captured image;
- at least one display configured to depict the at least one captured image;
- a CMS controller including a memory and a processor, the CMS controller in communication with the at least one rear-facing camera and the at least one display, wherein the memory storing instructions for causing the processor to:
- a) while the trailer is moving above a threshold speed, providing a trailer rear trajectory using an image-based analysis:
- a1) determine a trailer location based upon the at least one captured image;
- a2) determine a trailer angle change rate based upon the at least one captured image;
- a3) determine the trailer rear trajectory based upon the trailer location and the trailer angle change rate;
- a4) display an overlay related to the trailer rear trajectory on one of the at least one displays during the image-based analysis;
- b) while the trailer is below the threshold speed, providing a revised trailer rear trajectory using a non-image-based analysis:
- b1) determine a steering change;
- b2) revise the trailer rear trajectory from the image-based analysis in step a) based upon the steering change;
- and
- b3) display a modified overlay related to the revised trailer rear trajectory based upon the steering change during the non-image-based analysis.
Dependencies are inferred from the claim text.