Trailer angle detection system

摘要

A vision system for a vehicle includes a rearward facing camera disposed at a rearward portion of a vehicle. With a trailer attached to the vehicle and rearward of the vehicle, a processor is operable to process captured images and, responsive at least in part to the processing, is operable to determine a plurality of trailer and vehicle-trailer interface parameters. The system is operable to calculate a calculated trailer angle based at least in part on calculations involving the parameters and a steering angle of the vehicle. Responsive to processing of images captured by the camera, the system is operable to determine a determined trailer angle of the trailer relative to a longitudinal axis of the vehicle. Responsive to the determined trailer angle and the calculated trailer angle, the system is operable to determine a degree of offset between the calculated trailer angle and the detected trailer angle.

主权项

1. A vision system for a vehicle, said vision system comprising:
a rearward facing camera disposed at a rearward portion of a vehicle equipped with said vision system and having at least a rearward field of view; wherein said rearward facing camera captures image data representative of a scene at least rearward of the equipped vehicle; a driver side camera disposed at a driver side portion of the equipped vehicle and having at least a sideward and rearward field of view; wherein said driver side camera captures image data representative of a scene at least sideward and rearward of the equipped vehicle; a passenger side camera disposed at a passenger side portion of the equipped vehicle and having at least a sideward and rearward field of view; wherein said passenger camera captures image data representative of a scene at least sideward and rearward of the equipped vehicle; wherein said rearward facing camera, said driver side camera and said passenger side camera are part of a surround view system, said surround view system comprising a processor that processes image data captured by said rearward facing camera, said driver side camera and said passenger side camera to generate bird's eye view video images for display at a video display of the equipped vehicle; wherein, with a trailer attached to the equipped vehicle and rearward of the equipped vehicle, said processor processes captured image data captured as the equipped vehicle is driven forwardly or rearwardly and, responsive at least in part to said processing, said processor determines a plurality of trailer parameters and vehicle-trailer interface parameters; and wherein the displayed bird's eye view video images include a dynamic vehicle icon and trailer icon overlaying a portion of the displayed video images, and wherein the displayed dynamic vehicle icon and trailer icon represent a top down representation of the equipped vehicle and the towed trailer, and wherein the displayed trailer icon is at the rear of the displayed vehicle icon and at a trailer angle relative to a longitudinal axis of the displayed vehicle icon; and wherein the trailer angle of the displayed trailer icon relative to the displayed vehicle icon is at least in part derived from at least one of (i) processing of image data captured by said cameras, (ii) a steering angle of the equipped vehicle and (iii) the determined trailer parameters and vehicle-trailer interface parameters.