Vehicular trailering assist system with trailer state estimation
US11377029B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 4, 2020 |
| Grant date | Jul 5, 2022 |
| Priority date | — |
| Expiry date | Dec 4, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A vehicular trailer assist system includes a camera disposed at a rear portion of a vehicle, a plurality of sensors, and an electronic control unit (ECU) having a processor for processing image data captured by the camera and sensor data captured by the plurality of sensors. The ECU, responsive to processing of image data captured by the camera, determines a trailer angle of the trailer relative to the vehicle. The ECU, responsive to processing of sensor data captured by the plurality of sensors, predicts a yaw rate of the vehicle and a trailer angle of the trailer relative to the vehicle at a future time. The ECU, responsive to predicting the yaw rate, determines a corrected vehicle yaw rate based on processing of captured image data and captured sensor data, and determines a corrected trailer angle, and determines a vehicle heading and position and a trailer heading and position.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.