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公开(公告)号：WO2022027059A1
公开(公告)日：2022-02-03
申请号：PCT/US2021/071049
申请日：2021-07-29
Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.
Inventor： LLANOS, Eduardo , IP, Julien , FROEHLICH, Dominik
IPC: B62D13/06
Abstract: A method for determining a trailer angle between a tow vehicle and a trailer attached to the tow vehicle includes receiving images from a camera positioned on a rear portion of the tow vehicle with a data processing hardware device, determining visual features from the images, tracking the visual features while the tow vehicle and trailer are moving and calculating, at the data processing hardware, the trailer angle based on the visual features. The trailer angle is then transmitted from the data processing hardware to one or more vehicle systems.
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Patent Agency Ranking
公开(公告)号：WO2021055969A1
公开(公告)日：2021-03-25
申请号：PCT/US2020/051848
申请日：2020-09-21
Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.
Inventor： CRITCHLEY, James Hockridge , YU, Xin , LLANOS, Eduardo
IPC: G06T7/80
Abstract: A method for calibrating extrinsic parameters (182) of a trailer camera (132d, 132e, 132f) supported by a trailer (106) attached to a tow vehicle (102). The method includes determining a three-dimensional feature map (162) from one or more vehicle images (133) received from a camera (132a, 132b, 132c) supported by the tow vehicle and identifying reference points (163) within the three-dimensional feature map. The method includes detecting the reference points within one or more trailer images received from the trailer camera after the vehicle and the trailer moved a predefined distance in the forward direction. The method also includes determining a trailer camera location (172) of the trailer camera (132d, 132e, 132f) relative to the three-dimensional feature map (162) and determining a trailer reference point (184) based on the trailer camera location. The method also includes determining extrinsic parameters (182) of the trailer camera relative to the trailer reference point.
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公开(公告)号：WO2019217588A1
公开(公告)日：2019-11-14
申请号：PCT/US2019/031380
申请日：2019-05-08
Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.
Inventor： BERKEMEIER, Matthew Donald , YU, Xin , VERMA, Dhiren , BYNUM, Danny , IP, Julien , LLANOS, Eduardo , ZAGROBA, Joseph
Abstract: A method for autonomously maneuvering a vehicle in a rearward direction towards a point of interest is provided. The method includes receiving one or more images from a camera positioned on a back portion of the vehicle. The method includes overlaying a path on the one or more images. In addition, the method includes receiving a command by way of a user interface. The command includes instructions to adjust the path. The method includes adjusting the path based on the received command. The method also includes transmitting a drive command to a drive system supported by the vehicle. The drive command causes the vehicle to autonomously maneuver along the adjusted path in a rearward direction.
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公开(公告)号：WO2022027061A1
公开(公告)日：2022-02-03
申请号：PCT/US2021/071051
申请日：2021-07-29
Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.
Inventor： LLANOS, Eduardo , IP, Julien , CAMACHO RUIZ, Victor Manuel
Abstract: A method for visual trailer tracking of vehicle-trailer angle estimation, including: (a) camera receiving images, each most recently received image being identified as a current image, replacing a previously identified current image; (b) during a driving maneuver, extracting visual features from the current image, calculating a trailer angle from the current image, and storing the current image as a reference image, the trailer angle as a trailer angle reference and the extracted visual features as visual reference features; and (c) matching the visual features from the current image with the visual reference features. When a number of matches is below a threshold, repeating operation (c) to update the reference image, the trailer angle reference and the visual reference features. The method includes calculating a trailer angle between a trailer representation in the current image and a trailer representation in the reference image based in part upon the trailer angle reference.
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公开(公告)号：WO2020028895A1
公开(公告)日：2020-02-06
申请号：PCT/US2019/045080
申请日：2019-08-05
Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.
Inventor： BERKEMEIER, Matthew Donald , YU, Xin , BYNUM, Danny , IP, Julien , CARPENTER, Kyle P , LLANOS, Eduardo , VERMA, Dhiren
Abstract: A method of autonomously maneuvering a tow vehicle (100) towards a trailer (200) positioned behind the tow vehicle is provided. The method includes receiving one or more images from a camera (152) positioned on a back portion of the tow vehicle. The method also includes receiving, at the data processing hardware (160), a first user selection of a trailer representation within the one or more images. The method includes sending first instructions to a drive system (190) causing the tow vehicle to autonomously maneuver towards the trailer associated with the first user selection of the trailer representation. The method also includes receiving a second user selection of a coupler representation within the one or more images. The coupler representation associated with a trailer coupler (212) of the trailer. The method also includes sending second instructions to the drive system causing the tow vehicle (100) to autonomously maneuver towards the trailer coupler (212) associated with the second user selection.
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6.发明申请
公开(公告)号：WO2020028893A1
公开(公告)日：2020-02-06
申请号：PCT/US2019/045075
申请日：2019-08-05
Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.
Inventor： BERKEMEIER, Matthew Donald , YU, Xin , BYNUM, Danny , IP, Julien , CARPENTER, Kyle P. , LLANOS, Eduardo , VERMA, Dhiren
Abstract: A method for autonomously driving a vehicle (100) in a rearward direction towards a point of interest is provided. The method includes receiving one or more images from a camera (142) positioned on a back portion of the vehicle and receiving a driver planned path (162) from a user interface (130). The driver planned path (162) includes a plurality of waypoints (168). The method also includes transmitting one or more commands to a drive system (110) causing the vehicle to autonomously maneuver along the driver planned path (162). The method also includes determining a current vehicle position and an estimated subsequent vehicle position. The method also includes determining a path adjustment from the current vehicle position to the estimated subsequent vehicle position. The method also includes transmitting instructions to the drive system (110) causing the vehicle (100) to autonomously maneuver towards the estimated subsequent vehicle position based on the path adjustment.
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