Continental Automotive Systems Corporation

Continental Autonomous Mobility Us, LLC

James Hockridge Critchley

Nizar Ahamed

Abdulwahab Alkeilani

Xin Yu

Eduardo Jose Ramirez Llanos

Eduardo Llanos

Tony Moussa

Sina Gholamnejad Davani

Rodrigo Flores Maldonado

Jesse Aaron Hacker

A method for calibrating extrinsic parameters () of a trailer camera () supported by a trailer () attached to a tow vehicle (). The method includes determining a three-dimensional feature map () from one or more vehicle images () received from a camera () supported by the tow vehicle and identifying reference points () 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 () of the trailer camera () relative to the three-dimensional feature map () and determining a trailer reference point () based on the trailer camera location. The method also includes determining extrinsic parameters () of the trailer camera relative to the trailer reference point.

Automatic trailer camera calibration

A simultaneous localization and mapping system for a motor vehicle is disclosed and includes a plurality of sensors disposed within a vehicle operable to detect an object proximate the vehicle and generate a plurality of data points representing sensor returns corresponding to the detected objects surrounding the vehicle, and a controller configured to receive the data points representing the sensor returns of the detected objects surrounding the vehicle, to define an occupancy grid based on the data points and to generate vehicle operating instructions based on the defined occupancy grid, wherein the controller is configured to define at least one geometric anchor from the detected data points and localizing the vehicle based on the at least one geometric anchor.

Landmark-less simultaneous localization and mapping

A trailer reverse assist system includes a coupler angle detection sensor to detect a zero degree angle of the trailer relative to the vehicle. A drift controller receives signals from vehicle dynamics sensors. The drift controller is electrically connected with a trailer reverse assist module. When the vehicle is backing up the trailer on the intended straight line implied path and since the coupler angle sensor, detecting the zero degree angle, is not perfectly calibrated, based in the signals from the vehicle dynamics sensors, the drift controller 1) estimates a distance that the trailer has drifted from the straight line desired path and 2) in a closed-loop feedback manner, provides a drift correction signal to the trailer reverse assist module for modifying the value of the zero degree angle and thus cause adjustment of the steering system to realign the trailer towards the straight line implied path without manual steering intervention.

Drift stabilization system and method for vehicles and trailer reverse assist systems while straight line backing of trailer

A method for determining a length of a trailer attached to a tow vehicle having one or more sensors positioned on a back portion of the tow vehicle facing the trailer is disclosed. The method includes receiving, at a data processing hardware in communication with the one or more sensors, first sensor data associated with a first position of the tow vehicle. The method includes receiving, at the data processing hardware, second sensor data associated with a second position of the tow vehicle. The second position is different from the first position. The method also includes receiving, at the data processing hardware, third sensor data associated with a third position of the tow vehicle. The third position is different from the first position and the second position. The method includes determining, at the data processing hardware, a length of the trailer based on the first, second, and third sensor data.

Trailer length detection system

A method of identifying a target vehicle in a system includes providing a sensor within a system. Motion data of a plurality of vehicles within the system is detected with the sensor. Broadcast motion data is received from a vehicle unit within the system. Which of the plurality of vehicles is a target vehicle is determined based on a comparison of the detected motion data and the broadcast motion data.

System and method for vehicle identification

A method and system identifies an unobservable region using a surround view system of a vehicle. The vehicle has a trailer attached thereto. The surround view system includes cameras to provide a view of an area surrounding the vehicle, an ECU receives image data from the cameras, and a display. A legacy observable image of the area obtained from the cameras as the vehicle passes through the area is stored in the ECU. A model representing a geometry of the trailer is created. Live images of the area, while the vehicle is reversing the trailer in the area, are obtained by the cameras. The trailer defines an obstruction in the area that occludes camera views defining an unobservable region. Based on the legacy observable image, the geometry of the trailer, and the live images, the unobservable region in the area is calculated and displayed on the display.

Vehicle surround view system for identifying unobservable regions while reversing a trailer

A method for controlling one or more vehicle lights of a vehicle during execution of a vehicle function based on image analysis is provided. The method includes receiving instructions to analyze one or more images captured by a camera supported by the vehicle. The method also includes transmitting instructions to a vehicle light system including the one or more lights positioned within a vicinity of the camera. The instructions causing a change in a current state of the one or more lights to a temporary state. During the temporary state, the method includes receiving one or more images from the camera, and identifying one or more reference points within the one or more images.

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Lake Orion, MI, United States of America

James Hockridge Critchley