Robert Boschgmbh

James Stephen Miller

Greg Sypitkowski

Patrick Graf

Steffen Abraham

Rajen Bhatt

Mark Gehrke

Paul Wickett

Raphael Cano

Robert Alan Jones

Naman Kumar

Matthew Baran

Christian Sperrle

Gary Ward

Frank Riggi

Elizabeth Kao

Matthias Mayerle

Sergio Andrés Amaya Correa

Bernhard Hilliger

Robert Jones

A method for displaying an environment of a vehicle having a coupled trailer. The method includes: recording a sequence of vehicle camera images using at least three vehicle cameras; recording a sequence of trailer camera images using the trailer camera; acquiring odometry data of the vehicle; ascertaining the trailer angle; storing items of image information about the close range of the vehicle; adjusting the position of the stored items of image information as a function of the detected odometry data; and displaying an environment model from a virtual observational perspective, preprocessed current vehicle and trailer camera images being projected onto a projection area of the environment model and being joined. For partial areas of the environment of the vehicle that are not represented, the stored items of information are projected onto the projection area according to their position and are joined to the vehicle and trailer camera images.

Method for displaying an environment of a vehicle having a coupled trailer, computer program, computing device and vehicle

A system and method for operating a rotatable knob module with adjustable tactile feedback. The rotatable knob module includes a knob configured to continuously rotate about a center axis and an electronic processor. The electronic processor is configured to determine a current trailer angle, define a virtual center position of the knob based on the current trailer angle, and adjust a rotational torque of the knob when the knob is rotated from a first rotational position to a second rotational position based on a relative virtual rotational distance of the second rotational position from the virtual center position.

Configurable electromechanical rotatable knob

Detecting a damage angle between a vehicle and a trailer. One example system includes an electronic controller and a rear-view camera configured to obtain video of the trailer. The electronic controller is configured to receive the video of the trailer from the rear-view camera and determine a damage point based upon the video of the trailer. The electronic controller is further configured to determine a change in a rotation angle of the trailer and determine a changed location of the damage point of the trailer based upon the change in the rotation angle of the trailer. The electronic controller is also configured to determine a damage angle based upon the changed location of the damage point relative to the vehicle and determine at least one maneuver to avoid collision between the damage point and the vehicle based upon the damage angle.

Detecting damage angles for a vehicle and trailer

Systems and methods for determining an angle of a movement path of a trailer. The system for determining an angle of a movement path of a trailer comprises a camera; and an electronic controller communicatively coupled to the camera and configured to receive first data from the camera, determine an absolute angle of the trailer based on matching one portion of an image received in the first data to a template, receive second data from the camera, estimate a change in the angle of the trailer based on tracking one or more points on the trailer received in the second data, and determine the angle of the movement path of the trailer based upon the trailer angle and the change in the angle of the trailer.

Determining an angle of a movement path of a trailer

A trailer reversing assist system for controlling reversing operations of a vehicle and trailer connected to the vehicle includes a module that detects an angle of the trailer relative to the vehicle, and outputs a trailer angle signal corresponding to the detected angle. The system also includes a human machine interface (HMI) device that provides an output signal based upon an input of the user, where the generated output signal includes information regarding magnitude and direction of a desired change to the angle. The system calculates a trailer trajectory that positions the trailer at a target location or calculates a trailer trajectory correction, wherein the calculation is performed using the output signal as corresponding to a change relative to the detected angle, and the detected angle corresponds to the trailer angle signal generated at the time of operation of the HMI device by the user.

User interface for reversing a trailer with automated steering system

Methods and systems for aligning a vehicle with a trailer. One system includes an image sensor configured to collect a plurality of images. The system also includes an electronic processor configured to receive the plurality of images from the image sensor. The electronic processor is also configured to determine a three-dimensional model of an area surrounding the vehicle using the plurality of images. The electronic processor is also configured to control the vehicle to automatically perform a vehicle maneuver to align the vehicle with the trailer based on the three-dimensional model of the area surrounding the vehicle. The electronic processor is also configured to determine when the vehicle is aligned with the trailer and stop the vehicle from automatically performing the vehicle maneuver when the vehicle is aligned with the trailer.

Methods and systems for aligning a vehicle with a trailer

A method and system for generating a composite video for display in a vehicle. A plurality of video streams are generated from a plurality of video cameras configured to be positioned on the vehicle. The video streams are transformed by an electronic processor to create a virtual camera viewpoint. The transformed video streams are combined to generate a composite video including a portion of a first image that is generated from a first one of the video cameras. The electronic processor detects an object external to the vehicle and determines whether the object at least partially obscures the portion of the first image. When the object at least partially obscures the portion of the first image, the electronic processor supplements the portion of the first image with a portion of a second image that is generated by a second one of the video cameras.

Dynamic image blending for multiple-camera vehicle systems

A method and apparatus for controlling use of an autonomous vehicle includes an interior occupant sensing system to obtain data of occupants from a video camera. An occupant sensing controller is configured to receive the video and detect a number of faces of occupants disposed in the vehicle. Further, the occupant sensing controller determines demographic information from the video data of each of the detected faces and then stores the vehicle location, the number of faces, and the demographic information for occupants as data in the vehicle. The occupant sensing controller determines from the demographic information an age of occupants in the autonomous vehicle, and when the demographic information indicates that all occupants in the autonomous vehicle are less than a certain age, limits travel to a destination or operation of the autonomous vehicle in response to age. Further, the occupant sensing controller can recognize a specific authorized individual within the vehicle and limit usage of the vehicle for the identified authorized individual.

Access and control for driving of autonomous vehicle

A method and system for determining a size and pose of an occupant () within a vehicle interior. In one embodiment, the method includes receiving one or more images (FIG.) of a vehicle interior from a camera (). The method also includes classifying interior regions () of the vehicle interior () in the one or more images. The method also includes identifying an occupant () in the one or more images based on the classification of the interior regions () of the vehicle interior (). The method also includes determining a size range of the occupant () based on the classification () of the interior regions of the vehicle interior (). The method also includes determining a pose of the occupant () based on the classification () of the interior regions of the vehicle interior (). The method also includes controlling one or more vehicle systems () based on the size and the pose of the occupant ().

Detection of occupant size and pose with a vehicle interior camera

A vehicle for autonomously parking in a desired parking location selected via a remote device. The vehicle includes a first camera, a vehicle control system, and a first electronic processor. The first electronic processor is configured to receive a first image from the first camera, determine a plurality of features in the first image, and receive, from the remote device, a second image and the desired parking location in the second image. The first electronic processor is also configured to determine a plurality of features in the second image, match the determined features in the second image to determined features in the first image, and determine a location of the vehicle relative to the desired parking location. The first electronic processor is further configured to determine a route to the desired parking location from a current location of the vehicle and autonomously maneuver the vehicle to the desired parking location.

Autonomously guiding a vehicle to a desired parking location selected with a remote device

A system for parking a vehicle in a location that is not defined by parking lines or by surrounding vehicles. In one example, the system comprises a user interface, an electromagnetic radiation sensor, and an electronic controller. The electronic controller receives information about the vehicle's surroundings via the electromagnetic radiation sensor. The electronic controller also receives a desired parking location via the user interface. Using the information about the vehicle's surroundings and the desired parking location the electronic controller creates a virtual parking boundary and determines reference points. As the electronic controller moves the vehicle into a parking location the electronic controller tracks the reference points, determines the distance between the vehicle and the parking location, and detects obstructions in the parking location or in the vehicle's path to the parking location.

Automated parking for virtual parking spot

An object detection system for used in a vehicle includes an object detector is provided. One or more fisheye lens cameras coupled to an object detection system are positioned at various location of the vehicle for capturing a field of view (FOV) into an image. The image is split into multiple different set of perspective images. Each perspective images may include a portion of overlap having common or identical object of interest. The object detector classifies various objects of interest in the perspective images, estimates distance of objects of interest from the vehicle using camera calibration information stored in one of the camera, and transmits the sensed information that corresponds to the distance of interest to a processor. The processor includes sequence of instruction or object code either located in one of the object detection system, in-vehicle network, and an electronic device processes the sensed information and applies bounding boxes around objects of interest the vehicle or in the electronic device. One or more images incorporated the colored bounding boxes are transmitted to a display unit or screen for display as human readable format.

Object detection system and method thereof

A method of operating a remote view system with privacy protection and a remote view system with privacy protection. In one embodiment, the method includes receiving a request from a remote device for one or more images of a vehicle interior, receiving one or more images of the vehicle interior, determining whether a privacy key is located within the vehicle interior, determining whether one or more occupants are located within the vehicle interior, retrieving the privacy settings of the vehicle interior stored in memory, responsive to determining that the privacy key and the one or more occupants are located within the vehicle interior, generating one or more privacy images based on the one or more images and the privacy settings of the vehicle interior, controlling a transceiver to transmit the one or more privacy images to the remote device via an antenna.

Remote view system with privacy protection

A method and system for guiding a vehicle having a hitch connector to a trailer operates with a monocular vehicle video camera secured to a rear of the vehicle. In operation, the vehicle video camera generates video images from a rearward direction of the vehicle that are displayed. An electronic control unit including a processor is configured to: receive and display the video images, analyze the video images to confirm the location of a trailer coupler, analyze the video images to determine distance from a hitch connector of the vehicle to the trailer coupler, analyze the video images to determine height of the hitch connector of the vehicle, height of the trailer coupler of the trailer, and the relative height difference between the hitch connector of the vehicle and the trailer coupler of the trailer, and assist in guiding the vehicle to a trailer coupling position.

Growing community of inventors

Dexter, MI, United States of America

James Stephen Miller