Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: Systems and methods for determining an angle of a movement path of a trailer (205). The system (200) for determining an angle of a movement path of a trailer (205) comprises a camera (250); and an electronic controller (260) communicatively coupled to the camera (250) and configured to receive first data from the camera (250), determine an absolute angle of the trailer (205) based on matching one portion of an image received in the first data to a template, receive second data from the camera (250), estimate a change in the angle of the trailer (205) based on tracking one or more points on the trailer (205) received in the second data, and determine the angle of the movement path of the trailer (205) based upon the trailer angle and the change in the angle of the trailer (205).

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: Systems and methods for adjusting color and brightness in multi-camera systems are disclosed. The system uses four cameras, having overlapping fields of view, mounted on the four sides of a vehicle. Color errors are determined for areas where the images from the rear and side cameras' fields of view overlap. Color gain factors are determined and applied for each of the side cameras (using the rear camera as “master”) to match the colors of the video outputs from the side cameras and the rear camera. The gains for the front view camera are then adjusted using gain factors based on the matched video outputs from the side view cameras using the side cameras as the “master” to the front camera “slave.” In this way, the rear camera indirectly acts as the master for the front camera and all cameras are ultimately color-matched to the rear camera.

Abstract: A vehicle system and method for transmitting camera-based parameters and video data includes a video camera disposed on a vehicle for viewing an exterior region. The video camera includes an image sensor for generating a video data stream from an exterior region of the vehicle, a controller for providing camera-based parameters, and an image signal processor. The image signal processor is configured to receive the video stream from the image sensor, receive camera-based parameters from the controller, transfer the camera-based parameters onto the video stream, and output an analog signal that includes the video stream and the camera-based parameters. An electronic control unit receives the analog signal, retrieves the camera-based parameters from the analog signal. A vehicle display receives and displays the video stream.

Abstract: Systems and methods are described for creating a unified output image based on image data from multiple cameras with overlapping fields of view by converting a raw image from each camera into a rectified output image using a look-up table. Camera misalignments are mitigated by generating an updated look-up table based on feature point detection and matching in the overlapping fields of view.

Abstract: Systems and methods for adjusting color and brightness in multi-camera systems are disclosed. The system uses four cameras, having overlapping fields of view, mounted on the four sides of a vehicle. Color errors are determined for areas where the images from the rear and side cameras' fields of view overlap. Color gain factors are determined and applied for each of the side cameras (using the rear camera as “master”) to match the colors of the video outputs from the side cameras and the rear camera. The gains for the front view camera are then adjusted using gain factors based on the matched video outputs from the side view cameras using the side cameras as the “master” to the front camera “slave.” In this way, the rear camera indirectly acts as the master for the front camera and all cameras are ultimately color-matched to the rear camera.

Abstract: Systems and methods are described for creating a unified output image based on image data from multiple cameras with overlapping fields of view by converting a raw image from each camera into a rectified output image using a look-up table. Camera misalignments are mitigated by generating an updated look-up table based on feature point detection and matching in the overlapping fields of view.

Abstract: A vehicle system and method for transmitting camera-based parameters and video data includes a video camera disposed on a vehicle for viewing an exterior region. The video camera includes an image sensor for generating a video data stream from an exterior region of the vehicle, a controller for providing camera-based parameters, and an image signal processor. The image signal processor is configured to receive the video stream from the image sensor, receive camera-based parameters from the controller, transfer the camera-based parameters onto the video stream, and output an analog signal that includes the video stream and the camera-based parameters. An electronic control unit receives the analog signal, retrieves the camera-based parameters from the analog signal. A vehicle display receives and displays the video stream.