A vehicle maneuvering apparatus includes an imaging device configured to capture image data and a controller in communication with a vehicle maneuvering system. The controller is configured to identify a coupler position of a trailer in the image data and compare a coupler height of the coupler position with a hitch height of a hitch ball. In response to the coupler height being insufficient to clear the hitch height, the controller is further configured to calculate a target position laterally offset from the coupler position and communicate the target position to the vehicle maneuvering system.

An image generating apparatus generates an image to be displayed on a display and includes at least one memory and a control circuit. The control circuit acquires a plurality of camera images captured by a plurality of cameras installed in a vehicle, calculates a distance between one of the cameras and a target to be projected in in the camera images, detects a position of a light-transmissive object or a reflective object in the camera images, and generates an image from a point of view that is different from points of view of the plurality of camera images by using the plurality of camera images and the distance, the generated image including a predetermined image that is displayed at the position of the light-transmissive object or the reflective object.

A method for autonomously maneuvering a tow vehicle. The method includes receiving images from one or more cameras positioned on a back portion of the tow vehicle and receiving sensor data from an inertial measurement unit supported by the tow vehicle. The method also includes determining a pixel-wise intensity difference between a current received image and a previous received image. The method includes determining a camera pose and a trailer pose with respect to a world coordinate system. The camera pose and the trailer pose are based on the images, the sensor data, and the pixel-wise intensity difference. The method includes determining a tow vehicle path based on the camera pose and the trailer pose. The method also includes instructing a drive system supported by the tow vehicle to autonomously maneuver along the tow vehicle path in a reverse direction causing the tow vehicle to hitch with the trailer.

A driver assistance system for coupling a trailer to a towing vehicle is described, including a video camera attached to the towing vehicle and an associated display device in the driver's field of vision, in whose video image a static guide marking is displayed along which a coupling mouth arranged on the towing vehicle can be contacted with a drawbar eye held on the trailer by a drawbar. Providing a driver assistance system which helps the driver estimating the three-dimensional position of the drawbar eye in relation to the towing vehicle while rearwards approaching a trailer. The video camera is arranged at a vertical distance from the coupling and the guide marking is formed by two beam corridors arranged on both sides of the vehicle's longitudinal axis converging towards one another in the rearward direction of the towing vehicle.

A vehicular trailer assist system includes a camera disposed at a rear portion of a vehicle and viewing a portion of a trailer hitched at a hitch of the vehicle. During a reversing maneuver of the vehicle and hitched trailer, the vehicular trailer assist system, responsive to processing at an electronic control unit (ECU) of image data captured by the camera, determines a trailer angle of the trailer relative to a longitudinal axis of the vehicle. Based at least in part on the determined trailer angle, the vehicular trailer assist system determines a trailer direction of movement of the trailer while the vehicle is reversing with the trailer hitched at the hitch of the vehicle. The vehicular trailer assist system determines a virtual destination location rearward of the trailer and in the determined trailer direction and controls steering of the vehicle to reverse the trailer towards the virtual destination location.

Methods and apparatus are provided for determining a hitch articulation angle including a camera for capturing a first image and a second image, a steering sensor configured to detect a steering angle, a velocity sensor configured to detect a vehicle velocity, a processor configured to for generating a bird's eye view of the first image and the second image through a perspective transform, generating a trailer hitch model from the first image in response to the steering angle and the vehicle velocity indicating a vehicle is traveling in a straight forward direction, generating a current hitch model from the second image, determining a hitch articulation angle in response to an angular difference between the trailer hitch model and the current hitch model, and a vehicle controller controlling the vehicle in response to the hitch articulation angle.

A hitch assist system is provided herein. The system includes an imager for capturing images of a rear-vehicle scene containing a trailer and a controller for processing the captured images. A device is disposed at a trailer location and has a display configured to flash a shape at a predetermined frequency and alternating in color. The controller identifies the shape in the captured images to determine the trailer location.

Aspects of the present invention relate to an image processing system for processing image data received from first and second imaging devices provided on a towing vehicle and a towed vehicle connected by an articulated coupling. The image processing system includes one or more controller. The image processing system has an input configured to receive first image data from a first imaging device disposed on the towed vehicle and second image data from a second imaging device disposed on the towing vehicle. The first imaging device has a first field of view and the first image data represents a first scene behind the towed vehicle. The second imaging device has a second field of view and the second image data represents a second scene behind the towing vehicle. The image processing system includes a processor configured to determine an obscuration region in the second field of view which is obscured by the towed vehicle. An area of interest is determined in the first field of view in dependence on the determined obscuration region. The processor is configured to select a subsection of the first image data representing at least a portion of the determined area of interest. The present invention also relates to a method of processing image data; computer software and a non-transitory, computer-readable storage medium.

A system and method for operation of an autonomous vehicle (AV) yard truck is provided. A processor facilitates autonomous movement of the AV yard truck, and connection to and disconnection from trailers. A plurality of sensors are interconnected with the processor that sense terrain/objects and assist in automatically connecting/disconnecting trailers. A server, interconnected, wirelessly with the processor, that tracks movement of the truck around and determines locations for trailer connection and disconnection. A door station unlatches/opens rear doors of the trailer when adjacent thereto, securing them in an opened position via clamps, etc. The system computes a height of the trailer, and/or if landing gear of the trailer is on the ground and interoperates with the fifth wheel to change height, and whether docking is safe, allowing a user to take manual control, and optimum charge time(s). Reversing sensors/safety, automated chocking, and intermodal container organization are also provided.

An example embodiment of the present disclosure relates to a method for monitoring the position of a connection cable of a trailer, having the steps of: capturing a region which lies behind a motor vehicle using a camera, processing the captured image data using an analysis unit, detecting the connection cable, and determining the position of the connection cable, comparing the captured position of the connection cable with a secure position of the connection cable, and outputting a warning signal if the captured position of the connection cable deviates from the secure position.

Another example embodiment additionally relates to a camera system and to a motor vehicle including a camera system.