SMART TRAILER CONTROLLER USING HMI-BASED VISUAL SERVOING

摘要

A method of autonomously aligning a tow bar with a towing vehicle and trailer drawbar to a trailer using a human machine interface (HMI) based visual servoing method. The method includes providing rear view camera images of a reversing camera. The method includes contacting the ball on the trailer hitch on a display to register a location of the tow ball in the image and touching the drawbar on the display to register a destination at which the tow ball is properly positioned with the drawbar. The method orbits the target represented on the image by means of a template pattern and autonomously moves the vehicle so that the tow ball moves toward the target. The method predicts a new destination while the vehicle is moving, and identifies the destination in new images as the vehicle moves by comparing the previous template pattern with an image spot around the predicted location.