Method and system for estimating vehicle load and traction body train load based on camera images

Abstract

Methods and systems are provided for a vehicle that pulls a trailer. In one embodiment, a method includes receiving, by a processor, image data from one or more image sensors of a vehicle; determining, by a processor, a change in vehicle height based on the image data; determining, by the processor, at least one of a vehicle load and a trailer hitch load based on the change in vehicle height; and generating, by the processor, at least one of notification data and control data based on at least one of the vehicle load and the trailer hitch load to control the vehicle.

Description

Technical Field

[0001] The technical field relates generally to vehicles, and more particularly, to methods and systems for determining vehicle load and trailer body tongue load values ​​associated with a trailer body coupled to the vehicle and controlling the vehicle based on the determined values. Background Art

[0002] The trailer body hitch load is a measure of the load applied by the trailer body hitch to the towing hitch of the vehicle. Vehicle load is a measure of the payload on the vehicle. When any one load is excessive, suboptimal vehicle performance may be experienced. For example, trailer body sway and / or vehicle instability may occur. Most vehicles are not equipped with sensors to directly sense load values. Adding additional sensors to directly sense load values ​​increases the complexity of the vehicle.

[0003] Therefore, it is desirable to provide a method and system for determining load values ​​associated with a tow body tongue load and a vehicle load without adding any additional load sensors. Furthermore, it is desirable to improve the performance of the vehicle based on the determined load values. Moreover, other desirable features and characteristics of the present invention will become apparent from the following detailed description and the appended claims, taken in conjunction with the accompanying drawings and this background introduction. Summary of the invention

[0004] Methods and systems for a vehicle configured to tow a trailer body are provided. In one embodiment, a method includes: receiving, by a processor, image data from one or more image sensors of a vehicle; determining, by the processor, a change in height of the vehicle based on the image data; determining, by the processor, at least one of a vehicle load and a trailer body hitch load based on the change in height of the vehicle; and generating, by the processor, at least one of notification data and control data to control the vehicle based on at least one of the vehicle load and the hitch load.

[0005] In various embodiments, the method comprises determining a front wheel or axle position and a rear wheel or axle position from the image data, and wherein a change in vehicle height is determined based on the front wheel or axle position and the rear wheel or axle position.

[0006] In various embodiments, the method includes: assessing a speed of the vehicle; and enabling determining a change in altitude of the vehicle based on the assessment.

[0007] In various embodiments, the method includes: assessing a health of the image sensor; and enabling determining a change in vehicle altitude based on the assessment.

[0008] In various embodiments, the method includes: assessing visibility of front wheel or axle positions and rear wheel or axle positions from the image data; and enabling determining a change in vehicle height based on the assessing.

[0009] In various embodiments, the method includes determining whether the road grade angle can be determined, and when the road grade angle cannot be determined, the notification data includes overload information.

[0010] In various embodiments, the method includes determining a road grade angle based on the global positioning data, and scaling, by a processor, at least one of a vehicle load and a towed body tongue load based on the road grade angle.

[0011] In various embodiments, the method includes determining a road grade angle from the image data, and scaling, by a processor, at least one of a vehicle load and a tow body tongue load based on the road grade angle.

[0012] In various embodiments, the method includes: determining a first pixel count between a first point and a second point in a first image in the image data in which the vehicle is not loaded; determining a second pixel count between a third point and a fourth point in a second image in the image data in which the vehicle is loaded, and converting the first pixel count and the second pixel count to metric heights, and wherein a change in the height of the vehicle is determined based on the converted metric height.

[0013] In various embodiments, the method includes the first point and the third point being associated with a body of a vehicle, and wherein the second point and the fourth point are associated with a tire or an axle of the vehicle.

[0014] In another embodiment, a system includes: a non-transitory computer-readable medium configured to store suspension parameters; and a computer system on a vehicle. The computer system is configured to: receive image data from one or more image sensors of the vehicle; determine a change in vehicle height based on the image data; determine at least one of a vehicle load and a tow body hitch load based on the change in vehicle height; and generate at least one of notification data and control data to control the vehicle based on at least one of the vehicle load and the tow body hitch load.

[0015] In various embodiments, the computer system is further configured to determine front wheel or axle positions and rear wheel or axle positions from the image data, and wherein the change in vehicle height is determined based on the front wheel or axle positions and rear wheel or axle positions.

[0016] In various embodiments, the computer system is further configured to: assess a speed of the vehicle; and enable determining a change in altitude of the vehicle based on the assessment.

[0017] In various embodiments, the computer system is further configured to: assess a health of the image sensor; and enable determining a change in vehicle altitude based on the assessment.

[0018] In various embodiments, the computer system is further configured to: evaluate visibility of front wheel or axle positions and rear wheel or axle positions from the image data; and enable determining a change in vehicle height based on the evaluation.

[0019] In various embodiments, the computer system is further configured to determine whether the road slope angle can be determined, and when the road slope angle cannot be determined, the notification data includes overload information.

[0020] In various embodiments, the computer system is further configured to determine a road grade angle based on at least one of the image data and the global positioning data, and to scale, by the processor, at least one of the vehicle load and the trailer hitch load based on the road grade angle.

[0021] In various embodiments, the computer system is further configured to: determine a first pixel count between a first point and a second point in a first image in the image data in which the vehicle is not loaded; determine a second pixel count between a third point and a fourth point in a second image in the image data in which the vehicle is loaded, and convert the first pixel count and the second pixel count to a metric height, and wherein a change in the height of the vehicle is determined based on the converted metric height.

[0022] In various embodiments, the first point and the third point are associated with a body of the vehicle, and wherein the second point and the fourth point are associated with a tire or an axle of the vehicle.

[0023] In another embodiment, a vehicle includes: at least one camera configured to capture a side view of the vehicle; and a computer system configured, by a processor, to: receive image data from one or more image sensors of the vehicle; determine a change in vehicle height based on the image data; determine at least one of a vehicle load and a tow body hitch load based on the change in vehicle height; and generate at least one of notification data and control data to control the vehicle based on at least one of the vehicle load and the tow body hitch load. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present disclosure will hereinafter be described in conjunction with the accompanying drawings, wherein like reference numerals refer to like elements, and wherein:

[0025] Figure 1 is a functional block diagram of a vehicle including a load value determination system according to various embodiments;

[0026] Figure 2 is a diagram showing various embodiments Figure 1 A data flow diagram of the components of the vehicle load value determination system;

[0027] Figure 3 and Figure 4 is a graphical representation of the parameters calculated by the load value determination system; and

[0028] Figure 5 is a diagram showing a method of performing a Figure 1 and Figure 2 A flowchart of a process for determining a load value performed by a load value determination system for a vehicle. DETAILED DESCRIPTION

[0029] The following detailed description is merely exemplary in nature and is not intended to limit application and use. In addition, there is no intention to be bound by any express or implied theory presented in the aforementioned technical field, background technology, invention content or the following detailed description. As used herein, the term module refers to any hardware, software, firmware, electronic control component, processing logic and / or processor device alone or in any combination, including but not limited to: application-specific integrated circuits (ASICs), electronic circuits, processors (shared, dedicated or groups) and memories that execute one or more software or firmware programs, combinational logic circuits and / or other suitable components that provide the described functions.

[0030] Embodiments of the present disclosure may be described herein in terms of functional and / or logical block components and various processing steps. It should be understood that such block components may be implemented by any number of hardware, software, and / or firmware components configured to perform specified functions. For example, embodiments of the present disclosure may employ various integrated circuit components, such as memory elements, digital signal processing elements, logic elements, lookup tables, etc., that may implement various functions under the control of one or more microprocessors or other control devices. In addition, those skilled in the art will appreciate that embodiments of the present disclosure may be practiced in conjunction with any number of systems, and the systems described herein are merely exemplary embodiments of the present disclosure.

[0031] For the sake of brevity, conventional techniques related to signal processing, data transmission, signaling, control, and other functional aspects of the system (and the various operating components of the system) may not be described in detail herein. In addition, the connecting lines shown in the various figures included herein are intended to represent example functional relationships and / or physical connections between the various elements. It should be noted that many alternative or additional functional relationships or physical connections may exist in the embodiments of the present disclosure.

[0032] Reference Figure 1, a load value determination system, shown generally at 100, is associated with a vehicle 10 according to various embodiments. Generally speaking, the load value determination system 100 estimates load values, such as a vehicle load and / or a trailer body tongue load when the vehicle 10 is towing a trailer body 12. As will be discussed in greater detail below, the load value determination system 100 determines these values ​​based on analysis of image data provided by a camera that captures a side view image of the vehicle 10.

[0033] like Figure 1 As shown, the vehicle 10 includes an automobile configured to tow a trailer body 12. In certain embodiments, the vehicle 10 can be, for example, any of many different types of automobiles, such as a sedan, a van, a truck (not shown), or a sports utility vehicle (SUV), and can be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD) or all-wheel drive (AWD), and / or various other types of vehicles. In certain embodiments, the vehicle 10 can also include other types of mobile platforms and is not limited to automobiles. In various embodiments, the trailer body 12 can be any type of towable application having one or more wheels and is not limited to any one embodiment.

[0034] The vehicle 10 is configured to be coupled to and connected to a tow body 12 via a connection device 11, and is configured to tow the tow body 12. In various embodiments, the connection device 11 includes a hitch mechanism that includes a ball that is coupled to a tongue of the tow body 12. When coupled to the vehicle 10, the tongue applies a load to the hitch mechanism and thus to the vehicle 10. This load imparted to the tow body tongue is referred to as the tow body tongue load. The load imparted to the vehicle 10 by the tow body 12 and other payload within the vehicle 10 is referred to as the vehicle load.

[0035] like Figure 1 As depicted, exemplary vehicle 10 generally includes chassis 13, body 14, front wheels 16, rear wheels 18, and suspension system 19. Body 14 is disposed on chassis 13 and substantially surrounds components of vehicle 10. Body 14 and chassis 13 may together form a frame. Wheels 16 and 18 are each rotatably coupled to chassis 13 near respective corners of body 14 by axles 17 (front and rear) of suspension system 19. In various embodiments, wheels 16 and 18 include tires coupled to rims.

[0036] The vehicle 10 also includes a propulsion system 20, a transmission system 22, a steering system 24, a braking system 26, a sensor system 28, an actuator system 30, at least one data storage device 32, at least one controller 34, and a display system 35. In various embodiments, the propulsion system 20 may include an internal combustion engine, an electric motor such as a traction motor, and / or a fuel cell propulsion system. The transmission system 22 is configured to transmit power from the propulsion system 20 to the vehicle wheels 16 and 18 according to a selectable speed ratio. According to various embodiments, the transmission system 22 may include a step ratio automatic transmission, a continuously variable transmission, or other suitable transmission. The braking system 26 is configured to provide braking torque to the vehicle wheels 16 and 18. In various embodiments, the braking system 26 may include friction brakes, wire control brakes, regenerative braking systems (such as electric motors), and / or other suitable braking systems. The steering system 24 affects the position of the vehicle wheels 16 and 18. Although depicted as including a steering wheel for illustrative purposes, in some embodiments contemplated within the scope of the present disclosure, the steering system 24 may not include a steering wheel.

[0037] The sensor system 28 includes one or more sensing devices 40a-40n that sense observable conditions of the external and / or internal environment of the vehicle 10 and / or components of the vehicle 10 itself. The sensing devices 40a-40n may include, but are not limited to, radars, lidars, global positioning systems, optical cameras, thermal cameras, ultrasonic sensors, inertial measurement units, pressure sensors, position sensors, displacement sensors, speed sensors, and / or other sensors. In various embodiments, one or more of the sensing devices 40a-40n include one or more side-view cameras configured to capture side-view images of the vehicle 10. In various embodiments, the side-view camera is integrated into the vehicle 10, for example as part of a side-view mirror. In various other embodiments, the side-view camera is an auxiliary camera (i.e., configured on a remote vehicle 10 or a remote device such as a user device) that transmits data associated with the captured image to the vehicle 10.

[0038] The actuator system 30 includes one or more actuator devices 42a-42n that control one or more vehicle features, such as, but not limited to, the propulsion system 20, the transmission system 22, the steering system 24, and the braking system 26. In various embodiments, the vehicle features may also include interior and / or exterior vehicle features, such as, but not limited to, doors, trunks, and cabin features such as air, music, lighting, etc. (not numbered).

[0039] The data storage device 32 stores data used to control the vehicle 10. In various embodiments, the data storage device 32 stores defined values ​​used to perform load value determinations and control the vehicle 10. As can be appreciated, the data storage device 32 can be part of the controller 34, separate from the controller 34, or part of the controller 34 and part of a separate system.

[0040] The controller 34 includes at least one processor 44, a communication bus 45, and a computer-readable storage device or medium 46. The processor 44 can be any custom or commercially available processor, a central processing unit (CPU), a graphics processing unit (GPU), an auxiliary processor of several processors associated with the controller 34, a semiconductor-based microprocessor (in the form of a microchip or chipset), a macroprocessor, any combination thereof, or any device generally used to execute instructions. For example, the computer-readable storage device or medium 46 can include volatile and non-volatile storage in read-only memory (ROM), random access memory (RAM), and keep-alive memory (KAM). KAM is a permanent or non-volatile memory that can be used to store various operating variables when the processor 44 is powered off. The computer-readable storage device or medium 46 can be implemented using any of the following many known memory devices: programmable read-only memory (PROM), electrical PROM (EPROM), electrically erasable PROM (EEPROM), flash memory, or any other electrical, magnetic, optical or combined memory device capable of storing data (some of which represent executable instructions used by the controller 34 when controlling the vehicle 10). The bus 45 is used to transmit programs, data, status and other information or signals between various components of the vehicle and / or trailer. The bus 45 can be any suitable physical or logical means (means) for connecting computer systems and components. This includes but is not limited to direct hard-wired connections, optical fiber, infrared and wireless bus technologies.

[0041] The instructions may include one or more separate programs, each of which includes an ordered list of executable instructions for implementing logical functions. When the instructions are executed by the processor 44, the instructions receive and process signals from the sensor system 28, execute logic, calculations, methods and / or algorithms for automatically controlling components of the vehicle 10, and generate control signals to the actuator system 30 based on the logic, calculations, methods and / or algorithms to automatically control components of the vehicle 10. Although Figure 1 Only one controller 34 is shown, but embodiments of the vehicle 10 may include any number of controllers 34 that communicate via any suitable communication medium or combination of communication media and collaborate to process sensor signals, execute logic, calculations, methods and / or algorithms, and generate control signals that automatically control features of the vehicle 10.

[0042] In various embodiments, one or more instructions of the controller 34 are embodied in the load value determination system 100 and, when executed by the processor 44, the one or more instructions of the controller 34 receive data from the sensor system 28 and process the received data to extract points identifying the deflection of the vehicle 10. The instructions use the extracted points to estimate the tow body trailer load and the vehicle load. The instructions further process the sensor data to determine the road grade angle and adjust the estimates of the tow body trailer load and the vehicle load based on the road grade angle (if available). The instructions are also configured to control the vehicle 10 based on the determined load value.

[0043] As can be appreciated, the controller 34 may be different in other ways. Figure 1 . For example, the controller 34 may be connected to or may otherwise utilize one or more remote computer systems and / or other control systems, such as as part of one or more of the above-described vehicle devices and systems. It should be understood that although the exemplary embodiment is described in the context of a fully functional computer system, those skilled in the art will recognize that the mechanisms of the present disclosure can be distributed as a program product, and one or more types of non-transitory computer-readable signal-bearing media are used to store the program and its instructions and implement its distribution, such as a non-transitory computer-readable medium that carries the program and contains computer instructions stored therein for causing a computer processor (such as, processor 44) to execute and implement the program. Such a program product may take a variety of forms, and the present disclosure applies equally regardless of the specific type of computer-readable signal-bearing medium used for distribution. Examples of signal-bearing media include: recordable media, such as floppy disks, hard drives, memory cards, and optical disks; and transmission media, such as digital and analog communication links. It should be understood that cloud-based storage and / or other technologies may also be utilized in certain embodiments. Similarly, it should be understood that the computer system of the controller 34 may also be different from other systems in other ways. Figure 1 In the embodiments depicted in FIG. 1 , a computer system such as controller 34 may be coupled to or may otherwise utilize one or more remote computer systems and / or other control systems.

[0044] Reference Figure 2 And continue to refer to Figure 1 , a data flow diagram illustrating the various embodiments Figure 1As can be appreciated, various embodiments of the load value determination system 100 according to the present disclosure may include any number of modules embedded within the controller 34, which modules may be combined together and / or further divided to similarly implement the systems and methods described herein. In addition, inputs to the load value determination system 100 may be received from the sensor system 28, from other control modules (not shown) associated with the vehicle 10 and / or the trailer 12, and / or by Figure 1 In various embodiments, the load value determination system 100 includes an enabling module 202, a vehicle height determination module 204, a load determination module 206, a road slope angle determination module 208, a notification module 210, and a parameter database 212.

[0045] Parameter database 212 stores vehicle and / or camera parameters 216 and suspension parameters 214 used in determining load values ​​as discussed in more detail below. As can be appreciated, parameters can be predefined during manufacturing and / or set based on user input provided by a user configuring system 100.

[0046] In various embodiments, the enabling module 202 receives image data 218, sensor health data 220, and vehicle speed data 222 as input. In various embodiments, the image data 218 includes a left side view image and / or a right side view image of the vehicle 10 taken from a camera configured to capture a side view image of the vehicle 10 (integrated in the vehicle 10 or as a separate camera). The enabling module 202 evaluates the received data 218-222 to enable or disable the load value determination based on the defined enabling conditions. For example, the enabling module 202 sets the enabling data 224 to a value indicating enabling or disabling based on the evaluation.

[0047] For example, the enabling module 202 evaluates the image data 218 to determine whether two axles or wheels (front and rear) are visible in the image, or whether one axle or wheel (front or rear) and one partial wheel are visible. When two axles or wheels, or one axle or wheel and one partial wheel are visible in the image, the enabling module 202 sets the enabling data 224 to indicate enabled. When neither axle or wheel is present in the image, or the partial wheel is not present in the image, the enabling module 202 sets the enabling data 224 to indicate disabled.

[0048] In another example, the enabling module 202 evaluates the vehicle speed data 222 to determine whether the vehicle 10 is stationary. When the vehicle 10 is stationary, the enabling module 202 sets the enabling data 224 to indicate enabled. When the vehicle 10 is not stationary, the enabling module 202 sets the enabling data 224 to indicate disabled.

[0049] In another example, the enabling module 202 evaluates the sensor health data 220 to determine whether a sensing device such as a camera is healthy. When the camera is healthy, the enabling module 202 sets the enabling data 224 to indicate enabled. When the camera is unhealthy, the enabling module 202 sets the enabling data 224 to indicate disabled.

[0050] As can be appreciated, in various embodiments, any combination of the described enabling conditions may be used to enable load value determination, as the present disclosure is not limited to this example.

[0051] The vehicle height determination module 204 receives as input the enablement data 224, the image data 218, and the vehicle / camera parameter data 216. When the enablement data 224 indicates that the feature is enabled, the vehicle height determination module 204 processes the image data 218 to determine and analyze the frame height of the vehicle 10. For example, the vehicle height determination module 204 pre-processes the image data 218 to enhance the contrast of the image, such as using a histogram stretching method or some other method, and then performs edge detection on the enhanced image data to generate edge data indicating edges of objects detected within the image.

[0052] Based on the edge data, the vehicle height determination module 204 extracts points from the defined edges in the image and uses these points to calculate the vehicle height. In various embodiments, the vehicle height determination module 204 extracts points associated with the vehicle body by comparing the image to a template image that defines the edges of the body. For example, the vehicle height determination module 204 uses the comparison to identify the top center point of each wheel well associated with the wheels 16 and 18 or other body components and extracts the associated points from the image.

[0053] In another example, when the enabling data 224 indicates that both axles or wheels are visible, the vehicle height determination module 204 extracts points associated with the center of each wheel (e.g., points associated with the axle) by fitting an elliptical shape element to the elements in the image to identify the wheel or rim. Once the wheel or rim is identified, the vehicle height determination module 204 identifies the center of the fitted elliptical shape element as the center of the wheel and extracts the associated point in the image.

[0054] In another example, when the enabling data 224 indicates that one or more axles or wheels are not fully visible, the vehicle height determination module 204 extracts points associated with where the tires meet the ground by identifying lines of a certain predefined width in some area of ​​the image where the tires are expected to be visible.

[0055] The vehicle height determination module 204 then calculates the vehicle height by determining the difference between the location of the extracted vehicle body point and the tire center point or tire contact point of both the front and rear wheels, and based thereon generates the vehicle height data 226. For example, in various embodiments, the difference may be calculated based on a count of the number of pixels between the identified points in the image and a conversion of the count to the lengths L1 and L2.

[0056] like Figure 3 As shown, the vehicle height at the front and rear wheels can be calculated using the following relationships:

[0057]

[0058]

[0059]

[0060] as well as

[0061] ΔL=L 2 -L 1

[0062] Where f is the focal length of the camera, x 0 ,y 0 Indicates the position of the frame point extracted in the image space, x 1 ,y 1 represents the observed value of the tire in the image space at time t1 (the central axis or the intersection of the tire and the road), x 2 ,y 2 represents the observed value of the tire in the image space at time t2. Wherein, α represents the intersection angle between the camera focus ray and the vertical line through the vehicle axis (the vehicle moves up and down along this vertical line) in the object space, as calculated based on the camera extrinsic parameters and the vehicle size; D represents the three-dimensional distance between the camera position and the vertical line through the vehicle axis (the vehicle moves up and down along this vertical line) in the object space, as calculated based on the camera extrinsic parameters and the vehicle size; β 1 represents the angle between the main ray and the image ray to the tire point in the image space at time t1; β 1 represents the angle between the main ray and the image ray to the tire point in the image space at time t2. And where L 1 represents the height of the vehicle in the object space at time t1 (e.g., the default height when the vehicle is unloaded), L 2 represents the vehicle height in the object space at time t1 , and ΔL represents the change in the vehicle height in the object space between time t1 and t2 .

[0063] Return to reference Figure 2 In various embodiments, the load determination module 206 receives as input the vehicle height data 226, the suspension parameter data 214, and the vehicle and / or camera parameter data 216. The load determination module 206 converts the vehicle height data 226 into a force value based on the suspension parameter data 214. For example, a calibration, a lookup table, or a real-time function may be used to estimate the force value, wherein the value is defined based on the characteristics of the suspension system derived through data collection or calculated / estimated through simulation.

[0064] Thereafter, the load determination module 206 determines the vehicle load and the trailer body hitch load based on the force values ​​and the vehicle parameter data 216 and generates the vehicle load data 228 and the trailer body hitch load data 230 based thereon. Figure 4 As shown, the load value can be determined using the following relationship:

[0065] as well as

[0066]

[0067] Among them, F t Indicates the load on the trailer frame, F f represents the load on the front axle, F r Indicates the load on the rear axle, F load represents the load on the vehicle, l represents the distance between the front and rear axles of the vehicle 10, and c represents the distance between the rear axle and the trailer body tongue when coupled to the hitch.

[0068] As can be appreciated, in various embodiments, load values ​​may be determined for each of the left side (i.e., driver's side) of the vehicle 10 and the right side (i.e., passenger side) of the vehicle 10 based on the received images.

[0069] Return to reference Figure 2 In various embodiments, the road slope angle determination module 208 receives as input the GPS data 232 and / or the image data 218. The road slope angle determination module 208 determines the road slope angle based on the GPS data 232 and / or the image data 218 and generates the road slope angle data 234 based thereon. For example, when the GPS data 232 is available, the road slope angle is obtained from a differential of the last recorded position fix (e.g., from a global navigation satellite system GNSS).

[0070] In various embodiments, when GPS data 232 is not available, the image data 218 is processed for external line features. For example, the directions of vertical lines and optional horizontal lines are extracted from buildings, polls, road signs, etc. The road slope angle determination module 208 determines the road slope angle based on the vector intersection of the extracted lines. As can be appreciated, since the present disclosure is not limited to this example, in various embodiments, a combination of GPS data 232 and image data 218 can be used to determine the road slope angle using a combination of these methods or other methods.

[0071] In various embodiments, the notification module 210 receives as input the road grade angle data 234, the vehicle load data 228, and the trailer body trailer load data 230. The notification module 210 evaluates the data and generates notification data 236 and / or control data 238 based thereon. For example, when the road grade angle data 234 is available, the notification data 236 is generated to include the actual increments or values ​​of the vehicle load and the trailer body trailer load. When the vehicle load or the trailer body trailer load is greater than the maximum load, the notification data 236 is generated to indicate an overload condition. In another example, when the road grade angle data 234 is not available and the vehicle load is greater than the maximum load, the notification data 236 is generated to indicate an overload condition.

[0072] In various embodiments, the trailer hitch load data 230, the vehicle load data 228, and / or any overload conditions may also be provided as control data 238 to a control system or other vehicle system for automatic control of the vehicle 10 and / or for display purposes. For example, the load values ​​may be provided as load values ​​in Newtons, as a percentage load of a maximum load, or as a graphic or display effect representing the load values ​​and / or percentages.

[0073] Now refer to Figure 5 And continue to refer to Figure 1 to Figure 2 , the flowchart provides a method 500 for determining a load value and controlling the vehicle 10 based thereon according to an exemplary embodiment. As can be appreciated from the present disclosure, the order of operations within the method 500 is not limited to the following. Figure 5 The method 500 is not performed in the order shown, but may be performed in one or more altered orders when applicable and in accordance with the present disclosure. In various embodiments, the method 500 may be scheduled to run based on one or more predetermined events, and / or may run continuously during operation of the vehicle 10.

[0074] In one example, method 500 may begin at 502. At 503, an enabling condition is evaluated. For example, at 504, image data is evaluated to determine whether two axles and / or wheels (front and rear) are at least partially visible in the image. When at 504, the two axles and / or wheels are not at least partially present in the image, the feature is disabled and method 500 may end at 538. When at 504, the two axles and / or wheels are at least partially visible in the image, vehicle speed data is evaluated at 506 to determine whether the vehicle 10 is stationary. When at 506, the vehicle 10 is not stationary, the feature is disabled and method 500 may end at 538.

[0075] When the vehicle 10 is stationary at 506, the camera health data is evaluated to determine if the camera is healthy at 508. When the camera is not healthy at 508, the feature is disabled and the method 500 may end at 538. When the camera is healthy at 508, the method 500 continues to process the image data to determine the load value at 509.

[0076] For example, image data is preprocessed to determine edge data at 510. Points are extracted from the edge data at 511, and the vehicle frame height at the front wheels and / or rear wheels is calculated based on the pixel count at 512. The vehicle frame height is then used to determine a change in height from a default height at each wheel at 514. Forces on the front wheels and forces on the rear wheels are determined based on the change in height, respectively, at 516, and a vehicle load and a trailer tongue load are determined based on the front and rear axle forces and vehicle parameters at 518.

[0077] Thereafter, it is determined whether the road slope angle affects the load determination at 519. For example, it is determined whether GPS is available at 520, and when GPS data is available at 520, the road slope angle is obtained from the difference of the most recently recorded GNSS at 522. When GPS data is not available at 520, it is determined whether the image data can be processed for external line features at 524. When line features can be extracted at 524, the direction of line vertical lines and optional horizontal lines from buildings, overhead, road signs, etc. are extracted at 526, and the road angle slope is determined based on the vector intersection of the extracted lines.

[0078] Thereafter, notification data and / or control data may be generated based on whether a road grade angle has been detected at 527. For example, when road angle data is available at 528, the load value may be adjusted for the road grade angle at 530, and notification data may be generated including actual increments or values ​​of the vehicle load and the trailer tongue load at 532. Thereafter, method 500 may end at 538.

[0079] In another example, when the road angle data is not available at 528 and the vehicle load is greater than the maximum load at 534, notification data is generated to indicate an overload condition at 536. Thereafter, the method 500 may end at 538. As may be appreciated, although the flow is not shown, in various embodiments, an overload condition may also be generated regardless of when the road angle data is available.

[0080] Although at least one exemplary embodiment has been given in the foregoing detailed description, it should be understood that there are a large number of variations. It should also be understood that an exemplary embodiment or multiple exemplary embodiments are only examples and are not intended to limit the scope, applicability or configuration of the present disclosure in any way. On the contrary, the foregoing detailed description will provide a convenient roadmap for those skilled in the art to implement an exemplary embodiment or multiple exemplary embodiments. It should be understood that various changes can be made to the functions and arrangements of the elements without departing from the scope of the present disclosure as set forth in the attached claims and their legal equivalents.

Claims

1. A method for a vehicle configured to tow a trailer, comprising: receiving, by a processor, image data from one or more image sensors of the vehicle; determining, by the processor, a change in vehicle altitude based on the image data; determining, by the processor, at least one of a vehicle load and a tow vehicle tongue load based on a change in the vehicle height; as well as At least one of notification data and control data is generated by the processor to control the vehicle based on at least one of the vehicle load and the tow body hitch load.

2. The method according to claim 1, further comprising: A front wheel or axle position and a rear wheel or axle position are determined by the processor from the image data, and wherein a change in height of the vehicle is determined based on the front wheel or axle position and the rear wheel or axle position.

3. The method according to claim 1, further comprising: assessing a speed of the vehicle; and enabling determining a change in altitude of the vehicle based on the assessment.

4. The method according to claim 1, further comprising: assessing visibility of front wheel or axle positions and rear wheel or axle positions based on the image data; and enabling determining a change in altitude of the vehicle based on the evaluation.

5. The method according to claim 1, further comprising: It is determined whether a road slope angle can be determined, and when the road slope angle cannot be determined, the notification data includes overload information.

6. The method according to claim 1, further comprising: A road grade angle is determined based on global positioning data, and at least one of the vehicle load and the tow body tongue load is scaled by the processor based on the road grade angle.

7. The method according to claim 1, further comprising: A road grade angle is determined from the image data, and at least one of the vehicle load and the tow body tongue load is scaled by the processor based on the road grade angle.

8. The method according to claim 1, further comprising: determining a first pixel count between a first point and a second point in a first image of the vehicle in the image data without being loaded; Determining a second pixel count between a third point and a fourth point in a second image of the vehicle loaded in the image data, and converting the first pixel count and the second pixel count to a metric height, and wherein determining a change in the height of the vehicle based on the converted metric height.

9. The method according to claim 8, wherein: The first point and the third point are associated with a body of the vehicle, and wherein the second point and the fourth point are associated with a tire or an axle of the vehicle.

10. A system for a vehicle configured to tow a trailer, comprising: a non-transitory computer-readable medium configured to store suspension parameters; as well as A computer system, on board the vehicle, configured to: receiving image data from one or more image sensors of the vehicle; determining a change in height of the vehicle based on the image data; determining at least one of a vehicle load and a trailer tongue load based on a change in the vehicle height; as well as At least one of notification data and control data is generated to control the vehicle based on at least one of the vehicle load and the tow body hitch load.

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