Automated hitching assist system

• US 10,150,505 B2
• Filed: 04/11/2016
• Issued: 12/11/2018
• Est. Priority Date: 04/14/2015
• Status: Active Grant

• Current Assignee: Continental Autonomous Mobility US LLC (Continental AG)
• Original Assignee: Continental Automotive Systems, Inc. (Continental AG)
• Inventors: Herzog, Brandon, Sun, Hao, Chen, Joyce, Muharemovic, Ibro
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Louie, Wae L
• Application Number:
  US15/095,202
• Publication Number:
  US 20160304122A1
• Time in Patent Office: 974 Days
• Field of Search: 701 25, 701 41, 280477, 2804791, 2804793, 348148
• CPC Class Codes: B60D 1/36 for facilitating connection, e.g. hitch catchers , visual guide means, signalling aids B60D1/465 takes precedence; vehicle signalling in general B60Q; optical arrangements specially adapted for viewing trailer-hitches B60R1/003
• CPC Class Codes: B60D 1/62 involving supply lines, electric circuits, or the like
• CPC Class Codes: B60G 17/0155 pneumatic unit
• CPC Class Codes: B60G 2800/01 Attitude or posture control
• CPC Class Codes: B60R 1/003 for viewing trailer hitches
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/808 for facilitating docking to a trailer
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B62D 13/005 operated from tractor steering system
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 15/0295 by overlaying a vehicle path based on present steering angle over an image without processing that image
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

A hitch assist system for a vehicle comprises a camera mounted to view a reverse path of a vehicle, an input device connected for the hitch assist system, and a controller. The controller includes instructions for detecting a trailer proximate to a vehicle with the camera, determining a vehicle hitch ball location, determining a trailer hitch location, and calculating a vehicle path from an initial position to a final position. The vehicle hitch ball is laterally aligned with the trailer hitch in the final position. The controller also includes instructions for calculating the steering and braking maneuvers necessary to move the vehicle along the path to the final position and sending instructions to a vehicle steering system and a vehicle brake system to perform the calculated maneuvers.

Claims

1. A method of controlling a vehicle, the method comprising:

initiating a trailer hitch assist system with an input device;

detecting a trailer proximate to a vehicle with at least one sensor mounted to the vehicle;

determining a vehicle hitch ball location;

determining a trailer hitch location with a controller for a hitch assist system;

calculating a vehicle path from an initial position to a final position with the controller;

adjusting a hitch ball height with an adjustable suspension system of the vehicle before the final position, wherein the vehicle hitch ball is laterally aligned with the trailer hitch in the final position;

calculating with the controller steering and braking maneuvers necessary to move the vehicle along the path to the final position; and

sending instructions from the controller to a vehicle steering system and a vehicle brake system to perform the calculated steering and braking maneuvers.

2. The method as recited in claim 1, wherein determining a vehicle hitch ball location further comprises one of inputting to the controller with a position marking device and by performing image analysis with the controller on the image.

3. The method as recited in claim 1, further comprising:

wherein the at least one sensor is a camera;

detecting an object proximate to the vehicle path with one of the camera or another sensor for the vehicle; and

sending instructions from the controller to perform a collision avoidance action.

4. The method as recited in claim 3, wherein detecting an object proximate to the vehicle path includes determining an offset of a front wheel path, from a rear wheel path based upon a steering angle of the vehicle of detecting any objects within that path, and sending instructions from the controller to perform at lease one collision avoidance action includes recalculating, by the controller, a new vehicle path with a limited steering angle to avoid the detected object.

5. The method of claim 4, wherein the at least one collision avoidance action is one of applying vehicle brakes of the vehicle brake system and recalculating a new vehicle path with the controller to avoid the detected object, then calculating the new steering and braking maneuvers necessary to move the vehicle along the new vehicle path and sending instructions from the controller to perform the new calculated maneuvers.

6. The method as recited in claim 1, wherein the input device is an independent wireless device.

7. The method as recited in claim 1, further comprising:

instructing the brake system to stop the vehicle when the controller determines the vehicle is at an intermediate position;

verifying relative height between the hitch ball and the trailer hitch with an operator input; and

sending instructions to the steering systems and brake systems to continue performing the calculated steering and braking maneuvers to the final position.

8. A hitch assist system for a vehicle, the hitch assist system comprising:

a camera mounted to view a reverse path of a vehicle;

an input device connected for the hitch assist system; and

a controller including instructions for;

detecting a trailer proximate to a vehicle with the camera;

determining a vehicle hitch ball location;

determining a trailer hitch location;

calculating a vehicle path from an initial position to a final position, wherein the vehicle hitch ball is laterally aligned with the trailer hitch in the final position;

instructing a brake system of the vehicle to stop the vehicle when the vehicle is at an intermediate position between the initial position and the final position;

verifying, at the intermediate position, a relative height between the hitch ball and the trailer hitch with an operator input;

calculating steering and braking maneuvers necessary to move the vehicle along the path to the final position; and

sending instructions to a vehicle steering system and the vehicle brake system to perform the calculated steering and braking maneuvers; and

an air suspension system configured to adjust the hitch ball height based on the verified relative height at the intermediate position.

9. The hitch assist system as recited in claim 8, further comprising a position marking device, wherein the vehicle hitch ball location is input to the controller with the position marking device.

10. The hitch assist system as recited in claim 8, wherein the controller includes further instructions for:

detecting an object proximate to the vehicle path with one of the camera or another sensor for the vehicle; and

sending instructions from the controller to perform a collision avoidance action.

11. The hitch assist system as recited in claim 10, wherein detecting an object proximate to the vehicle path includes determining an offset of a front wheel path, from a rear wheel path based upon a steering angle of the vehicle of detecting any objects within that path and the controller sends instructions to perform at least one collision avoidance action includes the controller recalculating a new vehicle path with a limited steering angle to avoid the detected object.

12. The hitch assist system of claim 11, the controller includes further instructions for determining the at least one collision avoidance action is one of:

applying the vehicle brakes with the vehicle brake system; and

recalculating a new vehicle path with the controller to avoid the detected object, then calculating the new steering and braking maneuvers necessary to move the vehicle along the new vehicle path and sending instructions from the controller to perform the new calculated maneuvers.

13. The hitch assist system as recited in claim 8, wherein the input device is an independent wireless device.

14. The hitch assist system as recited in claim 8, wherein the controller includes further instructions for:

sending instructions to the steering systems and brake systems to continue performing the calculated steering and braking maneuvers to the final position.

15. A method of controlling a vehicle, the method comprising:

providing a controller configured to provide signals for controlling steerable wheels of the vehicle via a powered steering system operatively coupled to the steerable wheels;

providing a driver input device in communication with the controller, the driver input device for receiving a directional input from a driver related to an intended direction of travel of the vehicle in reverse;

providing a camera for viewing a rear travelling path of the vehicle, the camera configured to capture images of the rear travelling path;

receiving, at the controller, the directional input from the driver comprising the intended direction of travel of the vehicle;

analyzing, by the controller, the one or more captured images to detect a trailer proximate to the vehicle;

determining, by the controller, a vehicle hitch ball location;

determining, by the controller, a trailer hitch position based on the one or more analyzed captured images;

calculating, by the controller, a vehicle path from an initial position to a final position based on the received directional input;

implementing, by the controller, a command to the powered steering system to steer the wheels from the initial position to the final position; and

implementing, by the controller, a command to an air suspension system to adjust a hitch ball height at an intermediate position between the initial position and the final position allowing the vehicle hitch ball to be laterally aligned with the trailer hitch in the final position.

16. The method of claim 15, further including:

verifying a relative height between the hitch ball and the trailer hitch with an operator input;

calculating the steering and braking maneuvers necessary to move the vehicle along the path to the final position; and

sending instructions to a vehicle steering system and a vehicle brake system to perform the calculated steering and braking maneuvers.

17. The method of claim 16, wherein determining a vehicle hitch ball location further comprises one of inputting to the controller with a position marking device and by performing image analysis with the controller on the image.

18. The method of claim 15, wherein the input device is an independent wireless device.