Hitch assist system

• US 10,543,870 B1
• Filed: 07/18/2018
• Issued: 01/28/2020
• Est. Priority Date: 07/18/2018
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Niewiadomski, Luke, Zhang, Chen, Trombley, Roger Arnold, Lavoie, Erick Michael
• Primary Examiner(s): Soofi, Yazan A
• Application Number:
  US16/038,398
• Publication Number:
  US 20200023902A1
• Time in Patent Office: 559 Days
• Field of Search: 701 41
• CPC Class Codes: B60D 1/06 Ball-and-socket hitches , e.g. constructional details, auxiliary devices, their arrangement on the vehicle
• 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: B60R 1/003 for viewing trailer hitches
• CPC Class Codes: B60R 2300/304 using merged images, e.g. merging camera image with stored images
• CPC Class Codes: B60R 2300/307 virtually distinguishing relevant parts of a scene from the background of the scene
• CPC Class Codes: B60R 2300/808 for facilitating docking to a trailer
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Abstract

A hitch assist system is provided herein that includes a sensing system configured to detect a trailer proximate a vehicle. A steering system is configured to alter a path of the vehicle. A transmission system has one or more gears therein. A controller is disposed within the hitch assist system and is configured to control the steering system of the vehicle along a path to align a hitch ball with a coupler of the trailer, detect a fault of the steering system or a gear change in the transmission system and pausing the control of the vehicle, and monitor the coupler during repositioning of the vehicle.

Claims

1. A hitch assist system comprising:

a sensing system configured to detect a trailer proximate a vehicle;

a steering system configured to alter a path of the vehicle;

a transmission system having one or more gears therein; and

a controller for;

controlling the steering system of the vehicle along a path to align a hitch ball with a coupler of the trailer;

detecting a fault of the steering system or a gear change in the transmission system and pausing a hitch assist operation of the vehicle; and

monitoring the coupler during repositioning of the vehicle.

2. The hitch assist system of claim 1, further comprising:

a brake control system configured to stop the vehicle upon detection of the fault of the steering system.

3. The hitch assist system of claim 1, wherein the sensing system includes one or more imagers.

4. The hitch assist system of claim 3, wherein the imager is located on a rear of a vehicle and is disposed to capture one or more images of a rear-vehicle scene.

5. The hitch assist system of claim 1, further comprising:

a display configured to provide a notification about the steering fault.

6. The hitch assist system of claim 1, wherein the hitch assist system provides a resume function when one or more conditions have been met.

7. The hitch assist system of claim 6, wherein the one or more conditions include stopping of the vehicle, the transmission system being in a reverse gear, or doors of the vehicle being in a closed position.

8. The hitch assist system of claim 6, further comprising:

a user input device is configured to accept instructions for the controller to continue controlling the steering system of the vehicle along a path to align a hitch ball with a coupler when the one or more conditions have been met.

9. The hitch assist system of claim 5, wherein the display is a touchscreen having circuitry to receive an input corresponding with a location over the display.

10. The hitch assist system of claim 1, wherein the controller releases control of at least one of a brake control system, a powertrain system, or a steering system when the transmission system is moved from a reverse gear to a different gear.

11. A hitch assist method comprising the steps of:

autonomously controlling a steering system to move a vehicle along a path to align the vehicle with a coupler;

detecting a steering fault of the steering system;

pausing control of the steering system when the vehicle is repositioned; and

monitoring the coupler while the vehicle is repositioned.

12. The hitch assist method of claim 11, further comprising:

providing a notification to alleviate the steering fault.

13. The hitch assist method of claim 11, further comprising:

enabling a switch for continuing autonomous control of the vehicle when the steering fault has been overcome.

14. The hitch assist method of claim 11, wherein a sensing system provides the monitoring of the coupler while the vehicle is repositioned.

15. The hitch assist method of claim 13, wherein the controlling of the steering system includes using an electric steering motor for altering a path of the vehicle.

16. The hitch assist method of claim 15, wherein the steering motor is disposed on an opposing side of a firewall from a steering wheel.

17. A hitch assist system comprising:

a sensing system configured to monitor a trailer having a coupler;

a transmission system providing one or more gears; and

a controller for;

generating a path to align a hitch assembly with the coupler;

detecting a change in gears;

pausing a hitch assist operation of the vehicle; and

monitoring the coupler while the hitch assist operation is paused.

18. The hitch assist system of claim 17, wherein the sensing system includes an imager for capturing one or more images of the coupler or the hitch ball.

19. The hitch assist system of claim 17, wherein the controller releases control of at least one of a brake control system, a powertrain system, or a steering system when the transmission system is moved from a reverse gear to a different gear.

20. The hitch assist system of claim 17, wherein the controller resumes control of one or more of a brake control system, a powertrain system, or a steering system when one or more conditions have been met.