Vehicle trailer connect system

• US 9,914,333 B2
• Filed: 03/13/2013
• Issued: 03/13/2018
• Est. Priority Date: 07/05/2012
• Status: Active Grant

• Current Assignee: Uusi LLC (Nartron Corporation)
• Original Assignee: Uusi LLC (Nartron Corporation)
• Inventors: Shank, David W., Goulet, Josh, Washeleski, John
• Primary Examiner(s): Khatib, Rami
• Assistant Examiner(s): Wiltey, Nicholas K
• Application Number:
  US13/798,478
• Publication Number:
  US 20140012465A1
• Time in Patent Office: 1,826 Days
• Field of Search: None
• CPC Class Codes: B60D 1/58 Auxiliary devices
• CPC Class Codes: B62D 15/0285 Parking performed automatically

Abstract

A vehicle trailer connect system and automated parking system for use with a motor vehicle. Apparatus of the system has an input for obtaining information from a vehicle communication bus; an output for sending information to a vehicle communications bus; a control circuit for controlling the position and movement of a motor vehicle; an image gathering system to obtain visual or spatial data between a motor vehicle hitch and a hitch receiver attached to the trailer. A system controller guides vehicle steering as the vehicle is backed through a field of view of the image gathering system.

Claims

1. An apparatus for positioning a trailer hitch attached to a motor vehicle with respect to a trailer hitch receiver attached to a trailer comprising:

one physical target for identifying a position of the trailer hitch receiver;

one data gathering device spaced from the one target for obtaining picture element data from an observation region of a trailer hitch between the trailer hitch and a trailer hitch receiver positioned within the observation region of the trailer hitch;

a controller configured to obtain predetermined vehicle sensor states from a plurality of predetermined vehicle sensors comprising doors closed, reverse gear, vehicle and engine speed, and hatch closed, to determine if the vehicle sensor states are acceptable, wherein the doors are closed, the vehicle is in the reverse gear, the vehicle and engine speeds are met, and the hatch is closed, to allow activation of an alignment process if the vehicle sensor states are acceptable;

said controller being configured to define a boundary having an area therein reachable by the trailer hitch to the trailer hitch receiver that can be guided based on a turn radius of the motor vehicle, to terminate the alignment process if the vehicle sensor states are unacceptable, to verify that the one target is inside the area defined by the boundary, to terminate the alignment process if the one target is outside the area defined by the boundary, to determine a vertical distance from the one target to the trailer hitch using a pixel count from the picture element data from the observation region of the trailer hitch, to determine a horizontal distance from the one target to a centerline of the motor vehicle using the pixel count from the picture element data from the observation region of the trailer hitch, to determine a vehicle steer angle to reduce an offset between a reference line passing through the trailer hitch and the trailer hitch receiver while backing the vehicle, to determine a route that will align the trailer hitch and the trailer hitch receiver, to control the motor vehicle to align the trailer hitch and the trailer hitch receiver either semi-automatically or automatically, to stop alignment of the trailer hitch and trailer hitch receiver during the and to suspend alignment until a user reactivates the alignment; and

an interface for communicating vehicle information to the controller including a user activated switch to produce an actuation signal for initiating and reactivating hitch/receiver alignment and conveying steering command signals to a vehicle steering system based on the determined vehicle steer angle.

2. The apparatus of claim 1 wherein the data gathering device is a camera for capturing an image of the region of the trailer hitch.

3. The apparatus of claim 2 wherein the interface includes a system bus that provides a video image to the controller.

4. The apparatus of claim 2 wherein the camera is a image digital video camera.

5. The apparatus of claim 1 wherein further comprising a display for indicating a distance between the trailer hitch and the trailer hitch receiver.

6. The apparatus of claim 1 wherein the controller updates a vehicle steer angle as the vehicle moves along a target path of travel.

7. The apparatus of claim 1 wherein the data gathering device is a LIDAR system.

8. The apparatus of claim 1 wherein the data gathering device is a RADAR system.

9. The apparatus of claim 1 wherein the data gathering device is an ultrasonic system.

10. The apparatus of claim 1 wherein data from the data gathering device is stored in a memory and transmitted by a communications bus to the controller.

11. The apparatus of claim 1 further comprising a sensor that is mounted to the motor vehicle for sensing of an object proximal to the motor vehicle and wherein the controller suspends movement of the motor vehicle in response to the sensing of the object proximal to the motor vehicle.

12. The apparatus of claim 11 wherein the sensor is a capacitive sensor.

13. The apparatus of claim 1 wherein said controller is programmed to i) monitor picture elements gathered from the observation region and ii) use said using picture elements determine a first path of travel for the vehicle to achieve a predetermined relation between the trailer hitch and a trailer receiver connected to a trailer and iii) use data from the picture elements to determine a second path of travel for the motor vehicle to maneuver the motor vehicle to a parking position in proximity to one or more additional motor vehicles within a field of view of the data gathering device;

and

wherein said interface for communicating vehicle information to the controller includes an actuation signal for initiating movement along one of the first and second paths.

14. The apparatus of claim 1 where said controller continues to monitor separation data from the image gathering device as the motor vehicle backs toward the trailer, determines an updated vehicle steer angle, and conveys command signals to the vehicle steering system based on the updated steer angle.

15. A method of aligning a trailer hitch attached to a motor vehicle with a trailer hitch receiver attached to a trailer comprising:

placing one target on the trailer hitch receiver for identifying a position of the trailer hitch receiver;

obtaining with one data gathering device an image of a region occupied by a trailer hitch and a trailer hitch receiver having the one target for identification of the trailer hitch;

obtaining predetermined vehicle sensor states from a plurality of predetermined vehicle sensors comprising doors closed, reverse gear, vehicle and engine speed, and hatch closed, determining if the vehicle sensor states are acceptable, wherein the doors are closed, the vehicle is in the reverse gear, the vehicle and engine speeds are met, and the hatch is closed, and allowing activation of an alignment process if the vehicle sensor states are acceptable;

defining a boundary having an area therein reachable by the trailer hitch to the trailer hitch receiver that can be guided based on a turn radius of the motor vehicle;

terminating the alignment process if the vehicle sensor states are unacceptable;

verifying that the one target is inside the area defined by the boundary;

terminating the alignment process if the one target is outside the area defined by the boundary;

analyzing the image of the region occupied by the trailer hitch and the trailer hitch receiver to determine a vertical distance from the one target to the trailer hitch using a pixel count of the image between the trailer hitch and the one target of the trailer hitch receiver and to determine a horizontal distance from the one target to a centerline of the motor vehicle using the pixel count of the image;

based on the motor vehicle turning characteristics and the relative position of the trailer hitch with respect to the one target determining a route that will align the trailer hitch and the trailer hitch receiver and controlling a motor vehicle steer angle to reduce an offset between a reference line passing through the trailer hitch and the trailer hitch receiver when backing said motor vehicle either semi-automatically or automatically;

communicating command signals to a motor vehicle steering system based on the motor vehicle steer angle for moving the motor vehicle toward the trailer to at least approximately achieve a predetermined relation between said trailer hitch and trailer hitch receiver;

stopping alignment of the trailer hitch and trailer hitch receiver during the automatic or semi-automatic alignment if a user grabs a steering wheel of the motor vehicle, and suspending alignment until a user reactivates the alignment; and

reactivating the alignment by the user with a user activated switch to produce an actuation signal for reactivating the alignment.

16. The method of claim 15 wherein a controller for determining the steer angle communicates with the motor vehicle by means of a communications bus and wherein the controller periodically updates the steer angle and communicates an updated steer angle as the motor vehicle moves.

17. The method of claim 16 wherein the communications bus is a CAN communications bus.

18. The method of claim 16 wherein the controller communicates with a vehicle electric power steering module.

19. The method of claim 16 wherein the controller uses one or more vehicle parameters obtained from communications with the vehicle, said parameters comprising:

steering wheel speed, steering wheel position, steering wheel torque, wheel angle, power steering motor current draw, engine RPM, vehicle speed, vehicle wheelbase, and maximum wheel angle.

20. The method of claim 19 wherein the controller suspends vehicle/trailer alignment if the power steering motor current exceeds a threshold.

21. The method of claim 19 wherein the controller suspends vehicle/trailer alignment if the steering wheel torque exceeds a threshold.

22. The method of claim 19 wherein the controller suspends vehicle/trailer alignment if the vehicle speed exceeds a threshold.

23. The method of claim 19 wherein the controller suspends vehicle/trailer alignment if the engine RPM exceeds a threshold.

24. The method of claim 16 wherein the controller communicates with a touch sensitive display.

25. The method of claim 16 wherein the controller lowers a rear suspension of the motor vehicle to allow for the hitch ball to be centered under the trailer hitch and raises a motor vehicle suspension to engage the ball to the hitch receiver.

26. The method of claim 16 wherein the controller communicates with a remote device outside the vehicle to initiate the obtaining of image data and analyzing said image data.

27. The method of claim 26 wherein the remote device is a cell phone.

28. The method of claim 26 wherein the remote device is a touch sensitive tablet.

29. The method of claim 26 wherein the remote device is an RFID tag.

30. The method of claim 26 wherein the remote device is a key fob.

31. A method of backing a motor vehicle with a trailer comprising:

placing one physical target on a trailer hitch receiver of the trailer for identifying a position of the trailer hitch receiver;

obtaining with one data gathering device data of a region occupied by a trailer attached to a vehicle to determine the relationship of the trailer to the vehicle;

obtaining predetermined vehicle sensor states from a plurality of predetermined vehicle sensors comprising doors closed, reverse gear, vehicle and engine speed, and hatch defining a boundary having an area therein reachable by the trailer hitch to the trailer hitch receiver that can be guided based on a turn radius of the motor vehicle;

terminating the alignment process if the vehicle sensor states are unacceptable, wherein the doors are open, the vehicle is not in the reverse gear, the vehicle and engine speeds are not met, and the hatch is opened;

verifying that the one target is inside the area defined by the boundary;

terminating the alignment process if the one target is outside the area defined by the boundary;

analyzing using a pixel count of the data of the region;

reversing the normal steering wheel to vehicle wheel turning relationship so that rotation of the steering wheel in one sense causes the vehicle wheels to rotate in an opposite sense when backing the trailer;

monitoring a relationship between the trailer and the vehicle control while backing the vehicle and the attached trailer;

stopping alignment of the trailer hitch and trailer hitch receiver during automatic or semi-automatic alignment if a user grabs a steering wheel of the motor vehicle, and suspending the alignment until a user reactivates the alignment; and

reactivating the alignment by the user with a user activated switch to produce an actuation signal for reactivating the alignment; and

indicating to a motorist with either an audible indication or a visual indication at least one of when to move, when to brake, when to slow down, and when to stop the motor vehicle during either the automatic or semi-automatic alignment.

32. The method of claim 31 additionally comprising determining an imminent undesired condition based on the monitoring;

and

communicating command signals to a vehicle steering system and/or brake system based on a relationship between the trailer and the vehicle to avoid the undesired condition.

33. The method of claim 31 additionally comprising determining a relationship between the trailer and the vehicle;

and

communicating command signals to a vehicle steering system based on the relationship between the trailer and the vehicle to at least approximately achieve a desired relationship as backing takes place.

34. An apparatus for positioning a trailer hitch attached to a motor vehicle with respect to a trailer hitch receiver attached to a trailer comprising:

one target for identifying a position of the trailer hitch receiver;

one image gathering device for obtaining picture elements from an observation region of a trailer hitch that includes the trailer hitch receiver;

a controller configured to obtain predetermined vehicle sensor states from a plurality of predetermined vehicle sensors comprising doors closed, reverse gear, vehicle and engine speed, and hatch closed, to determine if the vehicle sensor states are acceptable, wherein the doors are closed, the vehicle is in the reverse gear, the vehicle and engine speeds are met, and the hatch is closed, to allow activation of an alignment process if the vehicle sensor states are acceptable;

said controller being configured to define a boundary having an area therein reachable by the trailer hitch to the trailer hitch receiver that can be guided based on a turn radius of the motor vehicle, to terminate the alignment process if the vehicle sensor states are unacceptable, to verify that the one target is inside the area defined by the boundary, to terminate the alignment process if the one target is outside the area defined by the boundary, to determine a vertical distance from the one target to the trailer hitch using a pixel count from the picture elements obtained by the one image gathering device from the observation region and to determine a horizontal distance from the one target to a centerline of the motor vehicle using the pixel count from the picture elements, and based on the turning characteristics of the motor vehicle and the position of the trailer hitch receiver, to determine a route that will align the trailer hitch and the trailer hitch receiver and to control a motor vehicle steer angle to align the trailer hitch and the trailer hitch receiver while backing the motor vehicle either semi-automatically or automatically, and to stop alignment of the trailer hitch and trailer hitch receiver during the automatic or semi-automatic alignment if a user grabs a steering wheel of the motor vehicle, and to suspend alignment until a user reactivates the alignment; and

an interface for communicating motor vehicle information to the controller including a user activated switch to produce an actuation signal for initiating and reactivating hitch/receiver alignment and periodically conveying steering command signals to a motor vehicle steering system based on a motor vehicle steer angle determined by said controller, said motor vehicle information additionally comprising safety information for determining an unsafe condition;

wherein said controller suspends hitch/receiver alignment of the motor vehicle in response to sensing of an unsafe condition as indicated by the safety information and communicates signals via the interface for providing an audible indication or a visual indication to a motorist that hitch/receiver alignment has been suspended due to a determination by the controller of an unsafe condition.

35. The apparatus of claim 34 wherein the controller by communicates a signal for stopping motor vehicle movement in response to a determination of an unsafe condition.

36. The apparatus of claim 34 further comprising a sensor that is mounted to the vehicle for sensing of an object proximal to the motor vehicle and wherein the controller suspends movement of the motor vehicle in response to the sensing of the object proximal to the motor vehicle.

37. The apparatus of claim 34 wherein the controller determines if a hitch/receiver alignment is possible based on a current image from the region of the hitch and further wherein the controller suspends hitch/receiver alignment of the motor vehicle in response to determination that hitch/receiver alignment is no longer possible due to movement of the motor vehicle.

38. The apparatus of claim 37 wherein the controller additionally notifies a motorist with either an audible indication or a visual indication when hitch/receiver alignment is no longer possible due to movement of the motor vehicle.

39. The apparatus of claim 34 wherein one unsafe condition causing the controller to suspend hitch/receiver alignment is based on a sensed steering wheel angle.

40. The apparatus of claim 34 wherein one unsafe condition causing the controller to suspend hitch/receiver alignment is based on sensed motor vehicle speed.

41. The apparatus of claim 34 wherein one unsafe condition causing the controller to suspend hitch/receiver alignment is based on sensed steering wheel torque or power steering motor current.

42. The apparatus of claim 34 wherein one unsafe condition causing the controller to suspend hitch/receiver alignment is based on a door or hatch being open.

43. A method of aligning a trailer hitch attached to a motor vehicle with a trailer hitch receiver attached to a trailer comprising:

placing physical one target on the trailer hitch receiver for identifying a position of the trailer hitch receiver;

obtaining with one data gathering device an image from an observation region occupied by a trailer hitch and a trailer hitch receiver;

obtaining predetermined vehicle sensor states from a plurality of predetermined vehicle sensors comprising doors closed, reverse gear, vehicle and engine speed, and hatch closed, determining if the vehicle sensor states are acceptable, wherein the doors are closed, the vehicle is in the reverse gear, the vehicle and engine speeds are met, and the hatch is closed, and allowing activation of an alignment process if the vehicle sensor states are acceptable;

defining a boundary having an area therein reachable by the trailer hitch to the trailer hitch receiver that can be guided based on a turn radius of the motor vehicle;

terminating the alignment process if the vehicle sensor states are unacceptable;

verifying that the one target is inside the area defined by the boundary;

terminating the alignment process if the one target is outside the area defined by the boundary;

analyzing the image of the region occupied by the trailer hitch and the trailer hitch receiver to determine a vertical distance from the one target to the trailer hitch using a pixel count of the image between the trailer hitch and the trailer hitch receiver and to determine a horizontal distance from the one target to a centerline of the motor vehicle using the pixel count of the image;

based on motor vehicle turning characteristics and the relative position of the trailer hitch with respect to the trailer hitch receiver, as the motor vehicle moves periodically determining a motor vehicle steer angle to align the trailer hitch and the trailer hitch receiver when backing the motor vehicle;

communicating command signals to a motor vehicle steering system based on a then current vehicle steer angle for moving the motor vehicle toward the trailer to at least approximately achieve a predetermined relation between the trailer hitch and the trailer hitch receiver;

stopping alignment of the trailer hitch and trailer hitch receiver during automatic or semi-automatic alignment if a user grabs a steering wheel of the motor vehicle, and suspending the alignment until a user reactivates the alignment; and

reactivating the alignment by the user with a user activated switch to produce an actuation signal for reactivating the alignment;

indicating to a motorist with either an audible indication or a visual indication at least one of when to move, when to brake, when to slow down, and when to stop the motor vehicle during either automatic or semi-automatic alignment;

monitoring signals from the motor vehicle to determine an unsafe condition;

suspending hitch/receiver alignment of the motor vehicle in response to a determination of an unsafe condition; and

indicating to the motorist with either the audible indication or the visual indication that the hitch/receiver alignment has been suspended due to a determination of an unsafe condition.

44. The method of claim 43 additionally comprising stopping movement of the motor vehicle in response to sensing an unsafe condition.

45. The method of claim 43 additionally comprising the step of determining if hitch/receiver is possible and suspending hitch/receiver alignment of the motor vehicle in response to a determination that hitch/receiver alignment is not possible due to movement of the motor vehicle.

46. The method of claim 45 additionally comprising notifying a motorist with either an audible indication or a visual indication when hitch/receiver alignment is no longer possible due to movement of the motor vehicle.

47. The method of claim 43 further comprising sensing an object proximal to the motor vehicle and suspending movement of the motor vehicle in response to the sensing of the object proximal to the motor vehicle.

48. The method of claim 43 wherein one unsafe condition causing the controller to suspend hitch/receiver alignment is based on a sensed steering wheel angle.

49. The apparatus of claim 43 wherein one unsafe condition causing the controller to suspend hitch/receiver alignment is based on sensed motor vehicle speed.

50. The apparatus of claim 43 wherein one unsafe condition causing the controller to suspend hitch/receiver alignment is based on sensed steering wheel torque or power steering motor current.

51. The apparatus of claim 43 wherein one unsafe condition causing the controller to suspend hitch/receiver alignment is based on sensing an open door or hatch.