Hitch assist system and method featuring a specified angle between a vehicle heading and a trailer heading at a final position

• US 10,144,417 B1
• Filed: 12/12/2017
• Issued: 12/04/2018
• Est. Priority Date: 12/12/2017
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Zhang, Chen, Niewiadomski, Luke
• Primary Examiner(s): FREJD, RUSSELL WARREN
• Application Number:
  US15/839,131
• Time in Patent Office: 357 Days
• 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: B60D 1/62 involving supply lines, electric circuits, or the like
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/046 involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
• CPC Class Codes: B60W 2300/14 Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/16 Pitch
• CPC Class Codes: B60W 2520/18 Roll
• CPC Class Codes: B60W 2520/22 Articulation angle, e.g. between tractor and trailer
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2720/22 Articulation angle, e.g. between tractor and trailer
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 40/02 related to ambient conditions
• CPC Class Codes: B62D 15/0285 Parking performed automatically

Abstract

A hitch assist system and method are provided herein. A detection system determines a vehicle heading and a trailer heading. A controller is coupled to the detection system for generating a path along which the vehicle is autonomously maneuvered toward a trailer. The path ends at a final position in which the vehicle and trailer headings are related by a specified angle therebetween.

Claims

1. A hitch assist system comprising:

a detection system for determining a vehicle heading and a trailer heading;

a user-input device for accepting a specified angle of a vehicle heading relative a trailer heading; and

a controller coupled to the detection system for generating a path in response to the inputted specified angle along which the vehicle is autonomously maneuvered toward a trailer, the path ending at a final position based on the specified angle.

2. The system of claim 1, wherein the detection system comprises at least one of an imager, a global positioning device, an inertial system, and one or more proximity sensors.

3. The system of claim 1, wherein a tow hitch of the vehicle is aligned with a hitch coupler of the trailer at the final position.

4. The system of claim 1, wherein the specified angle is inputted to the controller through the user-input device that is configured as a human-machine interface.

5. The system of claim 1, wherein the specified angle is determined by the controller based on input received from the detection system.

6. The system of claim 1, wherein the path is substantially straight and the specified angle is non-zero.

7. The system of claim 6, wherein the vehicle heading at the final position matches an initial heading of the vehicle prior to the vehicle being maneuvered along the path.

8. The system of claim 1, wherein the path is curved and the vehicle and trailer headings are in straight alignment at the final position.

9. The system of claim 8, wherein the vehicle heading at the final position is different than an initial heading of the vehicle prior to the vehicle being maneuvered along the path.

10. The system of claim 1, wherein the specified angle includes an allowable deviation range.

11. The system of claim 10, wherein the allowable deviation range is set by the controller or inputted thereto via a user-input device.

12. A hitch assist system comprising:

a user-input device configured to receive user an inputted specified angle from a plurality of potential angles between a vehicle heading and a trailer heading after detecting a trailer; and

a controller configured to generate a path in response to receiving the specified angle along which the vehicle is autonomously maneuvered and ending at a final position in which the vehicle and trailer headings are relatively positioned at the specified angle and instruct a user to input a different specified angle if the path is insufficient to avoid collision with an object.

13. The system of claim 12, further comprising a detection system configured to determine the vehicle and trailer headings and comprising at least one of an imager, a global positioning device, an inertial system, and one or more proximity sensors.

14. The system of claim 12, wherein the path is substantially straight and the specified angle is non-zero.

15. The system of claim 14, wherein the vehicle heading at the final position matches an initial heading of the vehicle prior to the vehicle being maneuvered along the path.

16. The system of claim 12, wherein the path is curved and the vehicle and trailer headings are in straight alignment at the final position.

17. The system of claim 16, wherein the vehicle heading at the final position is different than an initial heading of the vehicle prior to the vehicle being maneuvered along the path.

18. The system of claim 12, wherein the specified angle includes an allowable deviation range.

19. The system of claim 18, wherein the allowable deviation range is set by the controller or inputted thereto via the user-input device.

20. A hitch assist method comprising the steps of:

providing a user-input device for inputting a first specified angle between a vehicle heading and a trailer heading to a controller;

setting an allowable deviation range for the specified angle via the user-input device after inputting the first specified angle; and

using the controller to generate a path in response to the inputted first specified angle and commands for autonomously maneuvering the vehicle along the path, the path ending at a final position in which the vehicle and trailer headings are related by the first specified angle or another angle encompassed by the allowable deviation range; and

instructing input of a second specified angle if an object is disposed along the generated path.