Application of auxiliary lighting in automatic hitch operation

• US 11,485,413 B2
• Filed: 10/30/2018
• Issued: 11/01/2022
• Est. Priority Date: 10/30/2018
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Niewiadomski, Luke, Rogan, Douglas, Brooks-Lehnert, Shannon, Zhang, Chen, Trombley, Roger Arnold, Ling, Peter, Mayer, Kenneth Michael, Raeis Hosseiny, Seyed Armin, Bao, Bo, Friedlander, Steven Wayne
• Primary Examiner(s): An, Ig T
• Application Number:
  US16/174,942
• Publication Number:
  US 20200130744A1
• Time in Patent Office: 1,463 Days
• 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: B60Q 1/22 for reverse drive
• CPC Class Codes: B60Q 1/2607 comprising at least two indicating lamps
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 1/31 providing stereoscopic vision
• CPC Class Codes: B60R 2300/808 for facilitating docking to a trailer
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G03B 15/02 Illuminating scene
• CPC Class Codes: G06V 20/20 in augmented reality scenes
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

A vehicle hitching assistance system includes a controller acquiring image data from the vehicle and identifying a trailer within a specified area of the image data and then identifying a coupler of the trailer. The specified area is less than a total field of the image data. The controller then outputs a steering signal to the vehicle to cause the vehicle to steer to align a hitch ball of the vehicle with the coupler.

Claims

1. A vehicle hitching assistance system, comprising:

a controller;

acquiring image data from the vehicle;

executing an initial alignment process, including;

illuminating one or more exterior lights directed toward a rear of the vehicle prior to acquiring the image data from the vehicle;

searching for a trailer, positioned past a minimum distance from the vehicle, within a specified area of the image data, the specified area being less than a total field of the image data in directions corresponding with both a longitudinal distance between the vehicle and the trailer and a lateral direction perpendicular to the longitudinal distance; and

presenting an indication to a driver of the vehicle to reposition the vehicle when the trailer is not identified within the specified area and removing the indication when the trailer is identified within the specified area, the trailer remaining past the minimum distance from the vehicle; and

executing an automated backing process upon identifying the trailer within the specified area, including identifying a coupler of the trailer and outputting a steering signal to the vehicle to cause the vehicle to steer to align a hitch ball of the vehicle with the coupler of the trailer during reversing of the vehicle toward the trailer.

2. The system of claim 1, wherein the controller acquires the image data from an imaging system included with the vehicle, the imaging system having at least one camera, the total field of the image data corresponding with a total field of view of the at least one camera.

3. The system of claim 2, wherein:

the controller outputs the steering signal to a steering system included with the vehicle; and

the controller derives the steering signal based on at least a maximum steering angle of the steering system.

4. The system of claim 1, wherein the specified area of the image data is a circular target area disposed within a central portion of the image data.

5. The system of claim 1, wherein the specified area of the image data is within a designated boundary comprising respective portions based on a resolution of the image data, a proportion of the trailer relative to the total field, and a known steering limit of the vehicle.

6. The system of claim 5, wherein the respective portions of the designated boundary are based on a correlation of the total field of the image data with an area of an assumed ground plane on which the vehicle is positioned visible within the total field.

7. The system of claim 6, wherein the area of the assumed ground plane includes:

a maximum coupler detection distance corresponding with the resolution of the image data;

a minimum trailer identification distance corresponding with the proportion of the trailer relative to the total field; and

left and right maximum steerable paths extending from the vehicle in a reversing direction corresponding with the known steering limit of the vehicle.

8. The system of claim 1, wherein, during the initial alignment process, the controller further outputs a video image displayable on a human-machine interface within the vehicle including:

the image data;

a graphic overlay of the specified area on the image data in a proportionally correlated manner; and

a message indicating to the driver of the vehicle to reposition the vehicle until the trailer is identified within the specified area.

9. The system of claim 8, wherein the controller begins executing the initial alignment process, including outputting the graphic overlay and message in the video image, upon activation of the system.

10. The system of claim 9, wherein, during the initial alignment process, the controller:

receives an input from the human-machine interface corresponding with a user indication of a trailer within the image data; and

outputs the graphic overlay and message in the video image only after receiving the user indication of the trailer within the image data and failing to identify any trailer within the specified area of the image data.

11. The system of claim 1, wherein the controller:

during the initial alignment process, identifies the trailer within the specified area of the image data and determines if a sensing condition and a visibility condition are met;

executes the automated backing process, including identifying the coupler of the trailer and outputting the steering signal to the vehicle to cause the vehicle to steer to align the hitch ball of the vehicle with the coupler as a part of a first hitch assist mode when the sensing condition and visibility condition are not met;

further implements a second hitch assistance mode when one of the sensing condition and the visibility condition are not met, the second hitch assistance mode including presenting an image of a best fit path to align the hitch ball with the coupler to the user for guiding user control of the vehicle in reversing the vehicle toward the trailer;

receives a selection signal from the vehicle corresponding with a user selection of a mode before implementing either the first or second hitch assistance mode; and

causes the vehicle to present an indication that the first hitch assist mode may not be selected when one of the sensing condition and the visibility condition are not met.

12. A vehicle, comprising:

a steering system;

at least one exterior light mounted on and directed away from a rear of the vehicle; and

a controller;

acquiring image data from the vehicle;

executing an initial alignment process, including;

illuminating the at least one exterior lights directed toward a rear of the vehicle prior to acquiring the image data from the vehicle;

searching for a trailer, positioned at a distance from the vehicle, within a specified area of the image data, the specified area being less than a total field of the image data in directions corresponding with both a longitudinal distance between the vehicle and the trailer and a lateral direction perpendicular to the longitudinal distance, the specified area further being located within an area to the rear of the vehicle illuminated by the at least one exterior light;

presenting an indication to a driver of the vehicle to reposition the vehicle when the trailer is not identified within the specified area and removing the indication when the trailer is identified within the specified area; and

executing an automated backing process only upon identifying the trailer within the specified area, including outputting a steering signal to the vehicle steering system to align a hitch ball of the vehicle with a coupler of the trailer during reversing of the vehicle toward the trailer.

13. The vehicle of claim 12, wherein after identifying the trailer within a specified area of the image data, the controller identifies the coupler of the trailer during execution of the automated backing process.

14. The vehicle of claim 12, wherein the specified area of the image data is within a designated boundary comprising respective portions based on a resolution of the image data, a proportion of the trailer relative to the total field, and a known steering limit of the vehicle.

15. The vehicle of claim 14, wherein the respective portions of the designated boundary are based on a correlation of the total field of the image data with an area of an assumed ground plane on which the vehicle is positioned visible within the total field.

16. The vehicle of claim 14, wherein illumination of the at least one exterior light facilitates identifying the trailer within the image data.

17. The vehicle of claim 12, wherein the at least one exterior light includes at least one of a left brake light, a right brake light, a tailgate light, and a center high-mount stop light mounted on respective portions of an exterior of the vehicle.

19. The vehicle of claim 12, wherein the controller further indicates to a driver of the vehicle to reposition the vehicle until the trailer is identified within the specified area.

18. A method for assisting a vehicle in hitching with a trailer, comprising:

acquiring image data for a field of view away from a rear of the vehicle;

executing an initial alignment process, including;

illuminating one or more exterior lights directed toward a rear of the vehicle prior to acquiring the image data from the vehicle;

searching for a trailer, past a minimum distance from the vehicle, within a specified area less than the field of view of the image data, the specified area being less than a total field of the image data in directions corresponding with both a longitudinal distance between the vehicle and the trailer and a lateral direction perpendicular to the longitudinal distance; and

presenting an indication to a driver of the vehicle to reposition the vehicle when the trailer is not identified within the specified area and removing the indication when the trailer is identified within the specified area, the trailer remaining past the minimum distance from the vehicle; and

executing an automated backing process upon identifying the trailer within the specified area, including identifying a coupler of the trailer and outputting a steering signal to cause the vehicle to steer to an align a hitch ball of the vehicle with the coupler during reversing of the vehicle toward the trailer.