System and methods for reverse braking during automated hitch alignment

Patent metadata

Field	Value
Publication number	US-10962980-B2
Application number	US-201816117076-A
Country	US
Kind code	B2
Filing date	Aug 30, 2018
Priority date	Aug 30, 2018
Publication date	Mar 30, 2021
Grant date	Mar 30, 2021

Abstract

A vehicle system comprises a hitch ball mounted on a vehicle. The system further comprises a plurality of sensor devices comprising an ultrasonic sensor and an image sensor. A controller is configured to process image data from the image sensor identifying a coupler position of a trailer. The controller is further configured to process ultrasonic data from the ultrasonic sensor identifying a proximity of the trailer. Based on the proximity of the trailer, the system is configured to identify the trailer in a detection range of the image sensor.

First claim

What is claimed is:

1. A vehicle system, comprising:
a hitch ball mounted on a vehicle;
a plurality of sensor devices comprising an ultrasonic sensor and an image sensor; and
a controller configured to:
process image data from the image sensor identifying a coupler position of a trailer in a detection range of the image sensor, wherein the detection range comprises a minimum tracking distance within which the controller is inoperable to accurately track the coupler position via the image data;
process ultrasonic data from the ultrasonic sensor identifying a proximity of the trailer; and

identify the trailer within the minimum tracking distance of the image sensor based on the proximity of the trailer.

2. The system according to claim 1 , wherein the controller is further configured to:
control a motion of the vehicle aligning the hitch ball with the coupler position.

3. The system according to claim 2 , wherein the controller is further configured to:
correct for a misidentification of the coupler position identified in the image data based on the proximity of the trailer identified from the ultrasonic data.

4. The system according to claim 1 , wherein the controller is further configured to:
monitor the proximity of the trailer based on the ultrasonic data;
monitor the location of the coupler based on the image data; and
suppress a motion instruction calculated based on the location of the coupler detected in the image data in response to the proximity of the trailer.

5. The system according to claim 4 , wherein the suppression of the motion instruction comprises stopping the motion of the vehicle.

6. The system according to claim 4 , wherein the suppression of the motion instruction is in response to the proximity of the trailer being less than sum of a change in the proximity detected via the ultrasonic data and a predetermined distance constant.

7. The system according to claim 1 , wherein the controller is further configured to:
control a notification indicating that the trailer is outside the detection range.

8. The system according to claim 7 , wherein the detection range of the notification provides for the vehicle to be repositioned at a greater distance within the detection range.

9. A method for controlling a vehicle comprising:
processing image data from an image sensor identifying a coupler position of a trailer in a detection range of the image sensor, wherein the detection range comprises a minimum tracking distance within which the controller is inoperable to accurately track the coupler position via the image data;
processing ultrasonic data identifying a proximity of the trailer;
controlling a motion of the vehicle aligning the hitch ball with the coupler position;
monitoring proximity of the trailer relative to the coupler position;
identifying the trailer within the minimum tracking distance of the image sensor based on the proximity of the trailer;
halting the motion of the vehicle in response to the proximity pf the trailer being within the minimum tracking distance.

10. The method according to claim 9 , further comprising:
capturing the image data with an image sensor; and
capturing the ultrasonic data with an ultrasonic sensor.

11. The method according to claim 9 , wherein the halting of the motion of the vehicle comprises:
correcting for a misidentification of the coupler position identified in the image data based on the proximity of the trailer identified from the ultrasonic data.

12. The method according to claim 9 , further comprising;
comparing the coupler position identified based on the image data to the proximity of the trailer identified based on the ultrasonic data, wherein the comparison comprises comparing a distance to the coupler position with a change in the proximity.

13. The method according to claim 12 , wherein the comparison further comprises a sum adding a predetermined distance coefficient to the change in proximity and comparing the distance to the coupler position with the sum of the change in proximity and the predetermined distance coefficient.

14. A vehicle system, comprising:
a hitch ball mounted on a vehicle;
an ultrasonic sensor configured to capture ultrasonic data rearward of the vehicle;
an image sensor configured to capture image data rearward of the vehicle; and
a controller configured to:
process image data from the image sensor identifying a coupler position of a trailer in a detection range of the image sensor, wherein the detection range comprises a minimum tracking distance within which the controller is inoperable to accurately track the coupler position via the image data;
control a motion of the vehicle aligning the hitch ball with the coupler position;

process ultrasonic data from the ultrasonic sensor identifying a proximity of the trailer;
monitor the proximity of the trailer relative to the coupler position; and
correct for a misidentification of the coupler position identified in the image data within the minimum tracking distance based on the proximity of the trailer identified from the ultrasonic data.

15. The system according to claim 14 , wherein the correcting for the misidentification comprises halting the motion of the vehicle in response to a comparison of the coupler position with the proximity.

16. The system according to claim 15 , wherein the comparison comprises comparing a distance to the coupler position with a change in the proximity detected via the ultrasonic data.

17. The system according to claim 16 , wherein the comparison further comprises calculating a sum of a predetermined distance coefficient and the change in proximity and comparing the distance to the coupler position with the sum of the change in proximity and the predetermined distance coefficient.

Assignees

• Ford Global Tech Llc

Inventors

• Niewiadomski Luke
• Lavoie Erick Michael
• Reed Eric L
• Zhang Chen
• Trombley Roger Arnold
• Rogan Douglas J
• Jales Costa Bruno Sielly

Classifications

• B60D1/245 Primary

  for facilitating push back or parking of trailers · CPC title

• B60D1/36

  for facilitating connection, e.g. hitch catchers · CPC title

• B60D1/248

  for measuring, indicating or displaying the weight · CPC title

• B60D1/62

  involving supply lines, electric circuits or the like · CPC title

• G05D1/0278

  using satellite positioning signals, e.g. GPS · CPC title