Vehicle trailer hitch assist system

Patent metadata

Field	Value
Publication number	US-11014561-B2
Application number	US-201815885855-A
Country	US
Kind code	B2
Filing date	Feb 1, 2018
Priority date	Feb 1, 2017
Publication date	May 25, 2021
Grant date	May 25, 2021

Abstract

A trailer hitching assist system for a vehicle includes a camera disposed at a rear portion of a vehicle and having a field of view rearward of the vehicle. A control includes an image processor operable to process image data captured by the camera. The image processor, via image processing of image data captured by the camera, detects a trailer and trailer hitch rearward of the vehicle and determines a first path of travel for the vehicle to follow so as to maneuver the vehicle so as to have its tow ball aligned with the trailer hitch. The control maneuvers the vehicle along the determined first path of travel. Responsive to detection of an object entering the first path of travel, the control determines a second path of travel and maneuvers the vehicle along the second path of travel to avoid the detected object entering the determined path of travel.

First claim

The invention claimed is:

1. A trailer hitching assist system for a vehicle, said trailer hitching assist system comprising:
a camera, wherein said camera is configured to be disposed at a rear portion of a vehicle so as to have a field of view exterior and rearward of the vehicle;
an image processor disposed at the vehicle and operable to process image data captured by said camera with said camera disposed at the rear portion of the vehicle;
wherein said image processor, via image processing of image data captured by said camera with said camera disposed at the rear portion of the vehicle, detects a trailer and trailer hitch rearward of the vehicle and determines a first path of travel for the vehicle to follow so as to maneuver the vehicle to have a tow ball of the vehicle aligned with the trailer hitch;
a control that, responsive to determination of the first path of travel, controls at least one vehicular function to maneuver the vehicle along the determined first path of travel, wherein the at least one vehicular function is selected from the group consisting of (i) steering the vehicle, (ii) braking the vehicle, (iii) accelerating the vehicle, and (iv) shifting gears of the vehicle;
wherein, with said camera disposed at the rear portion of the vehicle and with the vehicle maneuvering along the determined first path of travel, said control, at least via image processing by said image processor of image data captured by said camera, detects an object entering the determined first path of travel;
wherein, responsive to the detection of the object entering the determined first path of travel, said control determines a second path of travel for the vehicle to follow so as to maneuver the vehicle to avoid the detected object and to have the tow ball of the vehicle aligned with the trailer hitch; and
wherein said control maneuvers the vehicle along the determined second path of travel to avoid the detected object entering the determined first path of travel.

2. The trailer hitching assist system of claim 1 , wherein said control performs the object detection when a determined trailer position is greater than a threshold distance from the vehicle.

3. The trailer hitching assist system of claim 1 , wherein said control dynamically adjusts the path of travel responsive to detection of objects in the determined second path of travel.

4. The trailer hitching assist system of claim 1 , wherein, responsive to determination that the detected object moves out of the determined first path of travel, said control returns to maneuvering the vehicle along the first path of travel.

5. The trailer hitching assist system of claim 1 , wherein said control, with said camera disposed at the rear portion of the vehicle and via image processing by said image processor of image data captured by said camera, determines an orientation of the trailer relative to the vehicle.

6. The trailer hitching assist system of claim 5 , wherein said control determines the orientation of the trailer relative to the vehicle prior to determining the first path of travel.

7. The trailer hitching assist system of claim 1 , wherein said control, responsive to determining that the second path of travel is not maneuverable, stops the vehicle and generates an alert to a driver of the vehicle.

8. The trailer hitching assist system of claim 1 , wherein said control, with said camera disposed at the rear portion of the vehicle and via image processing by said image processor of image data captured by said camera, determines a trailer hitch position including height of the trailer hitch.

9. The trailer hitching assist system of claim 8 , wherein said control determines the trailer hitch position when the determined trailer hitch position is less than a threshold distance from the vehicle.

10. The trailer hitching assist system of claim 1 , wherein said control is part of said camera.

11. The trailer hitching assist system of claim 1 , wherein said control is disposed at the vehicle separate from the rear portion of the vehicle where said camera is disposed.

12. A trailer hitching assist system for a vehicle, said trailer hitching assist system comprising:
a camera, wherein said camera is configured to be disposed at a rear portion of a vehicle so as to have a field of view exterior and rearward of the vehicle;
an image processor disposed at the vehicle and operable to process image data captured by said camera with said camera disposed at the rear portion of the vehicle;
wherein a control, with said camera disposed at the rear portion of the vehicle and via image processing by said image processor of image data captured by said camera, detects a trailer and trailer hitch rearward of the vehicle determines an orientation of the trailer relative to the vehicle;
wherein said image processor, via image processing of image data captured by said camera with said camera disposed at the rear portion of the vehicle, determines a first path of travel for the vehicle to follow so as to maneuver the vehicle to have a tow ball of the vehicle aligned with the trailer hitch;
wherein said control, responsive to determination of the first path of travel, controls at least one vehicular function to maneuver the vehicle along the determined first path of travel, wherein the at least one vehicular function is selected from the group consisting of (i) steering the vehicle, (ii) braking the vehicle, (iii) accelerating the vehicle, and (iv) shifting gears of the vehicle;
wherein, with said camera disposed at the rear portion of the vehicle and with the vehicle maneuvering along the determined first path of travel, said control, at least via image processing by said image processor of image data captured by said camera, detects an object entering the determined first path of travel;
wherein, responsive to the detection of the object entering the determined first path of travel, said control determines a second path of travel for the vehicle to follow so as to maneuver the vehicle to avoid the detected object and to have the tow ball of the vehicle aligned with the trailer hitch;
wherein said control maneuvers the vehicle along the determined second path of travel to avoid the detected object entering the determined first path of travel; and
wherein, responsive to determination that the detected object moves out of the determined first path of travel, said control returns to maneuvering the vehicle along the first path of travel.

13. The trailer hitching assist system of claim 12 , wherein said control performs the object detection when a determined trailer position is greater than a threshold distance from the vehicle.

14. The trailer hitching assist system of claim 12 , wherein said control dynamically adjusts the path of travel responsive to detection of objects in the determined second path of travel.

15. The trailer hitching assist system of claim 12 , wherein said control determines the orientation of the trailer relative to the vehicle prior to determining the first path of travel.

16. The trailer hitching assist system of claim 12 , wherein said control, with said camera disposed at the rear portion of the vehicle and via image processing by said image processor of image data captured by said camera, determines a trailer hitch position including height of the trailer hitch.

17. A method for hitching a trailer to a vehicle, said method comprising:
disposing a camera at a rear portion of a vehicle so as to have a field of view exterior and rearward of the vehicle;
disposing an image processor at the vehicle;
providing a control at the ve

Assignees

• Magna Electronics Inc

Inventors

• Gupta Nikhil
• Diessner Horst D
• Bozich Richard
• Gali Jyothi P
• Stefanovic Aleksandar
• Faraji Hilda
• Moarref Miad
• Phan Xai
• Okouneva Galina
• BHARTI Brijendra Kumar

Classifications

• B60D1/36 Primary

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

• B60D1/62

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

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• B60W2710/10

  Change speed gearings · CPC title

• G08G1/165

  for passive traffic, e.g. including static obstacles, trees · CPC title