System and methods for vehicle alignment control

Patent metadata

Field	Value
Publication number	US-11155133-B2
Application number	US-201916266703-A
Country	US
Kind code	B2
Filing date	Feb 4, 2019
Priority date	Feb 4, 2019
Publication date	Oct 26, 2021
Grant date	Oct 26, 2021

Abstract

A vehicle control system comprises a sensor configured to capture sensor data and a controller configured to identify a coupler position of a trailer in the sensor data. The controller is further configured to control a vehicle alignment routine aligning the hitch with the coupler position and control an emergency braking operation in response to detecting an obstruction in the sensor data. The controller is configured to suppress the emergency braking operation in response to the obstruction corresponding to the coupler in the sensor data.

First claim

What is claimed is:

1. A vehicle control system comprising:
a sensor configured to capture sensor data; and
a controller that:
identifies a plurality of collision threats comprising a first obstruction and a second obstruction in the sensor data;
determines the first obstruction of the plurality of collision threats to be a coupler of a trailer in response to one or more identifying characteristics of the trailer in the sensor data;
identifies a coupler position of the coupler of the trailer in the sensor data;
controls a vehicle alignment routine aligning the hitch with the coupler position along an alignment path;
controls an emergency braking operation in response to detecting the second obstruction in the sensor data along the alignment path; and
suppresses the emergency braking operation in response to the first obstruction based on the determination that the first obstruction is the coupler.

2. The vehicle control system according to claim 1 , wherein the emergency braking operation is activated in response to a speed of the vehicle exceeding an activation threshold.

3. The vehicle control system according to claim 2 , wherein the suppression of the emergency braking operation comprises controlling the motion of the vehicle at the speed less than the activation threshold.

4. The vehicle control system according to claim 1 , wherein the controlling motion of the vehicle aligning the hitch with the coupler position comprises stopping the vehicle via an alignment braking operation.

5. The vehicle control system according to claim 4 , wherein the controller controls a brake system such that the emergency braking operation comprises a greater rate of deceleration than the alignment braking operation.

6. The vehicle control system according to claim 1 , wherein the coupler position is identified as the coupler in connection with the trailer in the sensor data.

7. The vehicle control system according to claim 6 , wherein the suppression of the emergency braking operation comprises omitting the coupler and the trailer from being identified as the first obstruction in the sensor data.

8. A method for controlling a vehicle alignment comprising:
identifying a plurality of collision threats comprising a first obstruction and a second obstruction in sensor data;
determine the first obstruction of the plurality of collision threats to be a coupler of a trailer in response to one or more identifying characteristics of the trailer in the sensor data;
identifying a coupler position of the coupler of the trailer in the sensor data;
controlling motion of the vehicle to an aligned position aligning the hitch ball with the coupler position along an alignment path;
controlling an emergency braking operation in response to detecting the second obstruction in the sensor data; and
suppressing the emergency braking operation in response to the first obstruction based on the determination that the first obstruction is the coupler.

9. The method according to claim 8 , wherein the emergency braking operation is activated in response to a speed of the vehicle exceeding an activation threshold.

10. The method according to claim 9 , wherein the suppressing of the emergency braking operation comprises controlling the motion of the vehicle at the speed less than the activation threshold.

11. The method according to claim 8 , wherein the coupler position is identified as the coupler in connection with the trailer in the sensor data.

12. The method according to claim 11 , wherein suppressing the emergency braking operation comprises omitting the coupler and the trailer from being identified as the first obstruction in the sensor data.

13. A vehicle system configured to control a trailer alignment routine, comprising:
a hitch mounted on a vehicle;
a sensor configured to detect sensor data in a region proximate to the vehicle; and
a controller that:
identifies a coupler position of a coupler in connection with a trailer in the sensor data;
controls motion of the vehicle along a vehicle heading to an aligned position, wherein the hitch is aligned with the coupler;
controls an emergency braking operation in response to detecting an obstruction in the sensor data; and
suppresses the emergency braking operation in response to the obstruction corresponding to the coupler in connection with the trailer, wherein the suppression of the emergency braking operation comprises omitting at least one of the coupler and the trailer from being identified as the obstruction in the sensor data.

14. The vehicle control system according to claim 13 , wherein the suppression is in response to a combination of:
the detection of the coupler and the trailer; and
the processing of the vehicle alignment routine.

15. The vehicle control system according to claim 13 , wherein the emergency braking operation is activated in response to a speed of the vehicle exceeding an activation threshold and the suppression of the emergency braking operation comprises controlling the motion of the vehicle at the speed less than the activation threshold.

Assignees

• Ford Global Tech Llc

Inventors

• Niewiadomski Luke
• Reed Eric L
• Trombley Roger Arnold
• Klosek Robert D

Classifications

• B60T8/1708

  for lorries or tractor-trailer combinations · CPC title

• B60D1/242

  for supporting braking actions, e.g. braking means integrated with hitches; Braking sensors · CPC title

• B60W50/0098

  Details of control systems ensuring comfort, safety or stability not otherwise provided for · CPC title

• B60W10/18 Primary

  including control of braking systems · CPC title

• B60D1/366 Primary

  comprising braking means · CPC title