Acceptable zone for automated hitching with system performance considerations

Patent metadata

Field	Value
Publication number	US-11208146-B2
Application number	US-201916418116-A
Country	US
Kind code	B2
Filing date	May 21, 2019
Priority date	May 21, 2019
Publication date	Dec 28, 2021
Grant date	Dec 28, 2021

Abstract

A vehicle hitching assistance system including a controller determining a trailer target area to a rear of the vehicle. The trailer target area is positioned within left and right lateral vehicle steering limits, defined in a lateral direction between left and right boundaries respectively spaced inwardly of the left and right lateral vehicle steering limits by one of a system perception factor or a vehicle geometry factor, and defined in a longitudinal direction between a minimum movement limit and a maximum perception limit. The controller further identifies a trailer coupler within the trailer target area and outputs a steering signal to the vehicle to cause the vehicle to steer to align a hitch ball of the vehicle with the coupler during movement of the vehicle.

First claim

What is claimed is:

1. A hitching assistance system for a vehicle, comprising:
a vehicle steering system including a steering motor operably coupled with steered wheels of the vehicle;
an imaging system outputting image data; and
a controller:
determining a trailer target area to a rear of the vehicle, the trailer target area being:
positioned within left and right lateral limits of the vehicle steering system;
defined in a lateral direction between left and right boundaries respectively spaced inwardly of the left and right lateral limits by one of an imaging system perception factor or a vehicle geometry factor; and
defined in a longitudinal direction between a minimum movement limit and a maximum perception limit;

identifying a coupler of a trailer in the image data, the coupler being within the trailer target area; and
controlling the vehicle steering system to cause the steering motor to steer the steered vehicle wheels to move a hitch ball of the vehicle into alignment with the coupler during reversing movement of the vehicle.

2. The system of claim 1 , wherein the controller further controls the vehicle steering system to cause the vehicle to steer to align the hitch ball of the vehicle with the coupler during movement of the vehicle in a single reversing maneuver.

3. The system of claim 1 , wherein the left and right lateral limits of the vehicle steering system are equal to left and right steering path limits of the vehicle.

4. The system of claim 1 , wherein the left and right boundaries respectively spaced inwardly of the left and right lateral limits of the vehicle steering system by the vehicle geometry factor by the left and right boundaries being defined along straight left and right vehicle backing paths at respective left and right vehicle heading angles corresponding with respective left and right swingout limits for the vehicle.

5. The system of claim 4 , wherein the left and right swingout limits are of equal distances on opposite lateral sides of a centerline of the vehicle.

6. The system of claim 4 , wherein the left and right swingout limits are based on a front corner position of the vehicle relative to a steering center of the vehicle at a maximum steering angle of the vehicle steering system.

7. The system of claim 4 , wherein the left and right swingout limits are adjustable.

8. The system of claim 4 , wherein the left and right swingout limits are determined by the controller using data from one or more proximity sensors associated with the vehicle.

9. The system of claim 1 , wherein the left and right boundaries respectively spaced inwardly of the left and right lateral vehicle steering limits by the imaging system perception factor by the left and right boundaries corresponding with left and right steering paths at a steering angle less than a maximum steering angle by a predetermined factor.

10. The system of claim 9 , wherein the predetermined factor is determined to reduce a computational load on the controller during at least one of identifying the coupler of the trailer and controlling the vehicle steering system.

11. The system of claim 1 , wherein:
the imaging system is mounted with and directed toward the rear of the vehicle,
the controller further acquires the image data from the imaging system; and
the trailer target area is identified within the image data and is less than a total field of the image data.

12. The system of claim 11 , wherein:
the maximum perception limit corresponds with a limit of the controller in identifying the coupler within the image data; and
the minimum movement limit corresponds with a distance over which the vehicle must move to cause the vehicle to steer to align the hitch ball of the vehicle with the coupler during movement of the vehicle.

13. The system of claim 11 , wherein the controller further outputs a video image displayable on a human-machine interface within the vehicle including:
an image to the rear of the vehicle within the image data; and
a graphic overlay of the target area on the image data in a proportionally correlated manner with the image data.

14. The system of claim 13 , wherein the graphic overlay further includes an indication of whether a detected coupler is within the target area.

15. The system of claim 1 , wherein while outputting the steering signal to the vehicle to cause the vehicle to steer to align the hitch ball of the vehicle with the coupler during movement of the vehicle, the controller:
monitors a position of the coupler to determine if the coupler moves to a position beyond either of the left or right vehicle steering limits; and
stops the vehicle if the coupler moves to a position beyond either of the left or right vehicle steering limits when a distance to the coupler is above a predetermined threshold.

16. A hitching assistance system for a vehicle, comprising:
a vehicle steering system including a steering motor operably coupled with steered wheels of the vehicle;
a vehicle brake system;
an imaging system outputting image data; and
a controller:
identifying a coupler of a trailer in the image data within an acceptable trailer zone to the rear of the vehicle, the acceptable trailer zone being applied to the image data and being smaller than a total field of the image data; and
outputting a steering signal to the vehicle steering system to cause the steering motor to steer the steered vehicle wheels to move a hitch ball of the vehicle into alignment with the coupler during movement of the vehicle, including:
monitoring a position of the coupler in the image data to determine if the coupler moves to a position relative to the vehicle that is beyond either of a left or a right limit of the vehicle steering system; and
controlling the vehicle brake system to stop the vehicle if the coupler moves to a position beyond either of the left or right vehicle steering limits.

17. The system of claim 16 , when the controller only stops the vehicle if the coupler moves to a position beyond either of the left or right vehicle steering limits when a distance to the coupler is above a predetermined threshold.

18. The system of claim 16 , wherein the position of the coupler within the image data is modified to include uncertainty zone related to an ability of the controller to determine the position of the coupler.

19. The system of claim 16 , wherein the trailer coupler is further identified within a trailer target area within the acceptable trailer zone, the target area being:
defined in a lateral direction between left and right boundaries respectively spaced inwardly of the left and right lateral vehicle steering limits that define the acceptable trailer zone by one of a system perception factor or a vehicle geometry factor; and
defined in a longitudinal direction between a minimum movement limit and a maximum perception limit.

20. A method for assisting a vehicle in hitching with a trailer, comprising:
identifying a coupler of a trailer within image data received from an imaging system of the vehicle, the coupler further being located in a specified area relative to the vehicle, the specified area being applied to the image data and defined between a maximum distance and a minimum distance from a rear of the vehicle and boundaries respectively spaced inwardly of respective left and right lateral limits of a steering system of the vehicle including a steering motor operably coupled with steered wheels of the vehicle by one of a system perception factor or a vehicle geometry factor; and

Assignees

• Ford Global Tech Llc

Inventors

• Niewiadomski Luke
• Simmons Kyle
• Xu Li
• Rogan Douglas

Classifications

• B60W10/18 Primary

  including control of braking systems · CPC title

• B60W60/0025

  specially adapted for specific operations · CPC title

• B60W2050/0043

  Signal treatments, identification of variables or parameters, parameter estimation or state estimation · CPC title

• B60W2050/146

  Display means · CPC title

• B60W2710/06

  Combustion engines, Gas turbines · CPC title