Saturated steering detection and operation for guided vehicle operation

Patent metadata

Field	Value
Publication number	US-11214105-B2
Application number	US-201916260547-A
Country	US
Kind code	B2
Filing date	Jan 29, 2019
Priority date	Jan 29, 2019
Publication date	Jan 4, 2022
Grant date	Jan 4, 2022

Abstract

A method for controlling a vehicle comprises identifying a first detected position of a trailer coupler in the sensor data and identifying a trajectory range of a hitch of the vehicle based on a steering angle range of the vehicle. In response to the first detected position being outside the trajectory range, the method may continue by calculating a nearby position within the trajectory range based on the trajectory range. The method further comprises maneuvering the vehicle aligning the hitch with the nearby position.

First claim

What is claimed is:

1. A method for controlling a vehicle comprising:
identifying a first detected position of a trailer coupler in sensor data;
identifying a trajectory range of a hitch of the vehicle based on a steering angle range of the vehicle;
in response to the first detected position being outside the trajectory range, calculating a nearby position within the trajectory range with a maximum steering angle; and
controlling a steering apparatus with a processor of a computerized maneuvering system of the vehicle, thereby maneuvering the vehicle aligning the hitch with the nearby position.

2. The method according to claim 1 , further comprising:
maneuvering the vehicle to the first detected position in response to the first detected position being within the trajectory range of the hitch.

3. The method according to claim 2 , further comprising:
detecting a change in the first detected position of the trailer coupler to a second detected position, wherein the second detected position is outside the trajectory range as a result of the change identified in the sensor data.

4. The method according to claim 3 , wherein the change in the first detected position is detected based on a change in a vehicle position relative to the trailer coupler.

5. The method according to claim 3 , wherein the change in the first detected position is detected in response to a variation in the sensor data.

6. The method according to claim 3 , wherein the nearby position is calculated by identifying a minimum distance between an extent of the trajectory range of the hitch of the vehicle and the second detected position.

7. The method according to claim 3 , further comprising:
identifying an alignment distance between the second detected position and the nearby position.

8. The method according to claim 7 , further comprising:
comparing the alignment distance to an alignment threshold.

9. The method according to claim 8 , wherein the maneuvering of the vehicle to the nearby position is controlled in response to the comparison of the alignment distance to the alignment threshold.

10. The method according to claim 8 , further comprising:
in response to the alignment distance being greater than the alignment threshold, identifying an unsuccessful alignment; and
in response to the alignment distance being less than the alignment threshold, identifying a successful alignment.

11. A vehicle maneuvering system comprising:
a steering apparatus; and
a controller that:
identifies a first target of a trailer coupler in a sensor data;
compares the first target to a trajectory range of a hitch of the vehicle;
in response to the first target being outside the trajectory range, calculates a second target based on the trajectory range; and
controls the steering apparatus to align the hitch with the second target.

12. The system according to claim 11 , further comprising:
a sensor that captures the sensor data, wherein the sensor comprises at least one of an image sensor, an ultrasonic sensor, and a radar sensor.

13. The system according to claim 11 , wherein the trajectory range is based on a steering angle range of the steering apparatus.

14. The system according to claim 11 , wherein the controller further:
aligns the hitch with the second target by controlling a powertrain control system controlling a movement of the vehicle.

15. The system according to claim 11 , wherein the controller further:
in response to the first target identified within the trajectory range, controls the steering apparatus to align the hitch with the first target.

16. The system according to claim 15 , wherein the controller further:
detects a change in the first target, wherein the change results in a changed first target location outside the trajectory range as identified in the sensor data.

17. The system according to claim 16 , wherein the second target is calculated by identifying a minimum distance between an extent of the trajectory range of the hitch of the vehicle and the changed first target location outside the trajectory range.

18. A vehicle system, comprising:
a hitch mounted on a vehicle;
a sensor apparatus configured to capture sensor data in a region proximate to the vehicle depicting a coupler of a trailer;
a steering apparatus comprising a steering range; and
a controller that:
identifies a detected position of the coupler in the sensor data;
compares the detected position to a trajectory range of the hitch based on the steering range;
in response to the detected position outside the trajectory range, calculates an approximate alignment target based on the trajectory range; and
controls the steering apparatus and a powertrain system of the vehicle to align the hitch with the approximate alignment target.

19. The system according to claim 18 , wherein the sensor apparatus comprises an imaging system including one or more cameras mounted on the vehicle; and
wherein the controller further identifies the detected position based on image data received from the imaging system depicting the coupler.

20. The system according to claim 18 , wherein the approximate alignment target is calculated by identifying a minimum distance between an extent of the trajectory range of the hitch of the vehicle and the detected position.

Assignees

• Ford Global Tech Llc

Inventors

• Niewiadomski Luke
• Simmons Kyle
• Xu Li

Classifications

• B62D5/04

  electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear · CPC title

• B60D1/065

  characterised by the hitch mechanism · CPC title

• B62D15/0285

  Parking performed automatically · CPC title

• B60D1/62

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

• B60D1/366 Primary

  comprising braking means · CPC title