System for aligning a vehicle hitch location identifier with a trailer coupler

Patent metadata

Field	Value
Publication number	US-11427199-B2
Application number	US-201916547722-A
Country	US
Kind code	B2
Filing date	Aug 22, 2019
Priority date	Aug 22, 2019
Publication date	Aug 30, 2022
Grant date	Aug 30, 2022

Abstract

A system for assisting in aligning a vehicle for hitching with a trailer includes a vehicle steering system, an imager mounted with and directed to a rear of the vehicle and outputting image data, and a controller. The controller receives the image data, applies a location identifier of a vehicle hitch ball to the image data, and identifies a coupler of the trailer within the image data. The controller also outputs a steering control signal to the steering system in reversing of the vehicle to align the location identifier of the vehicle hitch ball in the image data with the coupler of the trailer.

First claim

What is claimed is:

1. A system for assisting in aligning a vehicle for hitching with a trailer, comprising:
a vehicle steering system;
an imager mounted with and directed to a rear of the vehicle and outputting image data; and
a controller:
receiving the image data, superimposing on the image data a location identifier corresponding with a position of a vehicle hitch ball with respect to the rear of the vehicle, and identifying a coupler of the trailer within the image data; and
outputting a steering control signal to the vehicle steering system in reversing of the vehicle, without continuously tracking the position of the vehicle hitch ball, to align the location identifier in the image data with the coupler of the trailer in the image data.

2. The system of claim 1 , further including:
a vehicle brake system; and
a vehicle powertrain control system;
wherein the controller further outputs brake and powertrain control signals to the brake system and the powertrain control system in reversing of the vehicle in aligning the location identifier to the image data with the coupler of the trailer.

3. The system of claim 1 , wherein:
superimposing the location identifier in the image data includes adding the location identifier to the image data in a manner correlated with the position of the vehicle hitch ball relative to a vehicle ground plane captured in the image data; and
aligning the location identifier with the coupler of the trailer includes determining a relative position of the location identifier in the image data with the identified coupler within the image data.

4. The system of claim 3 , wherein determining the relative position of the location identifier to the identified coupler within the image data is carried out using a pixel comparison process.

5. The system of claim 3 , wherein the relative position of the location identifier to the identified coupler within the image data includes a distance from the location identifier to the identified coupler within the image data and an angle of the distance relative to a vehicle longitudinal axis.

6. The system of claim 1 , wherein the controller further receives the image data and identifies the vehicle hitch ball in the image data, the location identifier being superimposed on the image data to correspond with a location of the identified vehicle hitch ball in the image data.

7. The system of claim 6 , wherein the controller further stores the location of the identified vehicle hitch ball in memory.

8. The system of claim 1 , wherein the controller further:
receives the image data and attempts to identify the vehicle hitch ball in the image data; and
outputs the steering control signal to the vehicle steering system in reversing of the vehicle to align the location identifier to the image data with the coupler of the trailer in the image data, including when no vehicle hitch ball is identified in the image data.

9. The system of claim 8 , wherein the controller further, upon no hitch ball being identified in the image data, retrieves a stored hitch ball location from memory and superimposes the location identifier on the image data to correspond with the stored hitch ball location.

10. The system of claim 9 , wherein the stored hitch ball location corresponds with an identified location of the vehicle hitch ball from a previous operation of the system.

11. The system of claim 9 , wherein the stored hitch ball location corresponds with a system default location.

12. A vehicle, comprising:
a steering system operably connected with steered wheels of the vehicle;
an imager mounted with and directed to a rear of the vehicle and outputting image data; and
a controller:
receiving the image data, attempting to identify a vehicle hitch ball in the image data, applying a location identifier to the image data in response to no hitch ball being identified in the image data, and identifying a coupler of a trailer within the image data; and
outputting a steering control signal to the steering system in reversing of the vehicle to align the location identifier in the image data with the coupler of the trailer, without tracking a position of the vehicle hitch ball in the image data.

13. The vehicle of claim 12 , wherein:
applying the location identifier to the image data includes adding the location identifier to the image data correlated with a hitch ball location relative to a vehicle ground plane captured in the image data; and
aligning the location identifier of the vehicle hitch ball to the image data with the coupler of the trailer includes determining a relative position of the location identifier to the identified coupler within the image data.

14. The vehicle of claim 13 , wherein:
the relative position of the location identifier to the identified coupler within the image data includes a distance from the location identifier to the identified coupler within the image data and an angle of the distance relative to a vehicle longitudinal axis; and
determining the relative position of the location identifier with the identified coupler within the image data is carried out using a pixel comparison process.

15. The vehicle of claim 12 , wherein the controller further:
receives the image data and identifies the vehicle hitch ball in the image data, the location identifier corresponding with a location of the identified vehicle hitch ball in the image data; and
stores the location of the identified vehicle hitch ball in memory.

16. The vehicle of claim 12 , wherein the controller further, upon no hitch ball being identified in the image data, retrieves a stored hitch ball location from memory and applies the location identifier of the vehicle hitch ball to the image data to correspond with the stored hitch ball location.

17. The vehicle of claim 16 , wherein the stored hitch ball location corresponds with a location of an identified hitch ball from a previous operation of the steering system.

18. The vehicle of claim 16 , wherein the stored hitch ball location correspond with a system default location.

19. The system of claim 12 , wherein the controller applies the location identifier to the image data by superimposing the location identifier on the image data continuously and in a frame-by-frame manner to define a pixel space in the image to represent the vehicle hitch ball.

20. A method for assisting in aligning a vehicle for hitching with a trailer, comprising:
receiving image data from an imager mounted with and directed to a rear of the vehicle and outputting image data;
attempting to identify a vehicle hitch ball in the image data;
in response to failing to identify the vehicle hitch ball in the image data, applying a location identifier to the image data;
identifying a coupler of the trailer within the image data; and
outputting a steering control signal to a vehicle steering system in reversing of the vehicle to align the location identifier in the image data with the coupler of the trailer in the image data.

Assignees

• Ford Global Tech Llc

Inventors

• Niewiadomski Luke
• Trombley Roger
• Nagraj Rao Nikhil
• Chen Lihui

Classifications

• B60W30/18036 Primary

  Reversing · CPC title

• B60D1/36 Primary

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

• G06V10/48

  by mapping characteristic values of the pattern into a parameter space, e.g. Hough transformation · CPC title

• H04N23/57

  Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices · CPC title

• H04N23/54

  Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils · CPC title