Alignment position adaptation for fifth wheel trailers in hitch assist operation

Patent metadata

Field	Value
Publication number	US-11505124-B2
Application number	US-201916657100-A
Country	US
Kind code	B2
Filing date	Oct 18, 2019
Priority date	Oct 18, 2019
Publication date	Nov 22, 2022
Grant date	Nov 22, 2022

Abstract

A vehicle hitch assistance system includes a first image sensor in connection with a portion of the vehicle and positioned forward of a forward hitch disposed in a cargo bed of the vehicle. The system further includes a controller configured to capture first image data with the first image sensor. The first image data depicts a coupler of a trailer. The controller is further configured to identify a trailer type of the trailer based on the first image data. The trailer type is configured to connect to the forward hitch. The controller is further configured to acquire position data identifying a coupler position of the coupler in the first image data, derive a vehicle path aligning the forward hitch with the coupler, and control a maneuvering system driving the vehicle along the vehicle path.

First claim

What is claimed is:

1. A vehicle hitch assistance system, comprising:
a first image sensor in connection with a portion of the vehicle and positioned forward of a forward hitch disposed in a cargo bed of the vehicle;
a controller configured to:
capture first image data with the first image sensor, wherein the first image data depicts a coupler of a trailer;
identify a trailer type of the trailer based on the first image data, wherein the trailer type is determined as a first type configured to connect with a rear hitch of the vehicle and a second type configured to connect to the forward hitch;
acquire position data identifying a coupler position of the coupler in the first image data;
activate a type-specific navigation operation of the vehicle based on the trailer type;
derive a vehicle path aligning the rear hitch or the forward hitch with the coupler in response to the coupler position; and
control a maneuvering system driving the vehicle along the vehicle path.

2. The hitch assistance system according to claim 1 , wherein the controller is further configured to distinguish the trailer type as a fifth-wheel trailer or a gooseneck trailer from an A-frame trailer.

3. The hitch assistance system according to claim 1 , further comprising a user interface, wherein the controller is configured to prompt a user to verify the navigation operation of the trailer based on the trailer type.

4. The hitch assistance system according to claim 1 , wherein the vehicle path directs the coupler through an opening formed by an open or removed tailgate between a plurality of side portions of the cargo bed.

5. The hitch assistance system according to claim 1 , wherein the coupler of the trailer is elevated and configured to extend above the storage compartment in the form of a fifth wheel or gooseneck coupler.

6. The hitch assistance system according to claim 1 , wherein the controller is further configured to:
project a target hitch position along a height of a projected z-axis of the coupler; and
control the maneuvering system driving the vehicle to align the hitch with the projected target hitch position.

7. The hitch assistance system according to claim 1 , wherein the first image sensor is positioned above a rear windscreen of the vehicle.

8. The hitch assistance system according to claim 7 , wherein the controller is further configured to:
detect a position of the forward hitch in the cargo bed by processing the first image data.

9. The hitch assistance system according to claim 1 , wherein the controller is further configured to:
detect at least one of an open status and a connection status of a tailgate of the vehicle based on the first image data.

10. The hitch assistance system according to claim 1 , further comprising a second image sensor configured to capture second image data in connection with a tailgate or a portion forming a rear extent of the vehicle.

11. The hitch assistance system according to claim 10 , wherein the controller is further configured to:
detect a status of the tailgate based on a connection status of the second image sensor in connection with a portion of the vehicle aft of the forward hitch.

12. The hitch assistance system according to claim 10 , wherein the status of the tailgate is identified in response to the second image data captured by the second image sensor depicting a ground portion different from a scene depicted in the second image data.

13. The hitch assistance system according to claim 10 , wherein the status of the tailgate is identified by comparing the first image data captured by the first image sensor with the second image data captured by the second image sensor.

14. The hitch assistance system according to claim 1 , wherein a coupler position boundary is identified by processing the first image data, wherein the coupler position boundary is defined by the side portions and the forward hitch, and wherein the vehicle path directs the coupler through an opening formed by an open or removed tailgate within the coupler position boundary.

15. A method for controlling an automated vehicle hitch assistance system, the method comprising:
capturing first image data with a first image sensor in connection with a portion of the vehicle and positioned forward of a forward hitch position in a cargo bed of the vehicle;
identifying a coupler position and a trailer type of a trailer in the first image data, wherein the trailer type is one of a first type configured to connect with a rear hitch of the vehicle and a second type configured to connect to the forward hitch;
in response to the trailer type being identified, activating a type-specific navigation operation of the vehicle;
in response to the trailer type being configured to connect with the forward hitch, detecting:
a presence of the forward hitch in the cargo bed based on the first image data; and
a plurality of side portions that laterally bound the cargo bed based on first image data;

in response to a negative search result for the forward hitch in the cargo bed, outputting an indication that the forward hitch is not identified; and
in response to a positive search result for the forward hitch in the cargo bed, controlling the vehicle to maneuver the forward hitch position to align with the coupler position, wherein the vehicle path directs the coupler through an opening formed by an open or removed tailgate between the plurality of side portions of the cargo bed.

16. The method according to claim 15 , further comprising:
detecting a forward hitch position between the side portions of the forward hitch in the image data; and
calculating an alignment path from the forward hitch position to the coupler position, wherein the alignment path extends between the coupler and the forward hitch through the opening formed by an open or removed tailgate between the plurality of side portions of the cargo bed.

17. A vehicle hitch assistance system, comprising:
an image sensor in connection with a portion of the vehicle and positioned forward of a forward hitch disposed in a cargo bed of the vehicle;
a controller configured to:
capture image data with the image sensor, wherein the image data depicts a coupler of a trailer;
acquire position data identifying a coupler position of the coupler in the first image data;
identify a trailer type of the trailer based on the first image data, wherein the trailer type is determined as a first trailer having a first coupler height configured to connect with a rear hitch of the vehicle or a second trailer having a second coupler height configured to connect to the forward hitch;
detect at least one of a status of a tailgate of the vehicle based on the first image data;
in response to the tailgate being oriented in a closed position, output a notification indicating the closed position;
activate a type-specific navigation operation of the vehicle based on the trailer type;
derive a vehicle path aligning the rear hitch or the forward hitch with the coupler position, wherein the vehicle path comprises type-specific navigation based on the trailer type; and
control a maneuvering system driving the vehicle along the vehicle path.

18. The method according to claim 15 , further comprising:
identifying a coupler position boundary within the cargo bed defined by the side portions and the forward hitch; and
controlling a maneuvering system driving the vehicle to direct the coupler through an opening formed by an open or removed tailgate into the coupler position boundary with the cargo bed.

Assignees

• Ford Global Tech Llc

Inventors

• Niewiadomski Luke
• Trombley Roger Arnold
• Pilutti Thomas Edward

Classifications

• B62D53/08

  Fifth wheel traction couplings {(tractors for handling trailers in terminals B62D49/007)} · CPC title

• B62D15/0285 Primary

  Parking performed automatically · CPC title

• B62D13/06

  for backing a normally drawn trailer · CPC title

• B60R2300/808

  for facilitating docking to a trailer · CPC title

• B60R1/003 Primary

  for viewing trailer hitches · CPC title