Remote trailer maneuver assist system

Patent metadata

Field	Value
Publication number	US-11511576-B2
Application number	US-202016752123-A
Country	US
Kind code	B2
Filing date	Jan 24, 2020
Priority date	Jan 24, 2020
Publication date	Nov 29, 2022
Grant date	Nov 29, 2022

Abstract

A Remote Trailer Maneuvering (RTM) system includes a mobile device app that identifies and processes environmental information from a photo, to identify obstacles such as walls, surrounding objects, etc. When the RTM system detects a boat, a trailer, and a boat ramp, it calculates a travel distance to drive the trailer into the water for unloading the boat. The RTM system identifies obstructions, outputs information and warnings, and prompts for information and user control feedback. Once the photo is processed, the RTM system sends control instructions to an RTM controller onboard the vehicle. The vehicle may send a responsive message to the mobile device indicating that the RTM system is ready to proceed with the maneuvering function. The RTM controller maneuvers the trailer, using an autonomous vehicle controller, to the target position using the control instructions.

First claim

That which is claimed is:

1. A method for controlling a vehicle to position a trailer at a target position, comprising;
presenting, via a mobile device, an application engagement interface portion responsive to a first touch input;
receiving, via the application engagement interface portion, an image of a trailer parking environment;
determining a target location for parking the trailer via the image of the trailer parking environment;
generating, based on the image, a trailer maneuver path for the vehicle and the trailer from a first trailer location to the target location; and
sending a configuration message to the vehicle, the configuration message comprising instructions for causing an autonomous vehicle controller to maneuver the trailer to the target position based on the trailer maneuver path,
wherein determining the target position via the image of the trailer parking environment comprises:
determining a trailer dimension;
determining an environmental dimension indicative of a distance between the first trailer location and the target location of the trailer;
determining a boundary using the image of the trailer parking environment; and
positioning the target location at a distal end of the boundary, wherein the target location is represented as a rectangular shape having a distal target edge proximate to the distal end of the boundary.

2. The method according to claim 1 , further comprising:
receiving trailer dimensional data corresponding to a kinematic model of the trailer;
identifying a first reference point and a second reference point in the image of the trailer parking environment to calculate a dimension of the kinematic model;
determining, using the first reference point and the second reference point, a trailer dimension; and
updating a trailer profile with the trailer dimension.

3. The method according to claim 1 , further comprising:
identifying, based on the image, an obstacle along the trailer maneuver path to the target location; and
displaying a user action message via the mobile device instructing a user action to remove the obstacle.

4. The method according to claim 1 , further comprising:
identifying, based on the image, an obstacle along the trailer maneuver path to the target location;
displaying, via the mobile device, a user-selectable option to ignore the obstacle;
receiving a user selection of the user-selectable option to ignore the obstacle; and
generating a modified trailer maneuver path to the target location based on the user-selectable option.

5. The method according to claim 1 , further comprising:
identifying, based on the image, an obstacle along the trailer maneuver path to the target location; and
generating a modified trailer maneuver path to the target location by modifying the trailer maneuver path to avoid the obstacle.

6. The method according to claim 5 , further comprising:
determining that an obstruction intervenes between the first trailer location and the target location;
determining that the trailer maneuver path to the target location does not have an alternative route; and
generating a message on the mobile device indicating an instruction to remove the obstacle.

7. The method according to claim 5 , wherein identifying the obstacle along the trailer maneuver path comprises:
receiving a trailer profile comprising a trailer dimension;
determining a dimension of the obstacle based on the trailer dimension;
determining a first distance from the obstacle to the trailer;
determining a second distance from the obstacle to the vehicle; and
generating the modified trailer maneuver path based on the first distance and the second distance.

8. The method according to claim 7 , further comprising:
sending the configuration message to the vehicle, the configuration message comprising an instruction set for causing the autonomous vehicle controller to maneuver the trailer to the target location based on the modified trailer maneuver path.

9. The method according to claim 8 , wherein the modifying comprises changing the trailer maneuver path based on the dimension of the obstacle, the first distance and the second distance.

10. A system, comprising:
a processor; and
a memory for storing executable instructions, the processor configured to execute the instructions to:
present, via an application on a mobile device, an engagement interface portion responsive to a first touch input;
receive, via the mobile device, an image of a trailer parking environment, wherein the trailer parking environment comprises a vehicle and a trailer;
determine a target location for parking the trailer via the image of the trailer parking environment;
generate, based on the image, a trailer maneuver path from a first trailer location to the target location;
send a configuration message to the vehicle, the configuration message comprising instructions for causing an autonomous vehicle controller to maneuver the trailer to the target location based on the trailer maneuver path;
receive trailer dimensional data corresponding to a kinematic model of the trailer;
identify a first reference point and a second reference point in the image of the trailer parking environment to calculate a dimension of the kinematic model;
determine, using the first reference point and the second reference point, a trailer dimension; and
update a trailer profile with the trailer dimension.

11. The system according to claim 10 , wherein the processor is further configured to execute the instructions to:
determine a trailer dimension;
determine an environmental dimension indicative of a distance between the first trailer location and the target location;
determine a boundary using the image of the trailer parking environment; and
position the target location at a distal end of the boundary, wherein the target location is represented as a rectangular shape having a distal target edge proximate to the distal end of the boundary.

12. The system according to claim 10 , wherein the processor is further configured to execute the instructions to:
identify, based on the image, an obstacle along the trailer maneuver path to the target location; and
display a user action message via the mobile device instructing a user action to remove the obstacle.

13. The system according to claim 10 , wherein the processor is further configured to execute the instructions to:
identify, based on the image, an obstacle along the trailer maneuver path to the target location;
display a user-selectable option to ignore the obstacle;
receive a user selection of the user-selectable option to ignore the obstacle; and
generate a modified trailer maneuver path to the target location based on the user-selectable option.

14. The system according to claim 10 , wherein the processor is further configured to execute the instructions to:
identify, based on the image, an obstacle along the trailer maneuver path; and
generate a modified trailer maneuver path by modifying the trailer maneuver path to avoid the obstacle.

15. The system according to claim 14 , wherein the processor is further configured to execute the instructions to:
determine that an obstruction intervenes between the first trailer location and the target location;
determine that the trailer maneuver path to the target location does not have an alternative route; and
generate a message on the mobile device indicating an instruction to remove the obstacle.

16. The system according to claim 14 , wherein the processor is further configured to execute the instructions to:
receive a trailer

Assignees

• Ford Global Tech Llc

Inventors

• Raeis Hosseiny Seyed Armin
• Lavoie Erick Michael
• Ma Siyuan
• Bao Bo

Classifications

• B60P3/1033

  on a loading frame, e.g. the vehicle being a trailer (B60P3/1008 takes precedence) · CPC title

• B60W2050/0064

  using a remote, e.g. cordless, transmitter or receiver unit, e.g. remote keypad or mobile phone · CPC title

• B60W60/0025

  specially adapted for specific operations · CPC title

• B60D1/26 Primary

  for remote control, e.g. for releasing · CPC title

• B62D15/0285

  Parking performed automatically · CPC title