Vehicle communication system for sharing real-time articulated vehicle positions

Patent metadata

Field	Value
Publication number	US-11524537-B2
Application number	US-201716758431-A
Country	US
Kind code	B2
Filing date	Oct 24, 2017
Priority date	Oct 24, 2017
Publication date	Dec 13, 2022
Grant date	Dec 13, 2022

Abstract

A vehicle, hitch, and articulating trailer include vehicle to vehicle and infrastructure communications and vehicle computing systems, which have a controller coupled to and/or including one or more of a dynamics measurement unit, a transceiver, and a position sensor, among other components. The controller(s) are configured to, in response to detecting positions of trailer corners from the position sensor, generate vehicle and trailer relative orientation and navigation data including location, velocity, and orientation, utilizing vehicle and trailer electronic polyhedrons articulating about a hitch point and representing the combination vehicle and trailer predicted path and envelopes. In response to detected trailer movement relative to the hitch point, the generated articulated polyhedrons are generated with the navigation data, which includes the location, speed, and orientation, which are in turn communicated to nearby vehicles and roadway infrastructure. Initial trailer vertices may be generated with wireless and mobile devices to generate the trailer polyhedron.

First claim

What is claimed is:

1. A vehicle, comprising:
a controller coupled to a position sensor and a dynamics measurement unit, and configured to:
responsive to detecting positions of trailer vertices from the position sensor, generate vehicle and trailer polyhedrons including the trailer vertices mapped by the controller as polyhedron vertices, articulated about a hitch point wherein the controller, the position sensor and the dynamics measurement unit are located on the vehicle, and
responsive to the dynamics measurement unit detecting a trailer movement relative to the hitch point,
periodically communicate the generated articulated polyhedrons to a vehicle communications unit.

2. The vehicle according to claim 1 , comprising:
the position sensor including a transceiver and the controller further configured to:
detect in real time the trailer vertices from respective wireless motion trackers in communication with the transceiver, relative to the hitch point, positioned at vertices on a trailer, and
generate the vehicle and trailer polyhedrons articulated about the hitch point and including the trailer vertices.

3. The vehicle according to claim 1 , comprising:
the position sensor including a line of sight range finder configured to:
ping and detect initial trailer vertices as two dimensional positions of range finder reflectors, relative to the hitch point, and positioned at vertices on a trailer, and
generate the trailer polyhedron.

4. The vehicle according to claim 3 , comprising:
the range finder configured to:
be vertically adjustable relative to a ground surface, and
detect the initial trailer vertices as three dimensional positions of the range finder reflectors relative to the hitch point.

5. The vehicle according to claim 4 , comprising:
the controller further configured to:
responsive to the detected trailer movement relative to the hitch point,
adjust the initial trailer vertices according to the detected trailer movement to generate the trailer polyhedron articulated relative to the hitch point.

6. The vehicle according to claim 1 , comprising:
the position sensor incorporating at least one hitch yaw and pitch sensor, and the controller further configured to:
responsive to yaw and pitch signals from the respective sensors,
generate the articulated polyhedrons adjusted by the yaw and pitch signals.

7. The vehicle according to claim 1 , comprising:
the position sensor including at least one hitch yaw and pitch sensor, and the controller coupled to multiple antennas and at least one transceiver configured to communicate with a mobile device, and the controller further configured to:
responsive to detecting positions of trailer vertices from the mobile device detected by signal strength at each of the multiple antennas,
generate initial trailer vertices for a trailer mapped to trailer polyhedron vertices relative to the hitch point, according to the detected positions of trailer vertices.

8. The vehicle according to claim 7 , comprising:
the controller further configured to:
responsive to yaw and pitch signals generated by the at least one yaw and pitch sensor,
adjust the positions of the initial trailer vertices according to the yaw and pitch signals, and
generate the articulated polyhedrons according to the adjusted positions of the trailer vertices.

9. The vehicle according to claim 1 , comprising:
the position sensor including at least one hitch yaw and pitch sensor, and the controller coupled to a transceiver configured to communicate with a mobile device, and further configured to:
responsive to a trailer polyhedron generated by and received from the mobile device,
generate initial trailer vertices for a trailer, relative to the hitch point.

10. The vehicle according to claim 9 , comprising:
the controller further configured to:
responsive to yaw and pitch signals,
adjust the positions of the initial trailer vertices according to the yaw and pitch signals, and
generate the articulated polyhedrons according to the adjusted positions of the trailer vertices.

11. A vehicle, comprising:
a controller coupled to a yaw and pitch sensor and a dynamics measurement unit wherein the controller, the yaw and pitch sensor and the dynamics measurement unit are located on the vehicle, and the controller is configured to:
responsive to detected trailer movement relative to a hitch point,
adjust positions of trailer vertices according to yaw and pitch signals,
generate vehicle and trailer polyhedrons according to the trailer vertices, articulated about the hitch point, and
periodically communicate the generated articulated polyhedrons to a vehicle communication unit.

12. The vehicle according to claim 11 , comprising:
the controller coupled to multiple antennas and at least one transceiver configured to communicate with a mobile device, and further configured to:
responsive to detecting positions of trailer vertices from the mobile device detected by signal strength at each of the multiple antennas,
generate initial trailer vertices for a trailer mapped to trailer polyhedron vertices relative to the hitch point, according to the detected positions of trailer vertices.

13. The vehicle according to claim 12 , comprising:
the controller further configured to:
responsive to yaw and pitch signals generated by the yaw and pitch sensor,
adjust the trailer vertices from the positions of the initial trailer vertices according to the yaw and pitch signals, and
generate the articulated polyhedrons according to the adjusted trailer vertices.

14. The vehicle according to claim 11 , comprising:
the controller coupled to a transceiver configured to communicate with a mobile device, and further configured to:
responsive to a trailer polyhedron generated by and received from the mobile device,
generate initial trailer vertices for a trailer, relative to the hitch point.

15. The vehicle according to claim 14 , comprising:
the controller further configured to:
responsive to yaw and pitch signals generated by the yaw and pitch sensor,
adjust the positions of the initial trailer vertices according to the yaw and pitch signals, and
generate the articulated polyhedrons according to the adjusted positions of the trailer vertices.

16. A method of controlling a vehicle, comprising:
by a controller, coupled to a position sensor and a dynamics measurement unit, wherein the controller, the position sensors and the dynamics measurement unit are located on the vehicle:
responsive to detecting positions of trailer vertices by the position sensor,
generating vehicle and trailer polyhedrons including the detected trailer vertices mapped to polyhedron vertices, articulated about a hitch point, and

responsive to the dynamics measurement unit detecting a trailer movement relative to the hitch point,
communicating periodically the generated articulated polyhedrons to a vehicle communications unit.

17. The method according to claim 16 , comprising:
by the controller, the position sensor including a transceiver:
detecting in real time the positions of trailer vertices from respective wireless motion trackers in communication with the transceiver, relative to the hitch point, positioned at vertices on a trailer, and
generating the vehicle and trailer polyhedrons articulated about the hitch point and including the trailer vertices.

18. The method according to claim 16 , further comprising:
by the controller, the position sensor including multiple antennas and at least one transceiver c

Assignees

• Ford Global Tech Llc

Inventors

• Ferrer John Michael Galan
• Rao Jayanthi
• Schein Victoria Leigh

Classifications

• B60D1/62 Primary

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

• G01S5/0284

  Relative positioning · CPC title

• B62D13/00 Primary

  Steering specially adapted for trailers (combined traction and steering hitches B60D) · CPC title

• H04W4/44

  for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] · CPC title

• H04W4/48

  for in-vehicle communication · CPC title