Automated hitching system with subject trailer selection from multiple identified trailers

Patent metadata

Field	Value
Publication number	US-11753076-B2
Application number	US-202017030590-A
Country	US
Kind code	B2
Filing date	Sep 24, 2020
Priority date	Nov 8, 2018
Publication date	Sep 12, 2023
Grant date	Sep 12, 2023

Abstract

A vehicle hitching assistance system includes a controller acquiring image data from the vehicle and identifying a plurality of trailers within in a specified area of the image data. The specified area is less than a total field of the image data and corresponds at least with left and right steering angle limits of the vehicle. The controller further receives a selection of a subject trailer of the plurality of trailers identified within the specified area, identifies a coupler of the subject trailer, and outputs a steering signal to the vehicle to cause the vehicle to steer to align a hitch ball of the vehicle with the coupler of the subject trailer.

First claim

What is claimed is:

1. A hitching assistance system for a vehicle, comprising:
a human-machine interface within the vehicle; and
a controller:
acquiring image data from the vehicle;
identifying a plurality of trailers within the image data;
indicating, via the human-machine interface, that at least one of the plurality of trailers is at least one reachable trailer by the at least one trailer being positioned within a specified area of the image data, the specified area being less than a total field of the image data and defined by left and right steering angle limits of the vehicle;
receiving a selection, via the human-machine interface, of a subject trailer of the at least one reachable trailer within the specified area;
identifying a coupler of the subject trailer; and
autonomously steering the vehicle to align a hitch ball of the vehicle with the coupler of the subject trailer.

2. The system of claim 1 , wherein the controller further outputs a video image displayable on a human-machine interface within the vehicle including:
the image data; and
a plurality of graphic trailer identification images overlaid on the image data in respective positions adjacent each the at least one reachable trailer within the specified area.

3. The system of claim 2 , wherein at least one of the plurality of trailers identified within the image data as an additional trailer outside the specified area; and
the controller does not include an identification image overlaid on the image data in association with the additional trailer.

4. The system of claim 2 , wherein the controller receives an input from the human-machine interface corresponding with a user input associated with one of the plurality of identification images, such input being received as the selection of the subject trailer.

5. The system of claim 1 , wherein the total field of the image data corresponds with a total field of view of the camera.

6. The system of claim 1 , wherein the specified area of the image data is a target area disposed within a central portion of the image data.

7. The system of claim 1 , wherein the controller further outputs a video image displayable on the human-machine interface within the vehicle including:
the image data; and
a graphic overlay of the specified area on the image data in a proportionally correlated manner.

8. The system of claim 7 , wherein the controller:
receives an input from the human-machine interface corresponding with a portion of the image data outside of the specified area; and the selection of the subject trailer; and
includes in the graphic overlay an instruction to reposition the vehicle so that an indicated trailer is within the specified area.

9. The system of claim 1 , wherein the specified area of the image data is further defined by at least one of a minimum travel threshold and a maximum image detection limit.

10. The system of claim 1 , wherein:
the controller outputs the steering signal to a steering system included with the vehicle; and
the controller derives the steering signal based on at least one of the left and right steering angle limits.

11. A vehicle, comprising:
a steering system;
a human-machine interface within the vehicle;
a camera positioned on an exterior of the vehicle; and
a controller:
acquiring image data from the camera;
identifying a plurality of trailers within the image data,
indicating, via the human-machine interface, that at least one of the plurality of trailer is at least one reachable trailer by the at least on trailer being positioned within a specified area of the image data, the specified area being less than a total field of the image data and defined least by left and right steering angle limits of the vehicle;
receiving a selection, via the human-machine interface, of a subject trailer of the at least one reachable trailer; and
autonomously steering the vehicle to align a hitch ball of the vehicle with a coupler of the subject trailer.

12. The vehicle of claim 11 , wherein the controller further identifies the coupler of the subject trailer after receiving the selection of the subject trailer.

13. The vehicle of claim 11 , wherein:
the controller further outputs a video image displayable on the human-machine interface including:
the image data; and
a plurality of graphic trailer identification images overlaid on the image data in respective positions adjacent the at least one reachable trailer identified within the specified area.

14. The vehicle of claim 13 , wherein the controller receives an input from the human-machine interface corresponding with a user input associated with one of the plurality of trailer identification images, such input being received as the selection of the subject trailer.

15. The vehicle of claim 11 , wherein the total field of the image data corresponds with a total field of view of the camera.

16. A method for assisting a vehicle in hitching with a trailer, comprising:
acquiring image data for a field of view away from a rear of the vehicle;
identifying a plurality of trailers within the image data;
indicating, via a vehicle human-machine interface, that at least one of the plurality of trailers is at least one reachable trailer by the at least one trailer being positioned within a specified area of the image data, the specified area being less than a total field of the image data and defined by left and right steering angle limits of the vehicle;
receiving a selection of a subject trailer of the at least one reachable trailer; and
autonomously steering the vehicle to align a hitch ball of the vehicle with a coupler of the subject trailer.

17. The method of claim 16 , wherein:
the total field of the image data corresponds with a total field of view of a camera from which the image data is acquired; and
the specified area of the image data is a target area disposed within a central portion of the image data.

18. The method of claim 16 , further including identifying the coupler of the subject trailer after receiving the selection of the subject trailer.

19. The method of claim 16 , further including:
outputting a video image displayable on the vehicle human-machine interface including:
the image data; and
at least one graphic trailer identification image overlaid on the image data in a position adjacent the at least one reachable trailer identified within the specified area.

20. The method of claim 19 , further including receiving an input from the human-machine interface corresponding with a user input associated with the at least one trailer identification image, such input being received as the selection of the subject trailer.

Assignees

• Ford Global Tech Llc

Inventors

• Mayer Kenneth Michael
• Raeis Hosseiny Seyed Armin
• Bao Bo
• Niewiadomski Luke

Classifications

• B62D6/001 Primary

  the torque NOT being among the input parameters · CPC title

• B62D15/0285 Primary

  Parking performed automatically · CPC title

• B62D15/025 Primary

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• B60W50/14

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• B60W2050/146

  Display means · CPC title