Hook assist system for correcting misalignment between a tow hook of a vehicle and a hook connector of a trailer

Abstract

A hitch assist system is provided herein. A human-machine interface is configured to receive user input to adjust a pre-hitch position of a tow hitch of a vehicle. A controller is configured to generate commands for maneuvering the vehicle such that the tow hitch moves to the adjusted pre-hitch position at which the tow hitch is aligned with a hitch connector of a trailer.

Description

Technical Field

[0001] The present invention generally relates to a system that assists a user in hooking a vehicle to a trailer, and more specifically to a system capable of correcting misalignment between the trailer hitch and the hitch connector. Background Technology

[0002] Known hook-up assist systems orient the vehicle toward the trailer to allow for hook-up connection between the tow hook and the hook-up connector. In some cases, the tow hook becomes misaligned with the hook-up connector upon completion of maneuvering. As a result, the vehicle or trailer must be repositioned to ensure proper alignment of the tow hook and hook-up connector. Therefore, a hook-up assist system capable of correcting misalignment between the tow hook and hook-up connector is needed. This disclosure aims to meet this need. Summary of the Invention

[0003] According to a first aspect of the invention, a hook-up assist system is provided. A human-machine interface is configured to receive user input to adjust the pre-engagement position of a vehicle's tow hook. A controller is configured to generate commands for maneuvering the vehicle such that the tow hook moves to the adjusted pre-engagement position, at which the tow hook is aligned with the trailer's hook connector.

[0004] Embodiments of the first aspect of the present invention may include any or a combination of the following features:

[0005] The human-machine interface includes a touch screen display configured to display a view of the tow hook in a pre-engaged position and to record one or more touch events thereon for adjusting the pre-engaged position of the tow hook.

[0006] • The touchscreen display is configured to generate graphic icons with multiple touch points to adjust the pre-hook position of the tow hook;

[0007] • The touch point allows adjustment of the pre-hook position in at least one of the horizontal and vertical directions;

[0008] • The graphic icon is configured to display the positional difference between the pre-engaged position of the tow hook and the adjusted pre-engaged position of the tow hook;

[0009] • The touchscreen display is configured to generate indicators that graphically represent the pre-engagement position of the tow hook and can move in response to each touch event;

[0010] • Touch points are graphically represented as arrows, and each touch event on a given touch point causes the indicator to move incrementally in the direction specified by the corresponding arrow;

[0011] • The controller is configured to determine the positional difference between the pre-engaged position and the adjusted pre-engaged position;

[0012] The controller stores the position difference in memory and applies it to future maneuvers of the vehicle toward the trailer; and

[0013] • The trailer hitch includes a hitch ball, and the hitch connector includes a connector ball seat.

[0014] According to a second aspect of the invention, a human-machine interface for a vehicle having a tow hook is provided. A touchscreen display is configured to display a view of the tow hook in a pre-engaged position near the hook connector of the trailer, and to record one or more touch events thereon for adjusting the pre-engaged position of the tow hook to correct misalignment between the tow hook and the hook connector.

[0015] Embodiments of the second aspect of the present invention may include any or a combination of the following features:

[0016] • The touchscreen display is configured to generate graphic icons with multiple touch points to adjust the pre-hook position of the tow hook;

[0017] • The touch point allows adjustment of the pre-hook position in at least one of the horizontal and vertical directions;

[0018] • The graphic icon is configured to display the positional difference between the pre-engaged position of the tow hook and the adjusted pre-engaged position of the tow hook;

[0019] • The touchscreen display is configured to generate indicators that graphically represent the pre-engagement position of the tow hook and are movable in response to each touch event; and

[0020] • Touch points are graphically represented as arrows, and each touch event on a given touch point causes the indicator to move incrementally in the direction specified by the corresponding arrow.

[0021] According to a third aspect of the invention, a method is provided for correcting misalignment between a tow hook of a vehicle and a hook connector of a trailer. The method includes the steps of: receiving user input via a human-machine interface to adjust a pre-engagement position of the tow hook; and providing a controller to generate a command for maneuvering the vehicle such that the tow hook moves to the adjusted pre-engagement position, at which the tow hook is aligned with the hook connector.

[0022] Embodiments of the third aspect of the present invention may include any or a combination of the following features:

[0023] • The steps for determining the positional difference between the pre-engaged position of the trailer hitch and the adjusted pre-engaged position of the trailer hitch;

[0024] • The step of storing the position difference into memory; and

[0025] • Apply the positional difference to the steps of future maneuvering of the vehicle toward the trailer.

[0026] After studying the following description, claims and drawings, those skilled in the art will understand and appreciate these and other aspects, objects and features of the invention. Attached Figure Description

[0027] In the attached diagram:

[0028] Figure 1 It is a top perspective view of a vehicle and trailer, the vehicle being equipped with a hook-and-hook auxiliary system according to one embodiment;

[0029] Figure 2 This is a block diagram showing the hook auxiliary system;

[0030] Figure 3 This is a flowchart of a method for correcting misalignment between the vehicle's tow hook and the trailer's hook connector;

[0031] Figure 4 A touchscreen display is shown, showing a view of the tow hook in a pre-engaged position and a graphical icon generated on the display with multiple touch points for allowing the user to adjust the pre-engaged position of the tow hook; and

[0032] Figure 5 yes Figure 4 An enlarged view of region V shown. Detailed Implementation

[0033] Detailed embodiments of the invention are disclosed herein as requested. However, it should be understood that the disclosed embodiments are merely illustrative of the invention, which may be embodied in different and alternative forms. The accompanying drawings do not need to be detailed designs, and some figures may be enlarged or minimized to show a functional overview. Therefore, the specific structural and functional details disclosed herein should not be construed as limiting, but rather serve only as a representative basis for teaching those skilled in the art to employ the invention in various ways.

[0034] As used herein, the term “and / or” when used to list two or more items means that any one of the listed items may be used, or any combination of two or more of the listed items may be used. For example, if a composition is described as containing components A, B and / or C, the composition may contain A alone; B alone; C alone; a combination of A and B; a combination of A and C; a combination of B and C; or a combination of A, B and C.

[0035] refer to Figure 1 and Figure 2 Reference numeral 10 in the attached figure generally indicates a hook-and-hook auxiliary system used to hook the vehicle 12 to the trailer 14. For example... Figure 1 As shown, vehicle 12 is exemplarily represented as a pickup truck having a cargo bed 16 accessible via a downward-folding tailgate 18. Vehicle 12 also includes a trailer hitch in the form of a hitch ball 22 extending from a drawbar 24 connected to the rear of vehicle 12. The hitch ball 22 is configured to be received by a hitch connector in the form of a connector ball seat 26 provided at the end of a trailer tongue 28. Trailer 14 is exemplarily represented as a single-axle trailer having a box-shaped frame 30 with an enclosed cargo area 32 from which the tongue 28 extends longitudinally.

[0036] System 10 includes a controller 38 that communicates with an imaging device 40 located at the rear of vehicle 12. The imaging device 40 may be centered in the upper region of the rear bumper 18, such that it is elevated relative to the tow bar 24 and the hook ball 22. The imaging device 40 has a field of view 42, which is positioned and oriented to capture one or more images of the rear vehicle scene, typically including the hook ball 22, among other things. The images captured by the imaging device 40 can be processed by the controller 38 to identify hook connectors, such as connector ball 26. It is contemplated that any known imaging technique can be used to identify the connector ball 26.

[0037] In addition to communicating with the imaging device 40, the controller 38 can also communicate with a plurality of proximity sensors 44, which are exemplarily shown as ultrasonic or radar sensors spaced apart on the lower region of the vehicle's tailgate 18 and configured to detect the proximity or distance of objects located behind the vehicle 12. (Reference) Figure 2 In the embodiment of system 10 shown, additional vehicle-related information may be provided to controller 38 by positioning device 46, such as a Global Positioning System (GPS) located on vehicle 12 and / or trailer 14. Additionally, controller 38 may communicate with inertial system 47, including one or more gyroscopes 48 and accelerometers 49, to measure the position, orientation, direction, and / or speed of vehicle 12.

[0038] To achieve autonomous or semi-autonomous control of vehicle 12, the controller 38 of system 10 can be further configured to communicate with various vehicle devices. According to one embodiment, the controller 38 of system 10 can control the power steering system 52 of vehicle 12 to operate the steering wheels 53 of vehicle 12 while reversing vehicle 12 toward trailer 14 along a reversing path. The power steering system 52 can be an electric power steering (EPAS) system, which includes an electric steering motor 54 for turning the steering wheels 53 to a steering angle based on steering commands generated by the controller 38, whereby the steering angle can be sensed by a steering angle sensor 56 of the power steering system 52 and provided to the controller 38. As described herein, the steering commands can be provided to autonomously steer vehicle 12 during reversing maneuvers and can optionally be provided manually via the rotational position of steering wheel 58 (e.g., steering wheel angle) or steering input device 60, which can be provided to allow the driver to control or otherwise modify the desired curvature of the reversing path of vehicle 12. The steering input device 60 can be communicatively connected to the controller 38 via wired or wireless means, and provides the controller 38 with information defining the desired curvature of the reverse path of the vehicle 12. In response, the controller 38 processes the information and generates a corresponding steering command, which is supplied to the power steering system 52 of the vehicle 12. In one embodiment, the steering input device 60 includes a rotatable knob 62 operable between multiple rotational positions, each providing an incremental change to the desired curvature of the reverse path of the vehicle 12.

[0039] In some embodiments, the steering wheel 58 of the vehicle 12 may be mechanically connected to the steering wheels 53 of the vehicle 12, such that the steering wheel 58 moves in unison with the steering wheels 53 via an internal torque, thereby preventing manual intervention of the steering wheel 58 during autonomous steering of the vehicle 12. In such cases, the power steering system 52 may include a torque sensor 64 that senses torque (e.g., grip and / or rotation) on the steering wheel 58 that is not desirable for autonomous control of the steering wheel 58 and thus indicates manual intervention by the driver. In some embodiments, the external torque applied to the steering wheel 58 may serve as a signal to the controller 38 that the driver has taken manual control and that the system 10 should cease autonomous steering.

[0040] The controller 38 of system 10 can also communicate with the vehicle brake control system 66 of vehicle 12 to receive vehicle speed information, such as the individual wheel speeds of vehicle 12. Alternatively or additionally, vehicle speed information may be provided to controller 38 by powertrain control system 68 and / or vehicle speed sensor 70, among other conceivable means. In some embodiments, controller 38 may provide braking commands to vehicle brake control system 66, thereby allowing system 10 to adjust the speed of vehicle 12 during reverse maneuvers. It should be understood that controller 38 may additionally or optionally adjust the speed of vehicle 12 via interaction with powertrain control system 68.

[0041] By interacting with the power steering system 52 of vehicle 12, the vehicle brake control system 66, and / or the powertrain control system 68, the likelihood of unacceptable reversing conditions can be reduced when vehicle 12 is reversing toward trailer 14. Examples of unacceptable reversing conditions include, but are not limited to, vehicle speeding, sensor malfunction, etc. In such cases, the driver may not be aware of the malfunction until the unacceptable reversing condition is about to occur or has already occurred. Therefore, it is disclosed herein that the controller 38 of system 10 can generate an alarm signal corresponding to a notification of actual, impending, and / or anticipated unacceptable reversing conditions, and generate countermeasures to prevent such unacceptable reversing conditions before driver intervention.

[0042] According to one embodiment, controller 38 may communicate with one or more devices including a vehicle alarm system 72, which may provide visual, auditory, and tactile warnings. For example, vehicle brake lights 74 and vehicle hazard lights may provide visual warnings, and vehicle horns 76 and / or speakers 78 may provide audible warnings. Additionally, controller 38 and / or vehicle alarm system 72 may communicate with a human-machine interface (HMI) 80 of vehicle 12. HMI 80 may include a touchscreen vehicle display 84 capable of displaying images indicating warnings. Figure 1 Such as a navigation or infotainment display mounted on the center console. This embodiment may aim to notify the driver of vehicle 12 of unacceptable reverse conditions.

[0043] The controller 38 is configured with a microprocessor 85 and / or other analog and / or digital circuitry for processing one or more logic routines stored in memory 86. The logic routines may include one or more operating routines 88. Information from the imaging device 40 or other components of the system 10 may be supplied to the controller 38 via the vehicle 12's communication network, which may include a controller area network (CAN), a local area network (LIN), or other known protocols used in the automotive industry. It should be understood that, among other conceivable onboard or offboard vehicle control systems, the controller 38 may be a stand-alone dedicated controller or a shared controller integrated with other components of the imaging device 40 or system 10.

[0044] refer to Figure 3 A method for correcting misalignment between a trailer hitch (e.g., hitch ball 22) and a hitch connector (e.g., connector ball seat 26) is illustrated, exemplarily embodied as operating routine 88. In step A, the vehicle 12 is maneuvered toward the trailer 14 such that the hitch ball 22 is in a pre-hook position. In the pre-hook position, the hitch ball 22 is typically close to the connector ball seat 26 and may be aligned perpendicularly to it or may be misaligned. It is contemplated that the maneuvering of the vehicle 12 can be performed manually, semi-autonomously, or autonomously. In a semi-autonomous or autonomous embodiment of system 10, controller 38 generates commands that are provided to the vehicle brake control system 66, the powertrain control system 68, and / or the power steering system 52 to maneuver the vehicle 12 toward the trailer 14 such that the hitch ball 22 reaches the pre-hook position. In a semi-autonomous embodiment, when controller 38 steers the vehicle 12, the driver of the vehicle 12 may need to depress the accelerator and / or the brake.

[0045] In step B, a view 90 of the hook ball 22 is generated on display 84. Figure 4 View 90 may be based on an image captured by imaging device 40. In some embodiments, view 90 may also be generated based on information provided by positioning device 46, proximity sensor 44, and / or inertial system 47. It should be understood that view 90 may be generated on display 84 during the operation of vehicle 12 or at any time after vehicle 12 has stopped. Figure 4 In the illustrated embodiment, view 90 corresponds to a top view showing the hook ball 22 in a pre-engaged position near the connector ball seat 26. Ideally, the hook ball 22 is perpendicularly aligned with the connector ball seat 26 in the pre-engaged position. However, for illustrative purposes, the hook ball 22 is shown exemplarily as not aligned with the connector ball seat 26. For clarity, Figure 5An enlarged view of the misalignment between the hook ball 22 and the connector ball seat 26 is shown. As shown, the hook ball 22 is misaligned with the connector ball seat 26 in both the longitudinal direction (e.g., y-axis) and the lateral direction (e.g., x-axis). Specifically, the hook ball 22 is exemplarily shown positioned slightly beyond the connector ball seat 26 and positioned to the left of the connector ball seat. In this situation, it is difficult to connect the hook ball 22 to the connector ball seat 26 without repositioning the vehicle 12 and / or trailer 14. For clarity and understanding, the misalignment between the hook ball 22 and the connector ball seat 26 has been enlarged.

[0046] In step C, assuming misalignment between the hook ball 22 and the connector ball seat 26, the user selects adjustment feature 94, which... Figure 4 The buttons are displayed as virtual buttons on the display 84. In response to recording a touch event on the adjustment feature 94, the display 84 is configured to generate a graphical icon 96 with multiple touch points 98a, 98b, 100a, 100b to allow the user to adjust the pre-engagement position of the hook ball 22 relative to the connector ball seat 26. In the illustrated embodiment, touch points 98a and 98b are graphically represented as left and right arrows, respectively, and allow the user to adjust the pre-engagement position of the hook ball 22 in the lateral direction. In contrast, touch points 100a and 100b are graphically represented as up and down arrows, respectively, and allow the user to adjust the pre-engagement position of the hook ball in the longitudinal direction.

[0047] In step D, the user can perform one or more touch events on one or more of touch points 98a, 98b, 100a, and 100b to adjust the pre-hooking position of the hook ball 22. For visual reference, a cursor 102 is generated on the display 84. Figure 5 (or other graphics) to graphically represent the hook ball 22. The cursor 102 initially aligns with the hook ball 22 in a pre-hooked position, and for each touch event at touch points 98a, 98b, 100a, 100b, the cursor 102 moves incrementally in the direction specified by the corresponding arrow. Relative to Figure 4 and Figure 5 In the scenario shown, the user performs one or more touch events on each of touch points 98b and 100a to move cursor 102 to an adjustment position that aligns cursor 102 with connector ball seat 26.

[0048] For example, based on the coordinates (X) of cursor 102 ph Y ph The pre-hook position of the hook ball 22 given by the coordinates of cursor 102 (X) and the coordinates of the cursor 102 (X) are as follows. aph ,Y aphThe adjusted pre-engagement position of the hook ball 22 can be stored by the controller 38 and can correspond to the real-world coordinates of the hook ball 22 determined by the controller 38 based on captured images, location data supplied by an onboard or remote device, and / or other information sources known to a technician. Additionally, the controller 38 can determine the positional difference between the pre-engagement position and the adjusted pre-engagement position of the hook ball 22. For visual reference, a graphic icon 96 is configured to display the positional difference between the pre-engagement position and the adjusted pre-engagement position. For example, a positional difference in the longitudinal direction (e.g., +0.75 inches) can be generated at touch point 100a, and a positional difference in the lateral direction (e.g., +0.5 inches) can be generated at touch point 98b. Once the user is satisfied with the adjusted pre-engagement position of the hook ball 22, the user can confirm the selection by touching the virtual button 104.

[0049] In step E, the controller 38 generates a command to manipulate the vehicle 12, causing the hook ball 22 to move to an adjusted pre-engaged position, where the hook ball 22 is aligned with the connector ball seat 26. As described herein, manipulation of the vehicle 12 can be performed autonomously or semi-autonomously. In an alternative embodiment, steps C and D can be omitted. Alternatively, the driver is instructed to manually manipulate the vehicle 12 to move the hook ball 22 from the pre-engaged position to the desired position. The controller 38 can then determine the positional difference between the pre-engaged position and the desired position of the hook ball 22.

[0050] In step F, controller 38 stores the position difference as calibration data for future use. The position difference can be stored in memory 86 and can be applied in step G to future maneuvers of vehicle 12 toward trailer 14. In some embodiments, the stored position difference can be trailer-specific and specifically applied to a particular trailer. This approach is particularly useful when a general misalignment problem is associated with only one particular trailer. Alternatively, the position difference can be applied to future maneuvers of vehicle 12 toward any trailer. This approach is particularly useful when a general misalignment problem occurs across multiple different trailers. By storing the position difference, recurring misalignment problems can be eliminated.

[0051] It should be understood that changes and modifications can be made to the foregoing structure without departing from the concept of the invention, and it should be further understood that such concepts are intended to be covered by the following claims unless otherwise expressly stated in their language.

[0052] According to the present invention, a hook-and-hook auxiliary system is provided, the hook-and-hook auxiliary system comprising a human-machine interface configured to receive user input to adjust the pre-hook position of a vehicle's tow hook; and a controller configured to generate commands for manipulating the vehicle such that the tow hook moves to the adjusted pre-hook position, at which the tow hook is aligned with the trailer's hook connector.

[0053] According to an embodiment, the human-machine interface includes a touch screen display configured to display a view of the tow hook in a pre-engaged position and to record one or more touch events thereon for adjusting the pre-engaged position of the tow hook.

[0054] According to an embodiment, the touchscreen display is configured to generate a graphic icon with multiple touch points to adjust the pre-hook position of the tow hook.

[0055] According to an embodiment, the touch point allows adjustment of the pre-hook position in at least one of the lateral and longitudinal directions.

[0056] According to an embodiment, the graphic icon is configured to display the positional difference between the pre-engagement position of the tow hook and the adjusted pre-engagement position of the tow hook.

[0057] According to an embodiment, the touchscreen display is configured to generate an indicator that graphically represents the pre-engagement position of the tow hook and can move in response to each touch event.

[0058] According to an embodiment, touch points are graphically represented as arrows, and each touch event on a given touch point causes the indicator to move incrementally in the direction specified by the corresponding arrow.

[0059] According to an embodiment, the controller is configured to determine the positional difference between the pre-hooked position and the adjusted pre-hooked position.

[0060] According to an embodiment, the controller stores the position difference in a memory and applies the position difference to future maneuvers of the vehicle toward the trailer.

[0061] According to an embodiment, the tow hook includes a hook ball, and the hook connector includes a connector ball seat.

[0062] According to the present invention, a human-machine interface for a vehicle having a tow hook is provided, the human-machine interface having a touch screen display configured to display a view of the tow hook in a pre-engagement position near the hook connector of the trailer, and to record one or more touch events thereon for adjusting the pre-engagement position of the tow hook to correct misalignment between the tow hook and the hook connector.

[0063] According to an embodiment, the touchscreen display is configured to generate a graphic icon with multiple touch points to adjust the pre-hook position of the tow hook.

[0064] According to an embodiment, the touch point allows adjustment of the pre-hook position in at least one of the lateral and longitudinal directions.

[0065] According to an embodiment, the graphic icon is configured to display the positional difference between the pre-engagement position of the tow hook and the adjusted pre-engagement position of the tow hook.

[0066] According to an embodiment, the touchscreen display is configured to generate an indicator that graphically represents the pre-engagement position of the tow hook and can move in response to each touch event.

[0067] According to an embodiment, touch points are graphically represented as arrows, and each touch event on a given touch point causes the indicator to move incrementally in the direction specified by the corresponding arrow.

[0068] According to the present invention, a method for correcting misalignment between a vehicle's tow hook and a trailer's hook connector includes: receiving user input via a human-machine interface to adjust a pre-engagement position of the tow hook; and providing a controller to generate a command for maneuvering the vehicle such that the tow hook moves to the adjusted pre-engagement position, at which the tow hook is aligned with the hook connector.

[0069] According to an embodiment, a further feature of the above invention is the step of determining the positional difference between the pre-engagement position of the tow hook and the adjusted pre-engagement position of the tow hook.

[0070] According to an embodiment, a further feature of the above invention is the step of storing the position difference in a memory.

[0071] According to an embodiment, a further feature of the above invention is that the position difference is applied to the step of future maneuvering of the vehicle toward the trailer.

Claims

1. A hook assist system, the hook assist system comprising: A human-machine interface (HMI) configured to receive user input for adjusting the pre-engagement position of the trailer hitch of a vehicle, wherein the user performs one or more touch events through the HMI to move an indicator representing the pre-engagement position of the trailer hitch to a position consistent with the trailer hitch connector displayed on the HMI. as well as A controller configured to generate commands for maneuvering the vehicle such that the trailer hitch moves to an adjusted pre-hook position, at which the trailer hitch is aligned with the trailer's hitch connector, wherein the controller is configured to determine a positional difference between the pre-hook position and the adjusted pre-hook position, and to store the positional difference in a memory and apply the positional difference to future maneuvers of the vehicle toward the trailer to correct misalignment between the vehicle's trailer hitch and the trailer's hitch connector.

2. The hook-assisted system of claim 1, wherein the human-machine interface includes a touch screen display configured to display a view of the tow hook in the pre-hooking position and to record one or more touch events thereon for adjusting the pre-hooking position of the tow hook.

3. The hook assist system of claim 2, wherein the touch screen display is configured to generate graphic icons with multiple touch points to adjust the pre-hooking position of the tow hook.

4. The hook-assisted system of claim 3, wherein the touch point allows adjustment of the pre-hook position in at least one of the lateral and longitudinal directions.

5. The hook-assisted system of claim 4, wherein the graphic icon is configured to display the positional difference between the pre-hooking position of the tow hook and the adjusted pre-hooking position of the tow hook.

6. The hook assist system of claim 3, wherein the touch screen display is configured to generate an indicator that graphically represents the pre-hooked position of the tow hook and is movable in response to each touch event.

7. The hook assist system of claim 6, wherein the touch point is graphically represented as an arrow, and each touch event on the touch point causes the indicator to move incrementally in the direction specified by the corresponding arrow.

8. The hook-and-hook auxiliary system as claimed in any one of claims 1-7, wherein the controller is configured to maneuver the vehicle toward the trailer such that the hook is in the pre-hooked position before receiving user input to adjust the pre-hooked position of the vehicle's trailer hook.

9. The bolt hook auxiliary system of claim 1, wherein in the pre-hooked position, the bolt hook is close to the bolt hook connector.

10. The hook auxiliary system according to any one of claims 1-7, wherein the towing hook includes a hook ball and the hook connector includes a connector ball seat.

11. A method for correcting misalignment between a vehicle's tow hook and a trailer hook connector, the method comprising the following steps: The system receives user input via a human-machine interface (HMI) for adjusting the pre-engagement position of the vehicle's trailer hitch. The user executes one or more touch events through the HMI to move an indicator representing the pre-engagement position of the trailer hitch to a position consistent with the trailer hitch connector displayed on the HMI. A controller is provided to generate commands for maneuvering the vehicle such that the trailer hitch moves to an adjusted pre-hook position, at which the trailer hitch is aligned with the hitch connector, wherein the controller is configured to determine a positional difference between the pre-hook position and the adjusted pre-hook position, and the controller stores the positional difference in a memory and applies the positional difference to future maneuvers of the vehicle toward the trailer.

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