A hitching assistance system and method characterized by a specified angle between the vehicle heading and the trailer heading at the final position

Abstract

The present disclosure provides "hookup assist systems and methods featuring a specified angle between vehicle heading and trailer heading at a final position." A hookup assist system and method is provided herein. A detection system determines a vehicle heading and a trailer heading. A controller, coupled to the detection system, generates a path along which to autonomously maneuver the vehicle toward the trailer. The path terminates at a final position in which the vehicle heading and the trailer heading are related by a specified angle therebetween.

Description

TECHNICAL FIELD

[0001] The present invention relates generally to a hitching assist system, and more particularly, to a hitching assist system that provides greater user control over the relative orientation between a vehicle and a trailer at a final position in which a tow hitch of the vehicle is aligned with a hitch coupler of the trailer. BACKGROUND

[0002] Hitching assist systems are commonly used to autonomously maneuver a vehicle along a path toward a trailer such that a tow hitch of the vehicle is aligned with a hitch coupler of the trailer at an end of the path. In many systems, a user, typically a driver, relinquishes control of the vehicle to the system, which performs the task of maneuvering the vehicle along a path toward the trailer. In such systems, the path taken by the vehicle toward the trailer and the final orientation between the vehicle and the trailer at the end of the path is largely determined by the system. Thus, a user wishing a particular path or final orientation is unable to achieve the particular path or final orientation or is forced to perform additional and often unnecessary vehicle maneuvers prior to relinquishing control of the vehicle to the system. There is therefore a need for a system that provides greater freedom to select a particular path and / or final orientation in a simple and convenient manner. The present disclosure aims to meet this need. SUMMARY

[0003] According to a first aspect of the present invention, there is provided a hitching assist system. A detection system determines a vehicle heading and a trailer heading. A controller, coupled to the detection system, generates a path along which to autonomously maneuver the vehicle toward the trailer. The path terminates at a final position in which the vehicle heading and the trailer heading are related by a specified angle therebetween.

[0004] Embodiments of the first aspect of the invention can include any one or combination of the following features:

[0005] • the detection system comprises at least one of an imager, a global positioning device, an inertial system, and one or more proximity sensors;

[0006] • a tow hitch of the vehicle is aligned with a hitch coupler of the trailer at the final position;

[0007] • the specified angle is input to the controller via a user input device;

[0008] • the specified angle is determined by the controller based on input received from the detection system;

[0009] • the path is substantially straight and the specified angle is non-zero;

[0010] • the vehicle heading at the final position matches an initial heading of the vehicle prior to maneuvering the vehicle along the path;

[0011] • the path is curved and the vehicle heading and the trailer heading are straight aligned at the final position;

[0012] • the vehicle heading at the final position is different than an initial heading of the vehicle prior to maneuvering the vehicle along the path;

[0013] • the specified angle includes a tolerance range; and

[0014] • the tolerance range is set by the controller or input to the controller via a user input device.

[0015] According to a second aspect of the application, there is provided a hitching assistance system. A user input device is configured to receive a user input specifying an angle between a vehicle heading and a trailer heading. A controller is configured to generate a path along which the vehicle is autonomously maneuvered towards the trailer and which terminates in a final position in which the vehicle can hitch to the trailer and the vehicle heading and the trailer heading are relatively positioned at the specified angle.

[0016] Embodiments of the second aspect of the application can include any one or combination of the following features:

[0017] • a detection system configured to determine the vehicle heading and the trailer heading, and the detection system has at least one of an imager, a global positioning device, an inertial system, and one or more proximity sensors;

[0018] • the path is substantially straight and the specified angle is non-zero;

[0019] • the vehicle heading at the final position matches an initial heading of the vehicle prior to maneuvering the vehicle along the path;

[0020] • the path is curved and the vehicle heading and the trailer heading are straight aligned at the final position;

[0021] • the vehicle heading at the final position is different than an initial heading of the vehicle prior to maneuvering the vehicle along the path;

[0022] • the specified angle includes a tolerance range; and

[0023] • the tolerance range is set by the controller or input to the controller via a user input device.

[0024] According to a third aspect of the application, there is provided a hitching assistance method, and the method comprises the steps of: providing a user input device for inputting a specified angle between a vehicle heading and a trailer heading to a controller; setting a tolerance range for the specified angle via the user input device; and using the controller to generate a path and commands for autonomously manoeuvring the vehicle along the path, the path terminating at a final position in which the vehicle heading and the trailer heading are related at the specified angle or another angle encompassed by the tolerance range.

[0025] These and other aspects, objects and features of the present application will become apparent to those skilled in the art upon consideration of the following description, claims and appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0026] In the drawings:

[0027] Figure 1 A vehicle and trailer are shown, the vehicle being equipped with a hitching assistance system according to one embodiment;

[0028] Figure 2 is a block diagram showing components of the hitching assistance system;

[0029] Figure 3 is a block diagram showing a detection system of the hitching assistance system;

[0030] Figure 4 A path generated by the controller of the hitching assistance system based on a specified angle at which the vehicle heading and the trailer heading are related at a final position is shown;

[0031] Figure 5 Another path generated by the controller based on another specified angle at which the vehicle heading and the trailer heading are related at a final position is shown; and

[0032] Figure 6 is a flowchart of a hitching assistance method implemented by the hitching assistance system. DETAILED DESCRIPTION

[0033] Detailed embodiments of the application are disclosed herein, if desired, in the alternative. It is to be understood that the embodiments disclosed are merely examples of the application and are not to be construed as limiting the scope of the application. The drawings are not necessarily to scale and some schematic drawings can be enlarged or minimized to show the functional overview. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously implement the application.

[0034] As used herein, the term "and / or," when used in a list of two or more items, means that any one of the listed items can be employed by itself, or any combination of two or more of the listed items can be employed. For example, if a composition is described as containing components A, B, and / or C, the composition can 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] Reference Figure 1 and Figure 2 The reference numeral 10 generally indicates a hitch assist system for autonomously maneuvering a vehicle 12 toward a trailer 14. The vehicle 12 is illustratively embodied as a pickup truck having a truck bed 16 accessible via a foldable tailgate 18. The vehicle 12 also includes a tow hitch in the form of a hitch ball 22 extending from a drawbar 24 coupled to the rear of the vehicle 12. The hitch ball 22 is configured to be received by a hitch coupler in the form of a coupler ball socket 26 disposed at the end of a trailer tongue 28. The trailer 14 is illustratively embodied as a single axle trailer having a box frame 30 with an enclosed cargo area 32 from which the tongue 28 extends longitudinally.

[0036] The system 10 includes a controller 38 in communication with an imager 40 located at the rear of the vehicle 12. The imager 40 can be centrally located at an upper region of the tailgate 18 such that the imager 40 is elevated relative to the drawbar 24 and hitch ball 22. The imager 40 has a field of view 42 that is positioned and oriented to capture one or more images of a vehicle rear scene that generally includes the hitch ball 22, among other things. The images captured by the imager 40 can be processed by the controller 38 to identify the hitch coupler, such as the coupler ball socket 26.

[0037] In addition to being in communication with the imager 40, the controller 38 can also be in communication with a plurality of proximity sensors 44 illustratively shown as ultrasonic sensors spaced apart across a lower region of the vehicle tailgate 18 and configured to detect the proximity or distance of objects located rearward of the vehicle 12. Additional vehicle related information can be provided to the controller 38 by a positioning device 46, such as a global positioning system (GPS), located on the vehicle 12 and / or the trailer 14. Additionally, the controller 38 can be in communication with an inertial system 47 including one or more gyroscopes 48 and accelerometers 49 for measuring the position, orientation, direction, and / or velocity of the vehicle 12.

[0038] To implement autonomous or semi-autonomous control of vehicle 12, controller 38 of system 10 can be further configured to communicate with various vehicle equipment. According to one embodiment, controller 38 of system 10 can control a power-assisted steering system 52 of vehicle 12 to operate steering wheels 53 of vehicle 12 while causing vehicle 12 to back along a path generated by controller 38 toward trailer 14. Power-assisted steering system 52 can be an electric power-assisted steering (EPAS) system that includes an electric steering motor 54 for turning steering wheels 53 to a steering angle based on a steering command generated by controller 38, where the steering angle can be sensed by a steering angle sensor 56 of power-assisted steering system 52 and provided to controller 38. As described herein, the steering command can be provided during the backing maneuver for autonomously steering vehicle 12, and can alternatively be manually provided via a rotational position (e.g., steering wheel angle) of a steering wheel 58 or steering input device 60 that can be arranged to enable a driver to control or otherwise modify a desired curvature of the backing path of vehicle 12. Steering input device 60 can be communicatively coupled to controller 38 in a wired or wireless manner and provide information to controller 38 that defines a desired curvature of the backing path of vehicle 12. In response, controller 38 processes the information and generates a corresponding steering command that is provided to power-assisted steering system 52 of vehicle 12. In one embodiment, steering input device 60 includes a rotatable knob 62 that is operable between a plurality of rotational positions, each of which provides an incremental change to the desired curvature of the backing path of vehicle 12.

[0039] In some embodiments, steering wheel 58 of vehicle 12 can be mechanically coupled to steering wheels 53 of vehicle 12 such that steering wheel 58 moves in unison with steering wheels 53 via an internal torque, thereby preventing manual intervention with steering wheel 58 during autonomous steering of vehicle 12. In such cases, power-assisted steering system 52 can include a torque sensor 64 that senses a torque (e.g., clamping and / or turning) on steering wheel 58 that is not expected to come from autonomous control of steering wheel 58 and thus indicates manual intervention by a driver. In some embodiments, an external torque applied to steering wheel 58 can be used as a signal to controller 38 that the driver has taken manual control and that system 10 ceases the autonomous steering function.

[0040] The controller 38 of the system 10 can also communicate with a vehicle brake control system 66 of the vehicle 12 to receive vehicle speed information, such as individual wheel rotational speeds of the vehicle 12. Additionally or alternatively, vehicle speed information can be provided to the controller 38 by a powertrain control system 68 and / or a vehicle speed sensor 70, among other conceivable devices. In some embodiments, the controller 38 can provide brake commands to the vehicle brake control system 66, thereby allowing the system 10 to adjust the speed of the vehicle 12 during a backing maneuver of the vehicle 12. It will be appreciated that additionally or alternatively, the controller 38 can adjust the speed of the vehicle 12 via interaction with the powertrain control system 68.

[0041] By interacting with the power assist steering system 52, the vehicle brake control system 66, and / or the powertrain control system 68 of the vehicle 12, the likelihood of unacceptable backing conditions when the vehicle 12 is backing toward the trailer 14 can be reduced. Examples of unacceptable backing conditions include, but are not limited to, vehicle overspeed conditions, sensor malfunctions, and the like. In such cases, the driver can not be aware of the malfunction before an unacceptable backing condition is imminent or has occurred. Accordingly, it is disclosed herein that the controller 38 of the system 10 can generate an alert signal corresponding to a notification of an actual, imminent, and / or anticipated unacceptable backing condition, and generate a countermeasure to prevent such an unacceptable backing condition before driver intervention.

[0042] According to one embodiment, the controller 38 can communicate with one or more devices including a vehicle alert system 72 that can prompt visual, audible, and tactile warnings. For example, vehicle brake lights 74 and vehicle emergency flashers can provide visual alerts, and vehicle horns 76 and / or speakers 78 can provide audible alerts. Additionally, the controller 38 and / or the vehicle alert system 72 can communicate with a human machine interface (HMI) 80 of the vehicle 12. The HMI 80 can include a touchscreen display 84, such as a center stack mounted navigation or entertainment display, capable of displaying an image indicative of the alert. Such an embodiment can be desirable to notify the driver of the vehicle 12 of the existence of an unacceptable backing condition.

[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 a memory 86. The logic routines can include one or more operational routines 88. Information from the imager 40 or other components of the system 10 can be supplied to the controller 38 via a communication network of the vehicle 12, which can include a controller area network (CAN), a local interconnect network (LIN), or other conventional protocol used in the automotive industry. It should be appreciated that the controller 38 can be a stand-alone, dedicated controller or can be a shared controller integrated with the imager 40 or other components of the system 10, in addition to any other conceivable on-board or off-board vehicle control system.

[0044] With reference to Figure 3 , the system 10 includes a detection system 90 coupled to the controller 38. The detection system 90 is configured to determine a vehicle heading and a trailer heading. In some embodiments, the detection system 90 can also be used to detect other objects proximate to the vehicle 12 and / or trailer 14. As defined herein, the vehicle heading corresponds to a direction in which a front of the vehicle 12 is pointed, and the trailer heading corresponds to a direction in which a front of the trailer 14 is pointed. To this end, the detection system 90 can include the imager 40, the positioning device 46, the proximity sensor 44, the inertial system 47, combinations thereof, and / or other suitable devices. For example, the vehicle heading can be determined using the positioning device 46 (e.g., GPS) and / or the inertial system 47. The trailer heading can be determined using captured images from the imager 40 and information from the proximity sensor 44. As described herein, the proximity sensor 44 can include an ultrasonic sensor. However, it is contemplated that other sensors in the form of radar and / or LIDAR can also be employed. In some embodiments, the trailer heading can be ascertained from inputs provided to the controller 38 by a positioning device (e.g., GPS) and / or inertial system located on the trailer 14.

[0045] With reference to Figure 4 and Figure 5 , the controller 38 generates a path 94, 96 along which the vehicle 12 is autonomously maneuvered toward the trailer 14. As shown, the path 94, 96 terminates at a final position 98, 100 in which the vehicle heading and the trailer heading, respectively as shown by arrows 102 and 104, are related by a specified angle θ1, θ2therebetween. At the final position 98, 100, a fifth wheel (e.g., hitch ball 22; Figure 1 ) of the vehicle 12 is generally coupled with a hitch coupler (e.g., coupler ball socket 26; Figure 1alignment. Thus, it should be appreciated that the vehicle 12 is able to hitch to the trailer 14 at the final positions 98, 100. Generally, the paths 94, 96 taken by the vehicle 12 toward the trailer 14 are based on the specified angles θ1, θ2, detection and identification of the hitch coupler of the trailer 14, and the starting positions 106, 108 of the vehicle 12 relative to the trailer 14.

[0046] With respect to the embodiments described herein, the hitch coupler of the trailer 14 can be identified by the controller 38 by processing the images captured by the imager 40. The specified angles θ1, θ2 are input to the controller 38 via a user input device such as the HMI 80. User input can be provided to the HMI 80 via a touchscreen, knobs, buttons, etc. The system 10 can prompt the user to input the specified angles θ1, θ2 prior to generating the corresponding paths 94, 96. For purposes of understanding, the embodiments of Figure 4 and Figure 5 are provided as examples of two different scenarios in which different specified angles θ1, θ2 can be input by the user for generating different paths 94, 96 toward the trailer 14. However, based on the disclosure provided herein, it should be appreciated that additional specified angles are possible based on the needs or preferences of the user.

[0047] With specific reference to the embodiment shown in Figure 4 , the vehicle 12 is illustratively positioned at an initial heading 110 and at a starting position 106 that is to the right front of the trailer 14. A user wishing to achieve a straight alignment between the vehicle 12 and the trailer 14 can input zero degrees as the specified angle θ1 or otherwise select a straight alignment feature using the HMI 80 or some other user input device. In response, the controller 38 generates the required path 94 such that the vehicle 12 and the trailer 14 are in straight alignment at the final position 98. In the depicted embodiment, the path 94 generated by the controller 38 is curved to ensure the straight alignment between the vehicle 12 and the trailer 14 at the final position 98. Additionally, the vehicle heading 102 at the final position 98 is different than the initial heading 110 of the vehicle 12 at the starting position 106. The straight alignment feature can be used in situations in which the trailer 14 is parked in a defined parking space illustratively shown by boundary lines 112 and 114.

[0048] With specific reference to the embodiment shown in Figure 5 , the starting position 108 of the vehicle 12 is similar to the embodiment shown in Figure 4The starting position of vehicle 12 is shown. In the depicted embodiment, object 116 is located forward of trailer 14. For purposes of understanding, assume that object 116 is positioned such that creating a straight alignment path between vehicle 12 and trailer 14 can result in a collision between vehicle 12 and object 116. Thus, a user wishing to hitch vehicle 12 to trailer 14 can instead input a non-zero angle as the specified angle θ2. As one specific example, the user can input, for example, 45 degrees as the specified angle θ2, and in response, controller 38 generates a path 96 toward trailer 14 based on the specified angle θ2. It is contemplated that if the specified angle or path 96 is not sufficient to avoid a collision with object 116, then controller 38 can instruct the user to input a different specified angle or modify path 96.

[0049] In Figure 5 In the depicted embodiment, path 96 enables vehicle 12 to avoid a collision with object 116 and is generally shown as a straight path. For convenience, a user wishing to back vehicle 12 along a substantially straight path can select a straight back feature using HMI 80, rather than inputting a specific angle as the specified angle θ2. It is contemplated that controller 38 can determine whether the straight back feature is available based on inputs received from detection system 90. Notably, in the case where vehicle 12 is backed along a straight path toward trailer 14, the vehicle heading 102 at final position 100 can match the initial heading 110 of vehicle 12 at starting position 108 prior to maneuvering vehicle 12 along path 96.

[0050] In alternative embodiments, a user can push the selection of a specified angle to system 10. In such cases, controller 38 can determine the specified angle based on inputs received from detection system 90. As described herein, the inputs can include position information related to the headings of vehicle 12 and trailer 14 and / or detection of other objects in proximity thereto. Alternatively, controller 38 can use a default specified angle to generate a path toward trailer 14 and modify the path as needed to avoid any detected objects. With respect to any of the embodiments described herein, the specified angle can include a tolerance range set by the user (e.g., via HMI 80) or controller 38. For example, the user can input a specified angle of 0 degrees and subsequently set a tolerance range of ±10 degrees. In response, controller 38 is free to generate a path that results in the vehicle heading and the trailer heading being related at the final position by an angle between -10 degrees and 10 degrees. In this manner, controller 38 provides greater flexibility in path generation.

[0051] With reference to Figure 6FIG. 2 shows a hitching assistance method 118, and the method 118 can be embodied as one of the operational routines 88 of the system 10. At step A, a specified angle is input to the controller 38 via a user input device such as the HMI 80. Optionally, at step B, a tolerance range for the specified angle is set by the user or the controller 38. At step C, the controller 38 generates a path from the vehicle 12 toward the trailer 14 based on the specified angle or another angle encompassed by the tolerance range. At step D, the controller 38 issues a command for autonomously maneuvering the vehicle 12 along the path toward the trailer 14. As described herein, the path terminates at a final position in which the vehicle's tow hitch is generally aligned with the trailer's hitch coupler, and the vehicle heading and the trailer heading are related at the specified angle or another angle encompassed by the tolerance range.

[0052] Accordingly, a hitching assistance system is provided herein. In some embodiments, the system enables a user to input a specified angle at which to relate a vehicle heading and a trailer heading in a final position in which the vehicle can be hitched to the trailer. Based on the specified angle, a controller generates a path for autonomously maneuvering the vehicle toward the trailer, the path terminating at the final position. In other embodiments, the specified angle can be set by the controller based on input received from a detection system configured to detect the vehicle heading and the trailer heading and objects proximate the vehicle and / or the trailer. In some embodiments, the specified angle includes a tolerance range set by the user or the controller. Advantageously, the hitching assistance system disclosed herein provides greater freedom for the user to dictate the positional relationship between the vehicle heading and the trailer heading at the final position. In embodiments incorporating the tolerance range, the controller is given greater flexibility in path generation.

[0053] It should be appreciated that changes and modifications can be made to the above-described structures, and further it should be appreciated that these concepts are intended to encompass such changes and modifications within their scope, unless these changes and modifications would fall outside of the meaning of the claims as expressed by the language of these claims themselves.

[0054] According to the present invention, there is provided a hitching assistance system having a detection system for determining a vehicle heading and a trailer heading, and a controller coupled to the detection system for generating a path along which to autonomously maneuver the vehicle toward the trailer, the path terminating at a final position in which the vehicle heading and the trailer heading are related at a specified angle therebetween.

[0055] According to one embodiment, the detection system includes at least one of an imager, a global positioning device, an inertial system, and one or more proximity sensors.

[0056] According to one embodiment, a tow hitch of the vehicle is aligned with a hitch coupler of the trailer at the final position.

[0057] According to one embodiment, the specified angle is input to the controller via a user input device.

[0058] According to one embodiment, the specified angle is determined by the controller based on input received from the detection system.

[0059] According to one embodiment, the path is substantially straight and the specified angle is non-zero.

[0060] According to one embodiment, the vehicle heading at the final position matches an initial heading of the vehicle prior to maneuvering the vehicle along the path.

[0061] According to one embodiment, the path is curved and the vehicle heading and the trailer heading are aligned straight at the final position.

[0062] According to one embodiment, the vehicle heading at the final position differs from an initial heading of the vehicle prior to maneuvering the vehicle along the path.

[0063] According to one embodiment, the specified angle includes a tolerance range.

[0064] According to one embodiment, the tolerance range is set by the controller or input to the controller via a user input device.

[0065] According to the present invention, there is provided a hitching assist system having a user input device configured to receive user input specifying an angle between a vehicle heading and a trailer heading, and a controller configured to generate a path along which to autonomously maneuver the vehicle toward the trailer and terminating in a final position in which the vehicle can hitch to the trailer and the vehicle heading and the trailer heading are relatively positioned at the specified angle.

[0066] According to one embodiment, the above invention is further characterized by a detection system configured to determine the vehicle heading and the trailer heading, and the detection system includes at least one of an imager, a global positioning device, an inertial system, and one or more proximity sensors.

[0067] According to one embodiment, the path is substantially straight and the specified angle is non-zero.

[0068] According to one embodiment, the vehicle heading at the final position matches an initial heading of the vehicle prior to maneuvering the vehicle along the path.

[0069] According to one embodiment, the path is curved and the vehicle heading and the trailer heading are aligned straight at the final position.

[0070] According to one embodiment, the vehicle heading at the final position is different from an initial heading of the vehicle prior to maneuvering the vehicle along the path.

[0071] According to one embodiment, the specified angle includes a tolerance range.

[0072] According to one embodiment, the tolerance range is set by the controller or input to the controller via the user input device.

[0073] According to the present invention, a hitching assistance method includes the steps of providing a user input device for inputting a specified angle between a vehicle heading and a trailer heading to a controller, setting a tolerance range for the specified angle via the user input device, and using the controller to generate a path and commands for autonomously maneuvering the vehicle along the path, the path terminating at a final position in which the vehicle heading and the trailer heading are related at the specified angle or another angle encompassed by the tolerance range.

Claims

1. A hitching assist system comprising: a detection system for determining a vehicle heading and a trailer heading; a user input device configured to receive a user input specifying an angle between the vehicle heading and the trailer heading; and a controller coupled to the detection system for generating a path along which to autonomously maneuver the vehicle toward the trailer based on the user inputted specified angle, the path terminating at a final position.

2. The system of claim 1, wherein the detection system comprises at least one of an imager, a global positioning device, an inertial system, and one or more proximity sensors.

3. The system of claim 1, wherein a tow hitch of the vehicle is aligned with a hitch coupler of the trailer at the final position.

4. The system of claim 1, wherein the specified angle is input to the controller via a user input device.

5. The system of claim 1, wherein the path is substantially straight and the specified angle is non-zero.

6. The system of claim 5, wherein the vehicle heading at the final position matches an initial heading of the vehicle prior to maneuvering the vehicle along the path.

7. The system of claim 1, wherein the path is curved and the vehicle heading and the trailer heading are straightly aligned at the final position.

8. The system of claim 7, wherein the vehicle heading at the final position is different than an initial heading of the vehicle prior to maneuvering the vehicle along the path.

9. The system of claim 1, wherein the specified angle includes a tolerance range.

10. The system of claim 9, wherein the tolerance range is set by the controller or input to the controller via a user input device.

11. A hitching assist method comprising the steps of: providing a user input device for inputting a specified angle between a vehicle heading and a trailer heading to a controller; setting a tolerance range for the specified angle via the user input device; and using the controller to generate a path and commands for autonomously maneuvering the vehicle along the path based on the user inputted specified angle, the path terminating at a final position in which the vehicle heading and the trailer heading are related at the specified angle or another angle encompassed by the tolerance range. ​

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