Smart parking par enhancement with vehicle sensor

Abstract

Methods and systems are provided that include a sensor and a processor of a vehicle configured to draw a trailer. The sensor is configured to obtain sensor data relating to the surroundings of the trailer. A processor is coupled to the sensor and configured to at least facilitate: retrieving information about a profile of the trailer, the profile including a desired clearance of the trailer based on an extension of the trailer, the extension configured to retract when the trailer is moving and to fully extend when the trailer is parked and utilized; determining, based on the sensor data and the profile, whether there is any obstacle in the path of the trailer when the extension is fully extended; and taking an action according to the instructions provided by the processor when there is an obstacle in the path of the trailer.

Description

[0001] The technical field relates generally to vehicles, and more particularly to systems and methods for parking a trailer towed by a vehicle. Background Art

[0002] Some vehicles today have systems that control the towing of a trailer, including parking of the trailer. However, the prior art may not always provide optimal parking for the trailer.

[0003] Therefore, it is desirable to provide improved methods and systems for controlling parking of a trailer being towed by a vehicle.Furthermore, other desirable features and characteristics of the present invention will become apparent from the subsequent detailed description of the invention and the appended claims, taken in conjunction with the drawings and this background of the invention. Summary of the invention

[0004] In an exemplary embodiment, a method is provided, the method comprising: obtaining sensor data regarding the surrounding environment of the trailer via one or more sensors of a vehicle that is towing the trailer; retrieving information about a profile of the trailer, the profile including a required clearance for the trailer based on one or more extensions of the trailer, the one or more extensions being configured to be retracted when the trailer is moving and fully extended when the trailer is parked and utilizing the one or more extensions; determining, via a processor, based on the sensor data and the profile, whether there are any obstacles in the path of the trailer when the one or more extensions are fully extended; and taking action according to instructions provided by the processor when it is determined that one or more obstacles are in the path of the trailer.

[0005] Additionally, in an exemplary embodiment, the step of taking action includes providing a warning to a user on a display system of the vehicle in accordance with instructions provided by the processor when one or more obstacles are determined to be in the path of the trailer.

[0006] Furthermore, in an exemplary embodiment, the step of taking action includes executing automatic control actions related to movement of the vehicle according to instructions provided by the processor when it is determined that one or more obstacles are present in the path of the trailer.

[0007] Additionally, in an exemplary embodiment, a determination as to whether there are any obstructions in the path of the trailer is performed before the one or more extensions are fully extended.

[0008] Furthermore, in an exemplary embodiment, while the trailer is parked in the parking space as the trailer is towed by the vehicle, determining whether there is any obstacle in the path of the trailer is performed.

[0009] In addition, in an exemplary embodiment, the method also includes: generating a profile of the trailer via a processor based on information about one or more extensions of the trailer and the corresponding clearances required for the one or more extensions when fully extended; and storing the profile of the trailer in a non-transitory computer-readable storage medium of the vehicle before the trailer is towed by the vehicle.

[0010] Additionally, in an exemplary embodiment, the method further includes transmitting the profile to a remote server for storage at the remote server and subsequent use by other users of other trailers.

[0011] Additionally, in an exemplary embodiment, the method further includes obtaining, via the transceiver, from a remote server a profile associated with one or more other trailers having similar characteristics to the trailer; and storing the profile in a non-transitory computer-readable storage medium of the vehicle prior to towing the trailer by the vehicle.

[0012] Additionally, in an exemplary embodiment, the method further includes determining, via a processor, based on sensor data and profiles, whether there are any ground surface issues near the vehicle when one or more extensions are fully extended; and taking action according to instructions provided by the processor when it is determined that one or more ground surface issues are near the trailer.

[0013] In addition, in an exemplary embodiment, the method also includes: determining, via a processor, based on sensor data and profiles, whether any conditions exist near the trailer when one or more extensions are fully extended; obtaining weather conditions near the trailer that may affect the conditions; and when it is determined that the conditions may cause a problem under given weather conditions, taking action according to instructions provided by the processor.

[0014] In addition, in an exemplary embodiment, the method also includes: using sensor data via a processor to determine the corresponding distances of one or more hook-ups from the trailer; and when it is determined that one or more of the corresponding distances exceed a predetermined threshold, taking action according to instructions provided by the processor.

[0015] In another exemplary embodiment, a system is provided, the system comprising: one or more sensors of a vehicle configured to tow a trailer, the one or more sensors configured to obtain sensor data related to the surrounding environment of the trailer; and a processor coupled to the one or more sensors and configured to at least facilitate: retrieving information about a profile of the trailer, the profile including a required clearance for the trailer based on one or more extensions of the trailer, the one or more extensions being configured to be retracted when the trailer is moving and fully extended when the trailer is parked and the one or more extensions are utilized; based on the sensor data and the profile, determining whether there are any obstacles in the path of the trailer when the one or more extensions are fully extended; and taking action according to instructions provided by the processor when it is determined that one or more obstacles are in the path of the trailer.

[0016] Additionally, in an exemplary embodiment, the processor is further configured to at least facilitate providing a warning to a user on a display system of the vehicle in accordance with instructions provided by the processor when one or more obstacles are determined to be present in the path of the trailer.

[0017] Moreover, in the exemplary embodiment, the processor is further configured to at least facilitate: when it is determined that one or more obstacles are present in the path of the trailer, executing automatic control actions related to movement of the vehicle in accordance with instructions provided by the processor.

[0018] Additionally, in the exemplary embodiment, the processor is further configured to at least facilitate determining whether any obstacles are present in the path of the trailer before the one or more extensions are extended and the trailer is parked in the parking spot as the trailer is towed by the vehicle.

[0019] In addition, in an exemplary embodiment, the processor is also configured to at least facilitate: generating a profile of the trailer based on information about one or more extensions of the trailer and the corresponding clearances required for the one or more extensions when fully extended; and storing the profile of the trailer in a non-transitory computer-readable storage medium of the vehicle before the trailer is towed by the vehicle.

[0020] Moreover, in the exemplary embodiment, the processor is further configured to facilitate at least: transmitting the profile to a remote server for storage at the remote server and subsequent use by other users of other trailers.

[0021] Furthermore, in an exemplary embodiment, the processor is further configured to at least facilitate: obtaining, via the transceiver, from a remote server a profile associated with one or more other trailers having similar characteristics to the trailer; and storing the profile in a non-transitory computer-readable storage medium of the vehicle prior to the trailer being towed by the vehicle.

[0022] In addition, in an exemplary embodiment, the processor is also configured to at least facilitate: determining, based on sensor data and profiles, whether there are any ground surface issues near the vehicle when one or more extensions are fully extended; and taking action in accordance with instructions provided by the processor when it is determined that one or more ground surface issues are near the trailer.

[0023] According to another exemplary embodiment, a vehicle is provided, the vehicle comprising: a body, a propulsion system, one or more sensors, and a processor. The propulsion system is configured to generate motion of the body. A hitch is configured to couple to a trailer to tow the trailer. The one or more sensors are configured to obtain sensor data related to the surrounding environment of the trailer. The processor is coupled to the one or more sensors and is configured to at least facilitate: retrieving information about a profile of the trailer, the profile including a required clearance for the trailer based on one or more extensions of the trailer, the one or more extensions being configured to retract when the trailer is moving and fully extend when the trailer is parked and utilizing the one or more extensions; based on the sensor data and the profile, determining whether there are any obstacles in the path of the trailer when the one or more extensions are fully extended; and taking actions according to instructions provided by the processor when it is determined that one or more obstacles are in the path of the trailer. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present disclosure will now be described in conjunction with the following drawings, wherein like reference numerals refer to like elements, and wherein:

[0025] Figure 1 is a functional diagram of a vehicle configured to tow a trailer and control parking of the trailer according to an exemplary embodiment, and the vehicle is depicted together with the trailer and a remote server in communication with the vehicle;

[0026] Figure 2 is a flow chart of a process for controlling parking-related functions of a trailer being towed by a vehicle according to an exemplary embodiment, and the process may be combined with Figure 1 vehicles, trailers and remote servers; and

[0027] Figure 3 According to an exemplary embodiment Figure 2 A flowchart of a sub-process corresponding to the steps of the process (i.e., the steps of customizing the trailer profile);

[0028] Figure 4 According to an exemplary embodiment Figure 2 a flowchart of a sub-process corresponding to another step of the process of implementing a profile during a parking maneuver of a trailer;

[0029] Figure 5 According to an exemplary embodiment Figure 2a flowchart of a sub-process corresponding to the additional steps of the process of (ie, the step of implementing the profile after the parking maneuver of the trailer); and

[0030] Fig. 6A , Figure 6B as well as Figure 7 According to an exemplary embodiment, a method comprising Figure 3 The sub-process Figure 2 An exemplary implementation of the process of. DETAILED DESCRIPTION

[0031] The following detailed description is merely exemplary in nature and is not intended to limit the present disclosure or its application and uses. Furthermore, there is no intention to be bound by any theory presented in the preceding background or the following detailed description.

[0032] Figure 1 is a functional diagram of a vehicle 100 alongside a trailer 101. In various embodiments, the vehicle 100 is configured to tow the trailer 101. Additionally, in various embodiments, and as described in greater detail further below, the vehicle 100 includes a control system 120 that is configured to control and optimize parking-related maneuvers of the trailer 101, and in particular, based on Figure 2 The steps of process 200 and Figures 3 to 7 The sub-processes and implementations of and as described in greater detail further below in conjunction therewith, consider an extension 103 of the trailer 101 that is not visible when the trailer 101 is parked and / or otherwise moving.

[0033] like Figure 1 As depicted, in an exemplary embodiment, trailer 101 includes a main body 102 and a plurality of extensions 103. In various embodiments, extensions 103 are in a retracted state and are not visible when not in use (e.g., when trailer 101 is parked and / or moving). Specifically, in various embodiments, extensions 103 are configured to retract when trailer 101 is moving, and to extend when trailer 101 is parked and extensions 103 are in use. Thus, when trailer 101 is parked or otherwise moving, the entire envelope of trailer 101 is represented by main body 102 of trailer 101. However, when extensions 103 are extended, they create corresponding extension areas 104 that increase the envelope of trailer 101 and require additional clearance from obstacles. Figure 1In the exemplary drawing of , the extensions 103 include a first extension 103(1) (e.g., a slide out), a second extension 103(2) (e.g., a kitchen), and a third extension 103(3) (e.g., an awning), each of which, when extended, creates a respective extension area 104(1), 104(2), and 104(3) with an associated desired clearance. It should be understood that in different embodiments, the trailer 101 may have different numbers and / or types of extensions 103.

[0034] In various embodiments, the vehicle 100 includes an automobile. In some embodiments, the vehicle 100 may be any of many different types of automobiles, such as, for example, a sedan, van, truck, or sport utility vehicle (SUV), and may be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD), or all-wheel drive (AWD), and / or various other types of vehicles. In some embodiments, the vehicle 100 may also include a motorcycle or other vehicle, such as an aircraft, spacecraft, ship, etc., and / or one or more other types of mobile platforms (e.g., robots and / or other mobile platforms).

[0035] In certain embodiments, vehicle 100 may include an autonomous or semi-autonomous vehicle, e.g., where vehicle control (including acceleration, deceleration, braking, and / or steering) is automatically planned and implemented by control system 120. In certain other embodiments, vehicle 100 may include a human-operated vehicle where control is implemented via a human driver.

[0036] In the depicted embodiment, the vehicle 100 includes a body 110 disposed on a chassis. The body 110 substantially surrounds the other components of the vehicle 100. Figure 1 As depicted, in various embodiments, vehicle 100 includes a hitch 111 configured to be coupled to trailer 101 for towing trailer 101 .

[0037] In various embodiments, the vehicle 100 also includes a drive system 112. In various embodiments, the drive system 112 includes one or more engines and / or motors that provide movement of the vehicle 100, which are controlled via input from a driver (e.g., via an accelerator pedal in certain embodiments) and / or automatically controlled via the control system 120. In various embodiments, the drive system 112 may also include or be coupled to one or more other vehicle systems that control movement of the vehicle 100 (e.g., a braking system and / or a steering system), which may similarly be controlled via input from a driver (e.g., via a brake pedal or an accelerator pedal, respectively, in certain embodiments) and / or automatically controlled via the control system 120.

[0038] In various embodiments, such as Figure 1 As depicted, the control system 120 is coupled to the drive system 112 and controls its operation. Additionally, in various embodiments, the control system 120 provides information and / or control of the towing of the trailer 101 and its parking, including taking into account the extension 103 of the trailer 101 that is retracted and not visible during parking and other movements of the trailer 101, for example, as described in greater detail further below.

[0039] In addition, if Figure 1 As depicted, in various embodiments, control system 120 includes a sensor array 130 , a display system 132 , a transceiver 134 , and a controller 136 .

[0040] In various embodiments, the sensor array 130 includes various sensors that collect sensor data about the vehicle 100 and the trailer 101 and the surrounding environment near the trailer 101 (e.g., in an area where the trailer 101 can be parked and / or moved). In various embodiments, the sensor array 130 includes one or more cameras 138, lidar sensors 140, sonar sensors 142, and ultrasonic sensors 144, which are configured to detect objects near the trailer 101, such as when the trailer 101 is parked. In addition, in various embodiments, the sensor array 130 also includes one or more input sensors 146, which are configured to receive user input, such as for customizing the profile of the trailer 101 via the display system 132 of the vehicle 100. In certain embodiments, the sensor array 130 may also include one or more other sensors.

[0041] In various embodiments, the display system 132 provides an interface between the control system 120 and one or more drivers or other users of the vehicle 100. In various embodiments, the display system 132 provides information to the driver or other user to help customize the profile of the trailer 101 and receives input from the user related thereto. In addition, in various embodiments, the display system 132 provides information to the user about obstacles detected near the trailer 101 to assist in parking or other movement of the trailer 101. In various embodiments, the display system 132 provides this functionality based on instructions provided by the controller 136.

[0042] In various embodiments, the transceiver 134 is used to send messages to the driver or other user of the vehicle 100. In some embodiments, the transceiver 134 is used to receive and send messages about the profile of the trailer 101 and / or other trailers (e.g., similar trailers) with the remote server 170. In addition, in some embodiments, the transceiver 134 can be used to send and / or receive messages to and from the driver or other user, such as messages about profiles and / or obstacles detected near the trailer 101.

[0043] In various embodiments, controller 136 is coupled to sensor array 130, display system 132, and transceiver 134, as well as to drive system 112 (and / or related systems, such as a braking system and / or a steering system in certain embodiments). In various embodiments, controller 136 controls functions of control system 120 and drive system 112 and related systems.

[0044] In various embodiments, the controller (or computer system) 230 provides information and / or control of the towing of the trailer 101 (including parking the trailer 101) while taking into account the extension 103 and the resulting change in the envelope of the trailer 101 as the extension 103 is extended and the required clearance. Figure 2 The process 200 and Figures 3 to 7 The steps of the sub-processes and implementation methods are performed and these steps are performed as further described below in conjunction with them.

[0045] In various embodiments, the controller 136 (and, in some embodiments, the control system 120 itself) is disposed within the body 110 of the vehicle 100. In some embodiments, the controller 136 and / or the control system 120 and / or one or more components thereof may be disposed external to the body 110, such as on a remote server, in the cloud, or on other equipment that remotely performs image processing.

[0046] It should be understood that the controller 136 may be different from Figure 1 For example, the controller 136 may be coupled to or may otherwise utilize one or more remote computer systems and / or other control systems, for example, as part of one or more of the vehicle 100 devices and systems described above.

[0047] like Figure 1 As depicted, in various embodiments, the controller 136 comprises a computer system and includes a processor 148, a memory 150, an interface 152, a storage device 154, and a computer bus 156. The processor 148 performs the computational and control functions of the controller 136 and may include any type of processor or multiple processors, a single integrated circuit such as a microprocessor, or any suitable number of integrated circuit devices and / or circuit boards that work together to implement the functions of a processing unit. During operation, the processor 148 executes one or more programs 160 contained in the memory 150, and thus performs the processes described herein (such as Figure 2 The process of 200 and Figures 3 to 7 ), and controls the general operation of the controller 136, as described in conjunction with the sub-processes and implementations thereof and as further described below.

[0048] The memory 150 may be any type of suitable memory. For example, the memory 150 may include various types of dynamic random access memory (DRAM) such as SDRAM, various types of static RAM (SRAM), and various types of non-volatile memory (PROM, EPROM, and flash memory). In some examples, the memory 150 is located on the same computer chip and / or co-located on the same computer chip as the processor 148. In the depicted embodiment, the memory 150 stores the above-described program 160 and one or more profiles 162 (e.g., of the trailer 101 towed by the vehicle 100).

[0049] The bus 156 is used to transfer programs, data, status and other information or signals between the various components of the computer system of the controller 136. The interface 152 allows communication with the computer system of the controller 136, such as from a system driver and / or another computer system, and can be implemented using any suitable method and device. In one embodiment, the interface 152 obtains various data from the sensor array 130 and / or the stored profile 162 from the memory 150. The interface 152 may include one or more network interfaces to communicate with a technician, and / or one or more storage interfaces to connect to a storage device, such as a storage device 154.

[0050] Storage device 154 may be any suitable type of storage device, including various types of direct access storage and / or other memory devices. In an exemplary embodiment, storage device 154 includes a program product from which memory 150 may receive program 160, which executes Figure 2 One or more embodiments of process 200 and Figures 3 to 7 In another exemplary embodiment, the program product may be directly stored in the memory 150 and / or an auxiliary storage device (e.g., disk 164) and / or otherwise accessed by the memory 150 and / or an auxiliary storage device (e.g., disk 164), such as mentioned below.

[0051] The bus 156 may be any suitable physical or logical means of connecting computer systems and components. This includes, but is not limited to, direct hardwired connections, fiber optics, infrared, and wireless bus technologies. During operation, the program 160 is stored in the memory 150 and executed by the processor 148.

[0052] It should be understood that while this exemplary embodiment is described in the context of a fully functional computer system, those skilled in the art will recognize that the mechanisms of the present disclosure can be distributed as a program product and that one or more types of non-transitory computer-readable signal-bearing media are used to store the program and its instructions and implement its distribution, such as a non-transitory computer-readable medium that carries the program and contains computer instructions stored therein for causing a computer processor (such as, processor 148) to execute and implement the program. Such a program product can take a variety of forms, and the present disclosure applies equally regardless of the specific type of computer-readable signal-bearing medium used to implement the distribution. Examples of signal-bearing media include: recordable media, such as floppy disks, hard drives, memory cards, and optical disks; and transmission media, such as digital and analog communication links. It should be understood that cloud-based storage and / or other technologies may also be utilized in certain embodiments. Similarly, it should be understood that the computer system of controller 136 may also differ in other ways. Figure 1 In the embodiments depicted in FIG. 1 , a computer system such as controller 136 may be coupled to or may otherwise utilize one or more remote computer systems and / or other control systems.

[0053] Continue to refer to Figure 1 In various embodiments, the remote server 170 communicates with the control system 120 via one or more wireless communication networks 180. As described above, in various embodiments, the control system 120 and the remote server 170 share information about Figure 1 The information of the profile 162 of the trailer 101 of the vehicle 100, as well as additional profiles 178 of different trailers and vehicles (discussed below).

[0054] like Figure 1 As depicted, in various embodiments, the remote server 170 includes a transceiver 172, a processor 174, and a memory 176. In various embodiments, the transceiver 172 is used to communicate with the transceiver 134 of the control system 120, including for sharing profiles 162, 178 with each other according to instructions provided by the processor 174. Figure 1 As depicted, in various embodiments, the memory 176 of the remote server 170 stores various profiles 178 of different trailers and vehicles, such as for use with Figure 1 The trailer 101 is shared with the vehicle 100, as well as with various other trailers and vehicles.

[0055] Reference Figure 2 , provides a flow chart of a process 200 for controlling parking-related functions of a trailer being towed by a vehicle according to an exemplary embodiment. In various embodiments, the process 200 may be combined with Figure 1 The vehicle 100, trailer 101 and remote server 170 are used to implement the above.

[0056] In various embodiments, process 200 begins at step 202, such as when a profile of a trailer is being generated. In various embodiments, this may occur when trailer 101 is first towed by vehicle 100 according to process 200. In other embodiments, this may also occur at one or more subsequent times when trailer 101 is towed by vehicle 100.

[0057] In various embodiments, a trailer profile is generated at step 204. In various embodiments, the trailer profile is generated prior to towing and parking of the trailer 101 so that the control system 120 is ready to assist with parking and / or other movement of the trailer 101 when the time comes. In various embodiments, the trailer profile includes not only the dimensions associated with the body of the trailer (e.g., its length and width), but also all of its extensions 103 and the clearances required when fully extended and in use. Specifically, in various embodiments, the trailer profile utilizes the dimensions that will become part of the envelope of the trailer 101 when parked. Figure 1 The extension 103 of the trailer 101 together with its respective extension area 104 (for example, to prevent objects from contacting the extension 103, etc.). Figure 3 A more detailed description of generating a profile at step 204 is provided further.

[0058] In various embodiments, the trailer profile is implemented during the parking maneuver at step 206. In various embodiments, the trailer profile of step 204 is utilized while the trailer 101 is being parked, after taking into account the extensions 103 and their respective extension areas 104 and the clearance required after the trailer 101 is parked, so that no objects or obstacles will interfere with the trailer 101 as the trailer 100 is parked. Figure 4 (as well as Fig. 6A , Figure 6B and Figure 7 A more detailed description of utilizing the trailer profile during the parking maneuver of step 206 is further provided in the accompanying drawings.

[0059] In various embodiments, the trailer profile is implemented after the parking maneuver at step 208. In various embodiments, during step 208, after the trailer 101 is being parked and / or as the trailer 101 is leaving the parking spot, the trailer profile of step 204 is used, for example, so that nothing associated with the trailer 101 and / or the vehicle 100 is left behind. Figure 5 A more detailed description of utilizing the trailer profile after the parking maneuver of step 208 is provided further below.

[0060] In various embodiments, the process may then terminate at step 210 .

[0061] As mentioned above, Figure 3 According to an exemplary embodiment Figure 2 1. The process 200 of FIG. 10 is a flowchart of a sub-process corresponding to step 204 (i.e., the step of customizing the trailer profile) of FIG. 100. In various embodiments, the sub-process of step 204 begins when the trailer profile enhancement is initiated at step 302. For example, in some embodiments, the driver or other user of the vehicle 100 can begin to prepare or enhance the profile associated with the trailer 101, such as when the trailer 101 is first attached to the vehicle 100 in some embodiments.

[0062] In various embodiments, trailer profile creation is initiated (step 304). In various embodiments, based on Figure 1 The instructions provided by the processor 148 and its interaction with the user, via Figure 1 The display system 132 of the trailer profile is used to initiate the initiation of the trailer profile establishment. In various embodiments, the establishment of the trailer profile can be initiated in one of three ways as described in steps 306, 308 and 312 below, respectively.

[0063] In the first implementation illustrated in step 306, in some embodiments, a public profile may be used for the trailer profile. Specifically, in some embodiments, during step 306, the processor 148 may look for existing profiles for trailers of a similar type to the trailer 101 now attached to the vehicle 100. For example, in some embodiments, such existing profiles may already exist for one or more other different owners of one or more other different trailers that have been previously towed by one or more other different vehicles, and these other different trailers have similar dimensions (including other similar extensions thereof that retract and extend in a similar manner) as the trailer 101 to be addressed by the current user and the current vehicle 100. In some embodiments, the public profile may be pre-stored in a computer memory, such as in Figure 1 The public profile is stored in the stored profile 178 of the memory 176 of the remote server 170 of the current user. In addition, in some embodiments, the public profile is sent from the remote server 170 to the current user's vehicle 100, and then downloaded and stored in the memory 150 of the vehicle 100 as the current profile 162 of the current trailer 101. In various embodiments, the trailer gap is saved to the current profile 162 in the memory 150 (step 318).

[0064] In a second implementation shown in step 308, it may be necessary to manually establish the current profile. Specifically, in some embodiments, and with further reference to step 310, in various embodiments, the user is prompted via a message on the display system 132 to manually input the space requirements around the visual representation of the trailer 101 on the display screen of the display system. For example, in some embodiments, the user's manual input includes when the extension 103 is fully extended. Figure 1The dimensions of the trailer 101 (and the associated required clearance) for the extension 103 and the corresponding extension area 104 are determined. In various embodiments, the user input is received via the input sensor 146 associated with the display system 132. In various embodiments, the processor 148 constructs a current profile based on the manual input and then stores the current profile in the memory 150 of the vehicle 100 as the current profile 162 for use with the current trailer 101. In various embodiments, the trailer clearance is saved to the current profile 162 in the memory 150 (step 318).

[0065] In a third implementation shown in step 312, automatic establishment of a current profile may be utilized. Specifically, in certain embodiments, and with further reference to step 314, in various embodiments, a user is prompted via a message on the display system 132 to go through a step-by-step process to extend or “pop-out” all of the extensions 103 of the trailer 101. In various embodiments, the display system 132 provides prompts to the user to implement the extension of each extension 103 in a step-by-step manner, and then the processor 148 utilizes the sensor data to ascertain and learn the updated dimensions of the trailer 101 as the extensions 103 are extended. In various embodiments, the processor 148 utilizes this data to “learn” additional areas of the trailer 101 regarding the extensions 103 of the trailer 101 (e.g., Figure 1 The processor 148 then automatically builds a current profile for the trailer 101. In various embodiments, the processor 148 then stores the current profile in the memory 150 of the vehicle 100 as its current profile 162 for use with the current trailer 101. In various embodiments, the trailer gap is saved to the current profile 162 in the memory 150 of the vehicle 100 (step 318).

[0066] Figure 4 According to an exemplary embodiment Figure 2 206 of process 200 (i.e., the step of implementing the profile during the parking maneuver of the trailer). Figure 4 And an exemplary implementation thereof is depicted Fig. 6A , Figure 6B ,and Figure 7 The sub-process of step 206 will be described below.

[0067] like Figure 4 As depicted, in various embodiments, the sub-process of step 206 begins at step 402 when a parking maneuver is initiated for a trailer (e.g., when trailer 101 is being parked while being hitched to vehicle 100). In various embodiments, the parking maneuver is initiated at some future time after the above-described profile of step 204 has been initiated or enhanced.

[0068] In various embodiments, trailer clearance is obtained from a trailer profile (step 404). In various embodiments, Figure 1 The processor 148 from Figure 1 The clearance of the trailer 101 is obtained from a current profile 162 stored in the memory 150 of the trailer 101, the current profile 162 including the dimensions and associated clearances of the trailer 101 when each extension 103 of the trailer 101 is in its fully extended position.

[0069] Additionally, in various embodiments, vehicle sensing is enabled for towing (step 406). Figure 1 The processor 148 provides instructions to enable or wake up the trailer 101 while it is parked. Figure 1 The sensor array 130 is configured to obtain sensor data including obstacles that may be present in the path of the trailer 101 and any other conditions that may exist on the adjacent ground (e.g., potholes, bumps, etc.).

[0070] In various embodiments, clearance is checked (step 408). Specifically, in various embodiments, clearance of any detected surrounding objects is checked and compared to the clearance required based on the current profile of the trailer 101. In various embodiments, this is performed by the processor 148 using sensor data to compare with the current profile 162 of the trailer 101. In addition, in various embodiments, the area around the trailer 101 and the parking space is also checked for spatial awareness regarding access devices (e.g., electricity, water, sewage, etc.) that the trailer 101 can utilize when parked in the parking space. For example, in various embodiments, in addition to determining potential obstacles, the process also determines the distance (from the trailer 101) to the access device and helps ensure that such distance to the access device does not exceed the maximum distance from the relevant point on the trailer (which will also be included in the trailer 101 profile in various embodiments).

[0071] In various embodiments, it is determined whether there are any obstacles in the path of the trailer (step 410). Specifically, in various embodiments, as the trailer 101 is moving toward the parking spot and parking, the processor 148 determines whether there are any detected objects in the path of the trailer 101, and also determines whether any detected objects will be in the path of the trailer 101 when the extension 103 of the trailer 101 is fully extended, or are likely to contact the trailer 101. In addition, in various embodiments, the proximity of the relevant access device and whether the distance to the access device exceeds the maximum distance are determined.

[0072] In various embodiments, if it is determined in step 410 that one or more obstacles are in the path of the trailer, or the maximum distance to the access device is exceeded, a notification is provided to the user (step 412). In some embodiments, based on instructions provided by processor 148, in Figure 1 The warning about the obstacle may be provided to the driver or other user of the vehicle 100 on the screen of the display system 132 of the vehicle 100. In some embodiments, an image of the obstacle (and / or access device) may also be displayed on the display screen of the display system 132. In some other embodiments, the warning may be provided, for example, by a processor 148, Figure 1 The message is sent to the smart phone or other personal device by the transceiver 134 of the processor 148, and is provided to the user's smart phone or other personal device. In addition, in some embodiments, the processor 148 can also provide instructions for automatically controlling the movement of the vehicle 100 and the trailer 101 (e.g., by automatically moving, braking and / or steering the vehicle 100) to avoid obstacles.

[0073] In various embodiments, the process 300 continues to check for obstacles and any access devices (step 414). Specifically, in various embodiments, additional sensor data continues to be collected via the sensor array 130 and analyzed via the processor 148 for the same obstacle and other possible obstacles and / or problems with the access device (e.g., exceeding a maximum distance from the access device). In various embodiments, the process 300 returns to step 410, and steps 410-414 continue in this manner until it is determined in a subsequent iteration of step 410 that there are no obstacles in the path of the trailer 101 (and, in various embodiments, no problems with the access device).

[0074] In various embodiments, once it is determined that no obstacles are detected in the path of the trailer (and in various embodiments, there are no issues with the adjacent access device), a determination is made as to whether there are any ground surface conditions or other conditions that may affect the trailer (step 416). In various embodiments, this determination is made by the processor 148 based on sensor data regarding the ground near the trailer 101. For example, in some embodiments, a determination is made as to whether there are any significant bumps, depressions, ditches, puddles, tree branches, or other conditions that would affect the usability of the trailer 101 when parked.

[0075] In various embodiments, if it is determined that one or more such ground surface conditions or other conditions exist, weather information is ascertained (step 418). For example, in some embodiments, weather information may be obtained (e.g., via Figure 1The transceiver 134 of the trailer 101 may also include a weather forecast for the geographic area where the trailer 101 is parked, which may affect the trailer 101, particularly given ground surface conditions or other conditions. For example, in various embodiments, if rain or other inclement weather is likely in the geographic area, this may adversely affect the ground surface conditions of the trailer 101 (e.g., depressions or ditches in the ground surface may quickly fill with water, etc.). As an additional example, if one or more other conditions are present (such as tree branches or other obstructions that may be near the trailer 101), the tree branches may sag and come into contact with the trailer 101 as a storm approaches, etc.

[0076] In various embodiments, a notification is provided to the user (step 420). In some embodiments, based on instructions provided by processor 148, Figure 1 The display system 132 of the vehicle 100 may be used to provide a warning about the ground surface conditions and any weather forecast or other information that may affect the ground surface conditions or other conditions to the driver or other user of the vehicle 100 on the screen of the display system 132. In some embodiments, an image of the ground surface conditions or other conditions may also be displayed on the display screen of the display system 132. In some other embodiments, the display system 100 may be used to display the ground surface conditions or other conditions, for example, by means of a processor 148 according to instructions provided by the processor 148. Figure 1 The processor 148 may also provide instructions for automatically controlling the movement of the vehicle 100 and trailer 101 (e.g., by automatically moving, braking, and / or steering the vehicle 100) to avoid or mitigate the ground condition.

[0077] In various embodiments, the process 300 continues to check for problems, including other ground surface conditions (step 422). Specifically, in various embodiments, additional sensor data continues to be collected via the sensor array 130 and analyzed via the processor 148 for the same ground surface condition and other possible ground surface conditions. In various embodiments, the process 300 returns to step 416, and steps 416-422 continue in this manner until it is determined in a subsequent iteration of step 416 that there are no adverse ground surface conditions around the trailer 101.

[0078] In various embodiments, once it is determined that adverse ground surface conditions are not present, the trailer is parked (step 424). Additionally, in certain embodiments, updated information about the trailer 101 and its parking is stored (e.g., including updated maps and updated clearance data for the trailer 101). In certain embodiments, the updated information is stored in the memory 150 of the vehicle 100 as part of the updated profile 162 of the trailer 101. Furthermore, in certain embodiments, the updated information is transmitted to the remote server 170, which stores the updated information in an updated profile 178 stored in its memory 176 for use by subsequent users of other vehicles and trailers.

[0079] In various embodiments, the sub-process of step 206 then terminates (step 428).

[0080] Reference Fig. 6A and Figure 6B , provides a first implementation of the sub-process of step 206. First, as Fig. 6A As shown, a first diagram 600 is provided for the vehicle 100 and the trailer 101 when the trailer 101 is parked. Fig. 6A As shown, in various embodiments, sensors of the sensor array 130 of the vehicle 100 provide sensor detection in a first sensor region 602 and a second sensor region 604 .

[0081] like Fig. 6A As shown, within the first sensor region 602 is a clearance region 606 required for the extension portion 103 of the trailer 101 when the extension portion 103 is fully extended. Fig. 6A As depicted, in the exemplary embodiment, an obstacle 608 (ie, a tree) is disposed within a portion of the clearance region 606 .

[0082] In addition, if Fig. 6A As shown, within the second sensor region 604 are a plurality of clearance regions 610, 612 required for the other extensions 103 of the trailer 101 when the extensions 103 are fully extended. Fig. 6A As depicted, in the exemplary embodiment, one or more obstacles 614 are present within a portion of gap region 612 .

[0083] Now refer to Figure 6B , a second illustration 650 is provided, which has a zoom-in of the region of interest associated with the obstacles 608, 614. Figure 6B As shown, multiple collisions 652 of the trailer 101 are depicted when the extension 103 is fully extended. Figure 6B As depicted, when the extension 103 is fully extended, the obstacle 608 (i.e., the tree) is expected to contact a portion 654 of the trailer 101. Figure 6BAs depicted, obstacle 614 is also expected to contact portion 656 of trailer 101 when extension 103 is fully extended.

[0084] Reference Figure 7 , a diagram 700 of a second implementation of the sub-process of step 206 is provided. Specifically, as Figure 7 As depicted, in certain embodiments, various sensors of the sensor array 130 are located at different locations of the vehicle, including: (i) a first point “A” 720 (e.g., near a hitch of the vehicle 100); (ii) a second point “B” 730 (e.g., near a midpoint or middle area of ​​the vehicle 100); and (iii) a third point “C1” 740 and a fourth point “C2” 750 (near each side-view mirror of the vehicle 100).

[0085] In addition, if Figure 7 As depicted in diagram 700 of FIG. 7 , extension 103 of trailer requires clearance in first clearance area 706, second clearance area 710, and third clearance area 712. In the exemplary embodiment, first clearance area 706 includes obstacle 708 (eg, a tree).

[0086] like Figure 7 As depicted, the sensor at point "A" 720 of the vehicle provides a detection area that includes a first sensor ray 721, a second sensor ray 722, a third sensor ray 723, and a fourth sensor ray 724. In the depicted embodiment, obstacle 708 is not detected by first sensor ray 721 and second sensor ray 722, but is detected via third sensor ray 723 and fourth sensor ray 724.

[0087] Also like Figure 7 As depicted, the sensor at point "B" 730 of the vehicle provides a detection area that includes a first sensor ray 731, a second sensor ray 732, a third sensor ray 733, and a fourth sensor ray 734. In the depicted embodiment, obstacle 708 is not detected by first sensor ray 731 and second sensor ray 732, but is detected via third sensor ray 733 and fourth sensor ray 734.

[0088] In addition, if Figure 7 As depicted, the sensor at point "C1" 740 of the vehicle provides a detection area that includes a first sensor ray 741, a second sensor ray 742, a third sensor ray 743, and a fourth sensor ray 744. In the depicted embodiment, obstacle 708 is not detected by first sensor ray 741 and second sensor ray 742, but is detected via third sensor ray 743 and fourth sensor ray 744.

[0089] In addition, if Figure 7 As depicted, the sensor at point "C2" 750 of the vehicle provides a detection area that includes a first sensor ray 751 and a second sensor ray 752, neither of which detects obstacle 708 (however, if Figure 7 Any obstacles present in gap regions 710 and / or 714 will also potentially detect obstacles).

[0090] like Figure 7 As shown, in various embodiments, sensors are used at various locations on the vehicle 100 and have corresponding different angles associated with corresponding detection areas and sensor rays. In various embodiments, the processor 148 aggregates the various sensor data from the various different angles using triangulation principles as applied to the various different angles for detecting obstacles.

[0091] Figure 5 According to an exemplary embodiment Figure 2 Flow chart of a sub-process corresponding to step 208 of process 200 (ie, the step of implementing a profile after a parking maneuver of a trailer).

[0092] like Figure 5 As depicted, in various embodiments, the subprocess of step 208 begins at 502 during one or more periods after the parking maneuver of step 206 has been completed for the trailer (e.g., while the trailer 101 is still coupled to the vehicle 100 while the trailer 101 is already parked in the parking space, and / or while the trailer 101 is leaving the parking space while being towed by the vehicle 100).

[0093] In various embodiments, vehicle sensing is enabled for towing (step 504). In various embodiments, Figure 1 The processor 148 provides instructions to activate or wake up the trailer 101 after the trailer 101 has been parked and remains in the parking space and / or when the trailer 101 is leaving the parking space. Figure 1 of a sensor array 130 to obtain sensor data, including obstacles that may be in the path of the trailer 101 and / or that may be left behind by the trailer 101 (e.g., regarding whether the trailer 101 is still connected to water, electricity, and / or other services, and / or regarding whether any trailer 101 parts, accessories, and / or other items of the user may be left behind and / or may be in the path of the trailer 101, etc.).

[0094] In various embodiments, a check is performed regarding adjacent obstacles using the sensor data (step 506), and a determination is made as to whether any obstacles are in the path of the trailer and / or any obstacles may be left (e.g., in a parking spot) (step 508). Specifically, in various embodiments, the processor 148 makes this determination based on the sensor data when the trailer 101 is left in a parking spot and / or is leaving a parking spot.

[0095] In various embodiments, if it is determined in step 508 that one or more obstacles are present, a notification is provided to the user (step 510). In some embodiments, based on instructions provided by processor 148, in Figure 1 The display system 132 of the vehicle 100 may be used to provide a warning about the obstacle to the driver or other user of the vehicle 100 on the screen of the display system 132. In some embodiments, an image of the obstacle may also be displayed on the display screen of the display system 132. In some other embodiments, the display system 100 may be used to provide a warning about the obstacle to the driver or other user of the vehicle 100 on the screen of the display system 132 according to the instructions provided by the processor 148. Figure 1 The transceiver 134 sends a message to the user's smart phone or other personal device, providing an alert to the user's smart phone or other personal device.

[0096] In various embodiments, process 300 continues to check for obstacles (step 512), regardless of whether a warning is warranted. Specifically, in various embodiments, additional sensor data continues to be collected via sensor array 130 and analyzed via processor 148 for the same obstacle and other possible obstacles.

[0097] In various embodiments, a determination is made as to whether the process 300 is complete (step 514). In certain embodiments, during step 514, the processor 148 determines whether the post-parking maneuver is complete (e.g., when the trailer 101 has completely left the parking spot). In various embodiments, if the process 300 is not yet deemed complete, the process 300 returns to step 512, and steps 512-514 are repeated thereafter until it is determined that the process is complete.

[0098] In various embodiments, once it is determined in an iteration of step 514 that process 300 is complete (eg, trailer 101 has completely left the parking spot), the process terminates at step 516 .

[0099] Thus, methods, systems, and vehicles are provided herein that provide potentially improved information for parking and for controlling the parking of a trailer being towed by a vehicle. In various embodiments, various sensor data are utilized to detect objects that may interfere with the parking of the trailer 101 after considering the extension 103 of the trailer 101 that will enclose different corresponding areas and require an expanded gap after the extension 103 is extended. In various embodiments, this can help improve the experience of users of the trailer 101 and the vehicle 100, for example, by helping to prevent undesired contact between obstacles and the trailer and / or other obstructions to the parking and / or movement of the trailer 101.

[0100] Additionally, considering not just the body of the trailer being towed or parked, but also the extension 103 of the trailer helps prevent the trailer 101 from being parked and then the user realizing that the extension 103 of the trailer cannot be fully utilized due to obstacles or ground surface conditions at the parking spot, etc. Thus, this provides a use protection for the trailer 101, for example, by detecting in advance a collision or obstacle that may subsequently occur after the trailer is fully set in the parking spot.

[0101] It should be understood that the systems, vehicles, and methods may vary from those depicted in the figures and described herein. For example, the vehicle 100, trailer 101, remote server 170, and / or components thereof may vary from those depicted in the figures and described herein. Figure 1 and / or described herein. Figure 2 The process 200 Figures 3 to 5 Subroutines and Fig. 6A , Figure 6B and Figure 7 The steps of the implementation method may be different from the steps depicted in the drawings, and / or the steps may occur simultaneously and / or in an order different from the order depicted in the drawings.

[0102] Although at least one exemplary embodiment has been given in the foregoing detailed description, it should be understood that there are a large number of variations. It should also be understood that the exemplary embodiment or multiple exemplary embodiments are only examples and are not intended to limit the scope, applicability or configuration of the present disclosure in any way. On the contrary, the foregoing detailed description will provide a convenient roadmap for implementing the exemplary embodiment or multiple exemplary embodiments for those skilled in the art. It should be understood that various changes can be made to the functions and arrangements of the elements without departing from the scope of the present disclosure as set forth in the attached claims and their legal equivalents.

Claims

1. A method comprising: obtaining sensor data related to the surroundings of the trailer via one or more sensors of a vehicle that is towing the trailer; retrieving information about a profile of the trailer, the profile including a required clearance for the trailer based on one or more extensions of the trailer, the one or more extensions being configured to be retracted when the trailer is moving and fully extended when the trailer is parked and utilizing the one or more extensions; determining, via a processor, based on the sensor data and the profile, whether there are any obstacles in a path of the trailer when the one or more extensions are fully extended; as well as When it is determined that one or more obstacles are present in the path of the trailer, actions are taken according to instructions provided by the processor.

2. The method according to claim 1, wherein: The step of taking action includes providing a warning to a user on a display system of the vehicle in accordance with the instructions provided by the processor when one or more obstacles are determined to be present in the path of the trailer.

3. The method according to claim 1, wherein: The step of taking action includes executing automatic control actions related to movement of the vehicle according to the instructions provided by the processor when it is determined that one or more obstacles are present in the path of the trailer.

4. The method according to claim 1, wherein: Determining whether there are any obstacles in the path of the trailer is performed before the one or more extensions are fully extended and while the trailer is parked in a parking space as the trailer is being towed by the vehicle.

5. The method according to claim 4, further comprising: generating, via the processor, the profile of the trailer based on information regarding the one or more extensions of the trailer and corresponding clearances required for the one or more extensions when fully extended; as well as Prior to towing the trailer by the vehicle, the profile of the trailer is stored in a non-transitory computer-readable storage medium of the vehicle.

6. The method according to claim 4, further comprising: obtaining, from a remote server via a transceiver, profiles associated with one or more other trailers having similar characteristics to the trailer; as well as Prior to towing the trailer by the vehicle, the profile is stored in a non-transitory computer-readable storage medium of the vehicle.

7. The method according to claim 1, further comprising: determining, via the processor, based on the sensor data and the profile, whether there are any ground surface issues proximate the trailer when the one or more extensions are fully extended; as well as The action is taken according to the instructions provided by the processor when the one or more ground surface issues are determined to be proximate to the trailer.

8. The method according to claim 1, further comprising: determining, via the processor, based on the sensor data and the profile, whether any conditions exist in the vicinity of the trailer when the one or more extensions are fully extended; obtaining weather conditions in the vicinity of the trailer that may affect the conditions; as well as The action is taken according to the instructions provided by the processor when it is determined that the condition may cause a problem given the weather conditions.

9. The method according to claim 1, further comprising: determining, via the processor, respective distances of one or more access devices from the trailer using the sensor data; as well as The action is taken according to the instructions provided by the processor when it is determined that one or more of the corresponding distances exceeds a predetermined threshold.

10. A system comprising: one or more sensors of a vehicle, the vehicle being configured to tow a trailer, the one or more sensors being configured to obtain sensor data related to a surrounding environment of the trailer; as well as a processor coupled to the one or more sensors and configured to at least facilitate: retrieving information about a profile of the trailer, the profile including a required clearance for the trailer based on one or more extensions of the trailer, the one or more extensions being configured to be retracted when the trailer is moving and fully extended when the trailer is parked and utilizing the one or more extensions; determining, based on the sensor data and the profile, whether any obstacles are in a path of the trailer when the one or more extensions are fully extended; as well as When it is determined that one or more obstacles are present in the path of the trailer, actions are taken according to instructions provided by the processor.

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