Trailer capable of being parked anywhere

Abstract

And the trailer is parked anywhere. A trailer traction assist system for assisting rearward manipulation of a trailer attached to a vehicle. The trailer traction assist system determines a reverse path to a final position of the vehicle and the trailer, determines a trailer angle of the trailer relative to the vehicle, selects a target waypoint positioned along the reverse path, determines an offset between a current position and orientation of the trailer and a target position and orientation of the trailer associated with the target waypoint, and outputs the offset to the vehicle. In one embodiment, a method includes determining a trailer angle, determining a target trailer angle based on an offset between a current position and orientation of a trailer and a target position and orientation of the trailer, determining an offset between the trailer angle and the target trailer angle, determining a steering angle based on the offset, and controlling steering of a vehicle based on the steering angle as the vehicle moves rearward.

Description

Technical Field

[0001] The present disclosure relates to assisted steering control during maneuvering and parking of a trailer hooked to a vehicle, such as a trailer hooked to a pickup truck. Background Art

[0002] It is difficult to maneuver a trailer backwards when it is hooked to the vehicle because the trailer must be actively stabilized and steering is not intuitive during reverse movement. Some trailer towing assist systems exist and these help the driver park and maneuver a trailer while moving backwards. Summary of the invention

[0003] Although trailer towing assistance systems exist, existing systems are limited in their capabilities. For example, some trailer towing assistance systems are only able to assist in maneuvering a trailer around a predefined turn (e.g., a 90 degree turn) or in parking a trailer in a defined and / or marked space. Therefore, a trailer towing assistance system is desired that assists the driver in parking a trailer and / or rearward maneuvering a trailer in any target location. Systems and methods for assisting with trailer parking are described herein.

[0004] One example provides a trailer tow assist system for assisting rearward maneuvering of a trailer attached to a vehicle. The system includes a rear camera for providing a rearward image of the trailer and surroundings, a steering wheel position controller for controlling vehicle steering, and an electronic tow assist unit including an electronic processor and a memory. The electronic tow assist unit is configured to determine a reverse path to a final position of the vehicle and the trailer, determine a trailer angle of the trailer relative to the vehicle based on video data received from the rear camera, select a target waypoint located along the reverse path, determine an offset between a current position and orientation of the trailer and a target position and orientation of the trailer associated with the target waypoint, determine a target trailer angle based on an offset between the current position and orientation of the trailer and the target position and orientation of the trailer, determine an offset between the trailer angle and the target trailer angle, determine a steering angle based on the offset between the trailer angle and the target trailer angle, and control the steering of the vehicle based on the steering angle via the steering wheel position controller as the vehicle moves backward.

[0005] Another example provides a method for assisting rearward maneuvering of a trailer attached to a vehicle via a trailer towing assist system. The trailer towing assist system includes an electronic towing assist unit, a rear camera, and a steering wheel position controller, the electronic towing assist unit including an electronic processor and a memory. The method includes determining a reverse path to a final position of the vehicle and the trailer via the electronic towing assist unit, determining a trailer angle (e.g., a current trailer angle) of the trailer relative to the vehicle via the electronic towing assist unit based on video data received from the rear camera, selecting a target waypoint located along the reverse path via the electronic towing assist unit, determining an offset between a current position and orientation of the trailer and a target position and orientation of the trailer associated with the target waypoint via the electronic towing assist unit, determining a target trailer angle via the electronic towing assist unit based on an offset between the current position and orientation of the trailer and the target position and orientation of the trailer, determining an offset between a (current) trailer angle and a target trailer angle via the electronic towing assist unit, determining a steering angle based on the offset between the trailer angle and the target trailer angle via the electronic towing assist unit, and controlling steering of the vehicle based on the steering angle via the steering wheel position controller as the vehicle moves rearward.

[0006] Another example provides a non-transitory computer-readable medium including program instructions executed by an electronic processor to assist in rearward maneuvering of a trailer attached to a vehicle along a trailer trajectory by: determining a reverse path to a final position of the vehicle and the trailer, determining a trailer angle of the trailer relative to the vehicle based on video data received from a rear camera, selecting a target waypoint located along the reverse path, determining an offset between a current position and orientation of the trailer and a target position and orientation of the trailer associated with the target waypoint, determining a target trailer angle based on the offset between the current position and orientation of the trailer and the target position and orientation of the trailer, determining an offset between the trailer angle and the target trailer angle, determining a steering angle based on the offset between the trailer angle and the target trailer angle, and controlling steering of the vehicle based on the steering angle via a steering wheel position controller as the vehicle moves rearward.

[0007] Other aspects, features, and embodiments will become apparent by consideration of the detailed description and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 An overhead view of a vehicle and a trailer on a road and multiple desired parking positions for the vehicle and the trailer is illustrated according to one example.

[0009] Figure 2 A block diagram of a trailer tow assist system for assisting with rear maneuvering of a trailer is illustrated according to one example.

[0010] Figure 3is a block diagram of a method for assisting rearward maneuvering of a trailer coupled to a vehicle according to one example.

[0011] Figure 4 An exemplary image for display depicting a trailer track and a trailer with surroundings is illustrated according to one example.

[0012] Figure 5 A top view of a vehicle and trailer deviating from a plurality of waypoints 125 is illustrated according to one example.

[0013] Those skilled in the art will appreciate that the elements in the figures are illustrated for simplicity and clarity and are not necessarily drawn to scale. For example, the size of some elements in the figures may be exaggerated relative to other elements to help improve understanding of various aspects and examples.

[0014] Apparatus and method components have been represented where appropriate by conventional symbols in the drawings, showing only those specific details relevant to an understanding of the illustrated examples, instances, and aspects so as not to obscure the present disclosure with details that would be readily apparent to one of ordinary skill in the art having the benefit of the description herein. DETAILED DESCRIPTION

[0015] One or more aspects are described and illustrated in the following description and accompanying drawings. These aspects are not limited to the specific details provided herein and can be modified in various ways. In addition, there may be other aspects not described herein. For example, a device or structure that is "configured" in a certain way is configured at least in that way, but can also be configured in an unlisted way. In addition, some aspects described herein may include one or more electronic processors, which are configured to perform the described functions by executing instructions stored in a non-transitory computer-readable medium. Similarly, the aspects described herein can be implemented as a non-transitory computer-readable medium that stores instructions that can be executed by one or more electronic processors to perform the described functions. As used in this application, "non-transitory computer-readable medium" includes all computer-readable media, but does not include temporary propagation signals. Therefore, non-transitory computer-readable media may include, for example, hard disks, CD-ROMs, optical storage devices, magnetic storage devices, ROMs (read-only memory), RAMs (random access memory), register memories, processor caches, other memories and storage devices, or combinations thereof.

[0016] In addition, the wording and terminology used in this article are used for descriptive purposes and should not be considered as limiting. For example, "comprise", "contain", "include", "have" and its variants used in this article are meant to cover the items listed thereafter and their equivalents and additional items. The terms "connect" and "couple" are widely used and cover both direct and indirect connections and couplings. In addition, "connect" and "couple" are not limited to physical or mechanical connections or couplings, and may include electrical connections or electrical couplings, whether direct or indirect. In addition, electronic communications and notifications can be performed using wired connections, wireless connections, or a combination thereof, and can be transmitted directly or through one or more intermediate devices through various types of networks, communication channels, and connections. In addition, relational terms (such as first and second, top and bottom, and the like) may be used herein only to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions.

[0017] Figure 1 A vehicle 100 is shown connected to a trailer 105 and disposed on a road. In some examples, the trailer 105 is a conventional non-steering single-axle trailer. In other examples, the trailer 105 is a conventional non-steering multi-axle trailer. In some examples, the trailer 105 has a length of about 1 to about 20 meters. With assistance from a trailer towing assist system and a driver operating an accelerator pedal and a brake pedal, the vehicle 100 and trailer 105 move from a starting position 110 in the road along respective reverse paths 120A-120C to a target parking or final position 115A-115C.

[0018] In some examples, reverse paths 120A-120C of respective final locations 115A-115C of the vehicle 100 and trailer 105 are defined by one or more intermediate waypoints 125 positioned between the starting location 110 and the final locations 115A-115C. The respective waypoints 125 include xy coordinates associated with the locations of the vehicle 100 and trailer 105 and a target orientation of the vehicle 100 and trailer 105 at the waypoints 125. In the illustrated example, the first reverse path 120A to the first final location 115A includes one waypoint 125-1 positioned along the first reverse path 120A. Furthermore, the second reverse path 120B to the second final location 115B includes two waypoints 125-1, 125-2 located along the second reverse path 120B, and the third reverse path 120C to the third final location 115C includes three waypoints 125-1, 125-2 and 125-3 located along the third reverse path 120C. It should be understood that Figure 1The waypoints 125 illustrated in are provided as non-limiting examples, and a particular reverse path 120 may include a different number (eg, tens, hundreds, etc.) of waypoints.

[0019] As a first example, when the trailer traction assist system controls the vehicle steering to move the vehicle 100 and the trailer 105 along the first reverse path 120A to the first final position 115A, the trailer traction assist system controls the vehicle 100 and the trailer 105 to move from the starting position 110 to the waypoint 125-1 and from the waypoint 125-1 to the first final position 115A. As another example, when the trailer traction assist system controls the vehicle steering to move the vehicle 100 and the trailer 105 along the second reverse path 120B to the second final position 115B, the trailer traction assist system controls the movement of the vehicle 100 and the trailer 105 from the starting position 110 to the waypoint 125-1, from the waypoint 125-1 to the waypoint 125-2, and from the waypoint 125-2 to the second final position 115B. As another example, when the trailer tow assist system controls vehicle steering to move the vehicle 100 and the trailer 105 to the third final position 115C along the third reverse path 120C, the trailer tow assist system controls movement of the vehicle 100 and the trailer 105 from the starting position 110 to the waypoint 125-1, from the waypoint 125-1 to the waypoint 125-2, from the waypoint 125-2 to the waypoint 125-3, and from the waypoint 125-3 to the third final position 115C.

[0020] It should be understood that Figure 1 The final positions 115A-115C, reverse paths 120A-120C, and corresponding waypoints 125 along the reverse paths 120A-120C shown in the drawings are provided as examples and are not intended to limit the embodiments of the trailer traction assistance system described herein. As will be described in more detail below, the trailer traction assistance system can be operated to assist in maneuvering the vehicle 100 and trailer 105 toward any target position and / or orientation and / or parking the vehicle 100 and trailer 105 at any target position and / or orientation. In addition, the trailer traction assistance system can assist in determining and controlling the steering of the vehicle 100 and trailer 105 along a reverse path including any number of waypoints to any target position and / or orientation. In some instances, the trailer traction assistance system assists in determining the steepest path from the starting position 110 of the vehicle 100 and trailer 105 to a specific waypoint 125 and / or the final position 115. In some instances, the waypoints 125 along a specific reverse path 120 are determined by the trailer traction assistance system. In other examples, waypoints 125 along a particular reverse path 120 to a target final location 115 are provided by user input.

[0021] Figure 2is a block diagram of a trailer traction assist system 200 included in a vehicle 100 according to one example. The trailer traction assist system 200 is used to control vehicle steering to steer a trailer 105 connected to the vehicle 100. In the illustrated example, the trailer traction assist system 200 includes an electronic traction assist unit 205. In the illustrated example, the electronic traction assist unit 205 includes an electronic processor 210 and a memory. The memory includes one or more memory modules, such as a random access memory ("RAM") 215 and / or a read-only memory ("ROM"), such as an electrically erasable programmable read-only memory ("EEPROM") 220. The electronic traction assist unit 205 also includes an input / output interface 225, which transmits and receives information between the electronic processor 210 and other devices, such as through a communication bus 230. The electronic processor 210 processes information by executing one or more applications or modules. The applications or modules can be stored in the memory 215, 220 as instructions or commands. The electronic processor 210 also stores information generated by the application in the memory 215, 220.

[0022] In some examples, the communication bus 230 is a FlexRay automotive communication bus, a controller area network (CAN) bus, or other types of communication links between multiple control units, sensors, and other devices. The communication bus 230 connects the electronic traction assist unit 205 to an electronic steering wheel position controller 235, such as a power steering control motor, which is controlled by the electronic traction assist unit 205 in the trailer traction assist operating mode.

[0023] As shown, the trailer traction assist system 200 also includes a vehicle speed determination device 240 and a speed limiter 245. The vehicle speed determination device 240 determines the vehicle speed and provides the vehicle speed to other units via the communication bus 230. In some examples, the vehicle speed determination device 240 is a vehicle speed sensor. In other examples, the vehicle speed determination device 240 and / or other components of the trailer traction assist system 200 calculate the vehicle speed. The speed limiter 245 limits the speed of the vehicle in the automatic steering control mode. In some examples, the speed limiter 245 is an electronic drive control system of the vehicle that receives an input of a speed limit signal from the electronic processor 210 from the traction assist system, which limits the reverse speed of the vehicle to prevent the driver from exceeding the speed limit for the automatic steering control mode.

[0024] The trailer towing assist system 200 additionally includes a rear camera 250 for providing an image from behind the vehicle 100. The image may include the trailer 105 hooked to the vehicle 100. In some examples, the image is a panoramic view. In some examples, multiple cameras are provided. The rear camera 250 provides video data to the electronic processor 210 via the communication bus 230.

[0025] like Figure 2 As further shown in FIG. 2 , the trailer towing assist system 200 includes an interior vehicle display 255 and an input device 260. In some instances, the interior vehicle display 255 is a display panel for displaying images and instructions to the driver. In some instances, the input device 260 is a keyboard, a joystick, or a keypad, or a similar device for manual manipulation. In other instances, the input device is a microphone, and the electronic processor may include voice analysis software to process voice commands. In some instances, multiple input devices are used. In some instances, the arrangement is a touch screen 265, which integrates the interior vehicle display 255 and the input device 260 into a single element that displays information and images and receives touch input. The touch screen 265 can be arranged at a console in the interior of the vehicle. In one example, the driver uses the input device 260 and / or the touch screen 265 to input the reverse path and final position and / or orientation of the vehicle 100 and the trailer 105. In another example, using the input device 260 and / or the touch screen 265 , the driver inputs one or more target waypoints along the reverse path to the final position and / or orientation of the vehicle 100 .

[0026] A steering angle sensor 270 is included in the trailer towing assist system 200 for providing the steering wheel position of the vehicle 100 to the electronic processor 210. For example, the steering angle sensor 270 is connected to the communication bus 230 to provide the steering wheel position to the electronic processor 210 via the input / output interface 225. In some examples, the steering angle sensor 270 is disposed on a steering column of a steering device. In some examples, the steering angle sensor 270 is configured to sense the rotation of a pinion fixed to a steering shaft of the vehicle. In other examples, the steering angle sensor 270 determines the steering angle based on the motor rotation of the power steering control motor and the ratio relative to the rack and pinion.

[0027] In some examples, the trailer towing assist system 200 includes a vehicle yaw angle determination device 275. For example, the vehicle yaw angle determination device 275 is provided on the vehicle 100 as a gyro sensor that transmits the yaw rate to the components of the trailer towing assist system 200 via the communication bus 230. In such examples, the yaw rate is integrated to determine the yaw. In some examples, the vehicle yaw angle is calculated based on the vehicle speed and the vehicle steering angle. Therefore, in such examples, the vehicle yaw angle determination device 275 is provided by the electronic processor 210. The vehicle yaw angle is determined relative to a starting position for the vehicle maneuver.

[0028] Figure 3An example method 300 for assisting rearward maneuvering of a trailer 105 coupled to a vehicle 100 is illustrated. The method 300 is described as being performed by one or more components of the trailer tow assist system 200, such as the electronic tow assist unit 205. Although the trailer tow assist system 200 is shown as including a single electronic tow assist unit 205, it should be understood that multiple control units and / or electronic processors 210 may perform the method 300. Figure 3 The functionality shown in .

[0029] At step 305, the electronic towing assist unit 205 receives input of a reverse path 120 of a final position 115 of the vehicle 100 and trailer 105. In some examples, the electronic towing assist unit 205 receives user input of the reverse path 120 and / or final position 115 of the vehicle 100 and trailer 105 from the input device 260 and / or the touch screen 265. For example, in such an example, video data associated with the surroundings of the vehicle 100 received from the rear camera 250 is presented to the user via the vehicle interior display 255 and / or the touch screen 265, and the user provides the reverse path 120 and / or final position 115 of the vehicle 100 and trailer 105 to the input device 260 and / or the touch screen 265. Providing the reverse path 120 and / or final position 115 of the vehicle 100 and trailer 105 to the input device 260 and / or touch screen 265 may include, for example, tracking a path to the final position of the vehicle 100 and trailer 105 via video data received from the rear camera 250, inputting xy coordinates and / or orientation information associated with the reverse path 120 and / or final position 115 of the vehicle 100 and trailer 105, and the like.

[0030] As mentioned above Figure 1 As described, the reverse path 120 of the vehicle 100 and trailer 105 includes a sequence of one or more waypoints 125 along the reverse path 120 from the starting position 110 of the vehicle 100 and trailer 105 to the final position of the vehicle 100 and trailer 105. Therefore, at step 305, when receiving the input of the reverse path 120 to the final position 115 of the vehicle 100 and trailer 105, the electronic traction assist unit 205 also receives the sequence of one or more waypoints 125 along the reverse path 120.

[0031] In some examples, providing the reverse path 120 and / or final position 115 of the vehicle 100 and trailer 105 to the input device 260 and / or touch screen 265 includes providing a sequence of waypoints 125 along the reverse path 120 to the input device 260 and / or touch screen 265. Each waypoint 125 includes a corresponding set of xy coordinates and orientation information associated with the vehicle 100 and trailer 105. The orientation information may include, for example, information associated with the angle between the vehicle 100 and trailer 105 and one or more physical properties or parameters of the vehicle 100 and trailer 105. In some examples, the orientation information includes a vehicle / trailer orientation with reference to the vehicle / trailer orientation of another waypoint 125, or a vehicle / trailer orientation with reference to the trailer / vehicle orientation of the same waypoint 125. In some examples, the user provides the waypoints 125 as input. In other examples, the electronic traction assist unit 205 determines the waypoint sequence based on one or more video data received from the rear camera 250, the reverse path 120 provided as input, and / or the final position 115 of the vehicle 100 and trailer 105 provided as input. In some examples, the final position 115 of the vehicle 100 and trailer 105 is simply the last waypoint 125 in the sequence of waypoints 125.

[0032] At step 310, the electronic towing assist unit 205 determines the current trailer angle of the trailer 105. The trailer angle is defined by the relative orientation of the trailer 105 with respect to the vehicle 100. When the vehicle 100 and the trailer 105 are aligned along the same axis, such as when the vehicle 100 is traveling forward in a straight direction, the trailer angle is zero degrees. In some examples, the electronic towing assist unit 205 determines the trailer angle based on information received from one or more components included in the trailer towing assist system 200. For example, the electronic towing assist unit 205 determines the trailer angle based on video data received from the rear camera 250. In some examples, different components included in the trailer towing assist system 200 determine the trailer angle and provide the trailer angle to the electronic towing assist unit 205. Figure 4 An example image captured by rear camera 250 is illustrated showing a trailer angle 400 between trailer 105 and vehicle 100 .

[0033] At step 315, the electronic traction assist unit 205 selects a target waypoint 125 along the reverse path 120 to maneuver the trailer 105. For example, the electronic traction assist unit 205 may select the next waypoint 125 in the sequence that is positioned between the current position of the vehicle 100 and trailer 105 and the final position 115 of the vehicle 100 and trailer 105. In other examples, the electronic traction assist unit 205 selects the waypoint 125 that has the minimum distance from the current position to help ensure a smooth maneuvering path and limit the steering angle required. Figure 1In the illustrated example, if it is assumed that the vehicle 100 and the trailer 105 are in the starting position 110 and the third final position 115C and / or the third reverse path 120C have been received at step 305, the electronic traction assist unit 205 selects the waypoint 125-1 located along the third reverse path 120C as the target waypoint 125.

[0034] As described above, each waypoint 125 along the reverse path 120 is associated with a particular position and / or orientation of the vehicle 100 and trailer 105. For example, xy coordinates of the vehicle 100 and trailer 105 and / or a particular orientation of the trailer 105 relative to the vehicle 100 are associated with each waypoint 125 along the reverse path 120. At step 320, the electronic traction assist unit 205 determines an offset between the current position and / or orientation of the vehicle 100 and trailer 105 and a target position and / or orientation of the vehicle 100 and trailer 105 at the target waypoint 125. The offset includes, for example, the difference between the xy coordinates of the current position of the vehicle 100 and trailer 105 and the xy coordinates of the position of the vehicle 100 and trailer 105 at the target waypoint 125. The offset may also include the difference between the current orientation of the vehicle 100 and trailer 105 and the orientation of the vehicle 100 and trailer 105 at the target waypoint 125. Figure 5 The vehicle 100 connected to the trailer 105 and the offset between the current position and / or orientation of the vehicle 100 and the trailer 105 and the target position and / or orientation of the vehicle 100 and the trailer 105 at the plurality of waypoints 125 are shown. For example, the electronic traction assist unit 205 may determine the offset between the current position and / or orientation of the vehicle 100 and the trailer 105 and the target position and / or orientation of the vehicle 100 and the trailer 105 at the target waypoints 125 via Equations 1 and 2.

[0035] e 偏移 =e 目标 -e 当前 Equation 1 θ 偏移 =θ 目标 -θ 当前 Equation 2

[0036] where e 偏移 is the position offset of the trailer 105, e 目标 is the target position of trailer 105, e 当前 is the current position of the trailer 105, θ 偏移 is the orientation offset of the trailer 105, θ 目标 is the target position of the trailer 105, and θ 当前 is the current position of trailer 105.

[0037] At step 325, the electronic traction assist unit 205 determines a target trailer angle or curvature required to maneuver the trailer 105 to the target waypoint based on the offsets determined at step 320. In some examples, the electronic traction assist unit 205 determines the target trailer angle by multiplying the position offset and the orientation offset by a constant or variable based on a measurement or parameter of the vehicle 100 or the trailer 105. For example, the electronic traction assist unit 205 may determine the target trailer angle via Equation 3.

[0038] γ 目标 =K1*e 偏移 +K2*θ 偏移 Equation 3

[0039] where γ 目标 is the target trailer angle, K1 is the first constant, e 偏移 is the position offset of the trailer 105, K2 is the second constant, and θ 偏移 is the orientation offset of trailer 105 .

[0040] At step 330, the electronic traction assist unit 205 determines an offset or difference between the current trailer angle determined at step 310 and the target trailer angle determined at step 325. At step 335, the electronic traction assist unit 205 determines a steering angle (e.g., a target steering angle) required to maneuver the trailer 105 to the target trailer angle based on the offset between the current trailer angle and the target trailer angle. In one example, the electronic traction assist unit 205 determines the offset between the current trailer angle and the target trailer angle via Equation 4 and determines the target steering angle via Equation 5.

[0041] γ 偏移 =γ 目标 -γ 当前 Equation 4

[0042] β 目标 =K3*γ 偏移 +K4 Equation 5

[0043] where γ 偏移 is the offset between the current trailer angle and the target trailer angle, γ 目标 is the target trailer angle, γ 当前 is the current trailer angle, β 目标 is the target steering angle, K3 is a third constant, and K4 is a fourth constant.

[0044] At step 340, the vehicle 100 moves in reverse and the electronic traction assist unit 205 controls the steering of the vehicle 100 via the steering wheel position controller 235 based on the steering angle determined at step 335. For example, the electronic traction assist unit 205 provides the steering angle via the communication bus 230 to the steering wheel position controller 235, which controls the steering of the vehicle when the user depresses the accelerator pedal to move the vehicle 100 and trailer 105 in reverse. After maneuvering the vehicle 100 and trailer backward toward the target waypoint 125, at step 345, the electronic traction assist unit 205 determines an updated position and / or orientation of the vehicle 100 and trailer 105.

[0045] At step 350, the electronic traction assist unit 205 determines whether the vehicle 100 and trailer 105 are in the final position 115. When the vehicle 100 and trailer 105 are oriented in the final position 115, the rearward maneuver has been completed and the electronic traction assist unit 205 stops maneuvering the trailer 105 (step 355). However, when the vehicle 100 and trailer 105 have not reached the final position, the electronic traction assist unit 205 begins to repeat the method 300 at step 310.

[0046] Although the electronic traction assist unit 205 is Figure 3 205 is illustrated as a separate unit, but in some examples, the electronic traction assist unit 205 is provided as an algorithm executed by a vehicle assist unit that performs other functions, such as collision avoidance warnings and lane change warnings.

[0047] Although the system depicts components as logically separate, such a description is for illustrative purposes only. In some embodiments, the illustrated components may be combined or divided into separate software, firmware, and / or hardware. Regardless of how they are combined or divided, these components may be executed on the same computing device, or may be distributed among different computing devices or electronic processors connected by one or more networks or other suitable communication means.

[0048] Various features, advantages, and embodiments are set forth in the following claims.

Claims

1. A trailer towing assist system for assisting rearward maneuvering of a trailer attached to a vehicle, the trailer towing assist system comprising: A rear camera that provides rear views of the trailer and its surroundings; A steering wheel position controller, used to control the steering of the vehicle; and An electronic traction assist unit comprising an electronic processor and a memory, the electronic traction assist unit being configured to: determining a reverse path to the final location of the vehicle and trailer; determining a trailer angle of the trailer relative to the vehicle based on video data received from a rear camera; selecting a target waypoint to locate along the reverse path; determining an offset between a current position and orientation of the trailer and a target position and orientation of the trailer associated with a target waypoint; determining a target trailer angle based on an offset between a current position and orientation of the trailer and a target position and orientation of the trailer; determining an offset between a trailer angle and a target trailer angle; determining a steering angle based on an offset between the trailer angle and a target trailer angle; as well as The steering of the vehicle is controlled based on the steering angle via a steering wheel position controller when the vehicle is moving backward.

2. The trailer traction assist system of claim 1, wherein the electronic traction assist unit is further configured to: Determine updated location of vehicle and trailer; When the updated position of the vehicle and trailer is the final position of the vehicle and trailer, ceasing to maneuver the trailer; and In response to determining that the updated position of the vehicle and trailer is not the final position of the vehicle and trailer, an updated trailer angle is determined and a new target waypoint positioned along the reverse path is selected. 3 . The trailer tow assist system of claim 1 , further comprising an input device configured to receive an input of a reverse path from a user. 4 . The trailer towing assist system of claim 3 , wherein the input device is further configured to receive a final position of the vehicle and the trailer input by a user.

5. The trailer tow assist system of claim 4, wherein the reverse path comprises a sequence of waypoints positioned between a current position of the vehicle and trailer and a final position of the vehicle and trailer. 6 . The trailer towing assist system of claim 5 , wherein the electronic towing assist unit is further configured to select the target waypoint from a sequence of waypoints included in a reverse path.

7. The trailer tow assist system of claim 1 , wherein the reverse path comprises a sequence of waypoints positioned between a current position of the vehicle and trailer and a final position of the vehicle and trailer; and The electronic traction assistance unit is further configured to select a waypoint from the waypoint sequence as a target waypoint.

8. A method for assisting rearward maneuvering of a trailer attached to a vehicle with a trailer tow assist system, the trailer tow assist system comprising an electronic tow assist unit, a rear camera, and a steering wheel position controller, the electronic tow assist unit comprising an electronic processor and memory, the method comprising: determining a reverse path to a final position of the vehicle and trailer via an electronic towing assist unit; determining a trailer angle of the trailer relative to the vehicle via an electronic towing assist unit based on video data received from a rear camera; selecting, via an electronic traction assist unit, a target waypoint located along a reverse path; determining, via the electronic traction assist unit, an offset between a current position and orientation of the trailer and a target position and orientation of the trailer associated with the target waypoint; determining, via the electronic towing assist unit, a target trailer angle based on an offset between a current position and orientation of the trailer and a target position and orientation of the trailer; determining, via an electronic towing assist unit, an offset between a trailer angle and a target trailer angle; determining, via an electronic traction assist unit, a steering angle based on an offset between a trailer angle and a target trailer angle; and The steering of the vehicle is controlled based on the steering angle via a steering wheel position controller when the vehicle is moving backward.

9. The method according to claim 8, further comprising: determining updated positions of the vehicle and trailer via an electronic towing assist unit; ceasing steering the trailer via the electronic traction assist unit when the updated position of the vehicle and the trailer is the final position of the vehicle and the trailer; and In response to determining that the updated position of the vehicle and trailer is not the final position of the vehicle and trailer, an updated trailer angle is determined via the electronic traction assist unit and a new target waypoint positioned along the reverse path is selected.

10. The method of claim 8, further comprising receiving the reverse path input by a user via an input device.

11. The method of claim 10, further comprising receiving a final position of the vehicle and trailer input by a user via an input device.

12. The method of claim 11, wherein the reverse path comprises a sequence of waypoints located between a current position of the vehicle and trailer and a final position of the vehicle and trailer.

13. The method of claim 12, further comprising selecting, via an electronic traction assist unit, the target waypoint from a sequence of waypoints included in the reverse path.

14. The method of claim 8, further comprising selecting, via the electronic traction assist unit, a waypoint from a sequence of waypoints located between a current position of the vehicle and the trailer and a final position of the vehicle and the trailer as a target waypoint.

15. A non-transitory computer readable medium comprising program instructions executed via an electronic processor for assisting a trailer attached to a vehicle in rearward maneuvering along a trailer track by: determining a reverse path to the final location of the vehicle and trailer; determining a trailer angle of the trailer relative to the vehicle based on video data received from a rear camera; selecting a target waypoint to locate along the reverse path; determining an offset between a current position and orientation of the trailer and a target position and orientation of the trailer associated with a target waypoint; determining a target trailer angle based on an offset between a current position and orientation of the trailer and a target position and orientation of the trailer; determining an offset between a trailer angle and a target trailer angle; determining a steering angle based on an offset between the trailer angle and a target trailer angle; and The steering of the vehicle is controlled based on the steering angle via a steering wheel position controller when the vehicle is moving backward.

Images