Trailer hitch ball and coupler compatibility detection system

Abstract

A "trailer hitch ball and coupler compatibility detection system" is provided. A vehicle control system includes an imager mounted at and directed toward an area of a rear of the vehicle and outputting image data, a detector mounted at and directed toward the area of the rear of the vehicle and outputting proximity data, and a controller. The controller determines a size of a hitch ball in response to the hitch ball being identified in the image data. The controller also receives at least one of the image data or the proximity data and determines a size of a coupler of a trailer, and determines a compatibility status of the hitch ball and the coupler based on the size of the hitch ball and the coupler size of the trailer. In response to the size of the hitch ball and the size of the coupler of the trailer being determined to be incompatible, the controller causes the vehicle to issue a mismatch indication.

Description

Technical Field

[0001] This disclosure generally relates to a vehicle control system, and more specifically to a vehicle control system that detects a mismatch between a vehicle hook-up ball and a trailer coupler before notifying the vehicle driver. Background Technology

[0002] In a common arrangement, a trailer is connected to a vehicle for towing via a coupler positioned and rigidly fixed to the end of the trailer tongue, engaging with a hook ball connected to the vehicle. This connection allows for multi-directional articulation of the trailer relative to the vehicle and is structured to maintain the desired connection between the trailer and the vehicle. Therefore, it is desirable to achieve a proper fit between the coupler and the hook ball to facilitate rotation of the coupler around the hook ball. This facilitates articulation of the trailer relative to the vehicle while providing proper locking of the coupler to the hook ball. To facilitate this fit, trailer couplers and balls have various industry-standard sizes that correspond to each other to achieve the desired fit. In one respect, it should be noted that a trailer coupler will engage with a trailer ball that is too small, but it will not be securely locked. Furthermore, a user can have multiple trailers with couplers of different sizes, the size of which can generally correspond to the size and load-bearing capacity of the trailers, and thus will have multiple hook ball units to correspond to this array of trailers. Summary of the Invention

[0003] According to one aspect of this disclosure, a vehicle control system includes: an imager mounted in a region at the rear of the vehicle and pointing towards the region, and outputting image data; a detector mounted in a region at the rear of the vehicle and pointing towards the region, and outputting proximity data; and a controller. The controller receives the image data and determines the size of a hook-up ball in response to identifying a hook-up ball in the image data. The controller also receives at least one of the image data or the proximity data and determines the size of a trailer coupler, and determines a compatibility status between the hook-up ball and the trailer coupler based on the size of the hook-up ball and the size of the trailer coupler. In response to the size of the hook-up ball and the size of the trailer coupler being determined to be incompatible, the controller causes the vehicle to issue a mismatch indication.

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

[0005] The imager may include a camera with a resolution of at least 3,840 pixels by 2,160 pixels.

[0006] The camera can be mounted at the rear of the vehicle and pointed at the mounting ball position on the rear of the vehicle.

[0007] The controller can determine the size of the hanging ball by further identifying the markings on the hanging ball that indicate its size and by using an optical character recognition process to analyze the markings.

[0008] The controller can determine the size of the hook ball by measuring the identified hook ball in the image data.

[0009] The vehicle control system may also include a human-machine interface, which includes at least one of a video screen and a speaker, and the controller may cause the vehicle to issue a mismatch indication through at least one of the video screen or the speaker.

[0010] Each of the size of the hanging ball and the size of the connector can be identified as corresponding to at least one of the known sizes or known types stored in the database.

[0011] The detector may include at least one of a lidar unit, a radar unit, or an ultrasonic sensor.

[0012] The controller can further monitor image data to determine whether a trailer is present in the area behind the vehicle, and in response to identifying a trailer in the area behind the vehicle, proximity data can be used to determine the size of the connector of the trailer identified in the area behind the vehicle.

[0013] The controller can determine the size of the connector based on the portion of the proximity data that corresponds to the position of the connector in the image data.

[0014] The controller can determine the size of the connector by: using proximity data to determine the distance between the trailer connector and the vehicle, and using the distance between the trailer connector and the vehicle as a reference to measure the trailer connector in the image data.

[0015] According to another aspect of this disclosure, a vehicle control system includes: a human-machine interface (HMI) locating within a vehicle; a vehicle braking system; a vehicle powertrain; and a controller communicating with the vehicle braking system and configured to control a service brake included in the vehicle braking system. The controller further communicates with the vehicle powertrain and is configured to control a throttle valve included in the powertrain. The controller performs a coupling confirmation process including: causing the vehicle to move forward by controlling the throttle valve, subsequently stopping the vehicle by controlling the service brake, and monitoring whether the relative motion of a coupler of a trailer connected to a coupler ball of the vehicle exceeds a predetermined threshold. In response to detecting that the relative motion of the coupler and the coupler ball exceeds the predetermined threshold, the controller causes the vehicle to issue a mismatch indication via the HMI.

[0016] According to another aspect of this disclosure, a method for controlling a vehicle includes: processing high-resolution image data obtained from a high-resolution camera mounted on the rear of the vehicle using at least one of a trained machine learning model or an optical character recognition routine to determine the size of a hook-up ball connected to the vehicle and identified in the image data; and processing at least one of high-resolution image data or sensor data received from sensors mounted to the vehicle to determine the size of a trailer coupler spaced apart from the vehicle and identified in the image data. The method further includes: determining a compatibility status of the hook-up ball and the coupler based on the size of the hook-up ball and the size of the trailer coupler; and causing the vehicle to issue a mismatch indication in response to the determination that the size of the hook-up ball and the size of the trailer coupler are incompatible.

[0017] Those skilled in the art will understand and appreciate these and other aspects, objectives, and features of this disclosure upon studying the following specification, claims, and drawings. Attached Figure Description

[0018] In the attached diagram:

[0019] Figure 1 This is a perspective view of the trailer coupling that connects to the vehicle's hook-up ball.

[0020] Figure 2 This is an assembly diagram of a connector positioned for connection with a hanger ball;

[0021] Figure 3 This is a cross-sectional view of the connector that is accepted in a manner that is properly matched with the corresponding mounting ball;

[0022] Figure 4 This is a cross-sectional view of a hanger ball that is accepted in a way that does not match the connector.

[0023] Figure 5It is a perspective view of a vehicle positioned for alignment with a trailer during hook-up maneuvers.

[0024] Figure 6 This is a schematic diagram of a vehicle control system based on this disclosure;

[0025] Figure 7 This is a sample view of image data obtainable from the vehicle's tailgate camera, showing the assembled hanger ball.

[0026] Figure 8 This is a sample view of image data obtained from a dedicated hook-up camera on the vehicle, showing the assembled hook-up.

[0027] Figure 9 This is a flowchart illustrating the evaluation process for the coupling and mounting ball fit according to aspects of this disclosure; and

[0028] Figure 10 It is a cross-sectional view showing the relative movement of the connector with respect to the mismatched hook ball. Detailed Implementation

[0029] For the purposes of this description, the terms “up,” “down,” “right,” “left,” “back,” “front,” “vertical,” “horizontal,” “inner,” “outer,” and their derivatives should be used as follows: Figure 1 The device is associated with the orientation specified therein. However, it should be understood that the device may take various alternative orientations unless explicitly stated otherwise. It should also be understood that the specific devices and processes shown in the drawings and described in the following description are merely exemplary embodiments of the inventive concept defined in the appended claims. Therefore, unless otherwise expressly stated in the claims, the specific sizes and other physical characteristics relating to the embodiments disclosed herein should not be considered limiting. Furthermore, unless otherwise specified, it should be understood that the discussion of specific features of a component extending in or along a given direction, etc., does not imply that the feature or component follows a straight line or axis in this direction, or extends only in this direction or in this plane without other directional components or deviations, unless otherwise specified.

[0030] Ordinal modifiers (i.e., "first," "second," etc.) can be used to distinguish various structures of the disclosed vehicle control system in various contexts; however, such ordinal numbers are not necessarily intended to apply to elements outside the specific context in which such elements are used, and in various respects, different elements within the same class can be identified using the same context-specific ordinal number. In such instances, other specific names of elements are used to clarify the overall relationship between such elements. Ordinal numbers are not used to specify the position of elements, nor do they exclude additional or intermediate unordered elements, or indicate the importance or ranking of elements within a particular category.

[0031] The terms “including,” “comprises,” “comprising,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article of manufacture, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, method, article of manufacture, or apparatus. Unless otherwise specified, an element preceded by “including…” does not exclude the presence of additional identical elements in the process, method, article of manufacture, or apparatus that includes said element.

[0032] For the purposes of this disclosure, the term "connection" (in all its forms: link, linked, connected, etc.) generally means that two components (electrical or mechanical) are directly or indirectly connected to each other. Such a connection may be fixed in nature or movable in nature. Such a connection may be achieved using two components (electrical or mechanical), and any additional intermediate component may form a single unit with or between the two components. Unless otherwise stated, such a connection may be permanent in nature, or may be removable or detachable in nature.

[0033] For the purposes of this disclosure, the terms “about,” “approximately,” or “substantially” are intended to mean that the value of a parameter is close to the stated value or location. However, small differences can prevent the value or location from being exactly the same as stated. Therefore, unless otherwise stated, for a given value, a difference of up to ten percent (10%) is a reasonable difference from an ideal target exactly as described. In many instances, a difference greater than ten percent (10%) may be a significant difference unless otherwise understood by one of ordinary skill in the art based on the context in which the term is used.

[0034] refer to Figures 1 to 10 Reference numeral 10 generally designates the vehicle control system. The control system 10 includes: an imager 12 mounted in and pointing at the rear 14 of the vehicle 16 and outputting image data 18; a detector 20 mounted in and pointing at the rear 14 of the vehicle 16 and outputting proximity data 22; and a controller 24. The controller 24 receives the image data 18 and determines the size of the hook ball 26 in response to identifying the hook ball 26 in the image data 18. The controller 24 also receives at least one of the image data 18 or the proximity data 22 and determines the size of the connector 28 of the trailer 30, and determines the compatibility status of the hook ball 26 and the connector 28 based on the size of the hook ball 26 and the size of the connector 28. In response to the determination that the size of the hook ball 26 and the size of the connector 28 of the trailer 30 are incompatible, the controller 24 causes the vehicle 16 to issue a mismatch indication 32.

[0035] like Figures 1 to 5 As shown, in one possible arrangement, the trailer 30 can be connected to the vehicle 16 for towing via the aforementioned coupling 28 connected to the hook ball 26. In this arrangement, the coupling is rigidly connected to the front end 40 of the tongue 34 of the trailer 30. More specifically, as Figure 1 and Figure 2 As shown, the connector 28 is typically formed from a stamped part of a sheet metal material (e.g., steel, etc.) that can be connected to a specific trailer 30 to which it is assembled (e.g., using rigid fasteners, including bolts, rivets, etc.). The connector 28 is also shaped to define a cavity 36, the cavity being at least partially spherical in shape and defining an undercut 38 at least along its front end 39 but not completely around the cavity 36. In this way, the connector 28 can receive the hook ball therein by vertically lowering it onto the hook ball 26 along at least a portion of the similarly generally spherical hook ball 26. As further shown, the connector 28 also includes a latch 42 that controls the forward and backward movement of the block 44 such that when the latch 42 is rotated to an upward release position, the latch 42 allows the connector 28 to be assembled onto the hook ball 26. In the upward release position, the block 44 is positioned rearward. When the hook ball 26 is received within the cavity 36, the latch 42 can be lowered and secured (e.g., using a lock 46) to hold the block 44 in a forward position. In this position, the hook ball 26 is held toward the front end 39 of the cavity 36, with an undercut 38 extending below a portion of the hook ball 26, such that the hook ball 26 is held within the cavity 36 during vehicle movement, thereby maintaining the connection between the connector 28 and the hook ball 26, and thus maintaining the connection between the trailer 30 and the vehicle 16. As further shown, the hook ball 26 is rigidly mounted to a handle 48, which is assembleable within a receiver 50, which is rigidly fixed to the vehicle 16 and can be secured by a pin 52, etc. As an additional measure, a set of chains 54 can be assembled between the trailer 30 and the vehicle 16.

[0036] As can be understood, proper engagement between the connector 28 and the hook ball 26 is required to facilitate rotation of the connector 28 about the hook ball 26 (to facilitate articulation of the trailer 30 relative to the vehicle 16), while providing locking of the connector 28 to the hook ball 26 as discussed above, an example of which is shown in Figure 3 As shown in the diagram. To facilitate this fit, the trailer coupling and the ball have several industry-standard sizes that correspond to each other to achieve the desired fit. On one hand, it should be noted that the trailer coupling will fit onto a trailer ball that is too small; however, the trailer ball will not be securely locked (i.e., by a distance greater than the diameter of the coupling ball 26 between block 44 and undercut 38), as... Figure 4As illustrated in the example. As can be understood, a user can have multiple trailers with connectors 28 of different sizes (since connector sizes can generally correspond to the size and load-bearing capacity of trailer 30) and will accordingly have multiple hook-up ball units 26 to correspond to this array of trailers 30. Therefore, the system 10 is configured to check the match between the vehicle hook-up balls 26 and the identified trailer 30. In one aspect, this can occur during a hook-up operation, where the driver or an automated system reverses the vehicle 16 toward the trailer 30 to engage it. An example of such an automated system is disclosed in U.S. Patent Application Publication No. 2021 / 0347410.

[0037] like Figure 6 As shown, the imager 12 described above can be included in the imaging system 31 of the vehicle 16. In a particular arrangement, the imager 12 may be a camera, and the imaging system 31 may further include multiple imagers having a set of digital cameras 12. In an example, the vehicle imaging system 31 may include a rear camera 12r (and various other cameras in various possible configurations and arrangements), which is mounted on the rear bumper 56 of the depicted vehicle 16 and is used to allow a user to see a wide portion of the area of ​​the rear 14 of the vehicle 16, an example view of which is shown in [image description missing]. Figure 7 As shown in the diagram. In one aspect, the system 10 can utilize the rear camera 12r to determine the size S1 of the hook ball 26. In this regard, it should be noted that a wide-angle digital camera typically used for a rear vehicle camera 12r may not have sufficient resolution to accurately visualize the hook ball 26 to determine its size S1 through at least some of the various processes discussed herein. This may also be the case when using a high-definition (HD) camera, as such cameras typically have a resolution of 1920 x 1080 pixels (also known as 1080p), thus providing approximately 2.1 megapixels. To provide the accuracy required for some of the measurement processes discussed herein, the rear camera 12r can be a camera with a resolution of at least 3840 pixels by 2160 pixels (equivalent to approximately 8.3 megapixels), which may be referred to as an ultra-high-definition (UHD) camera or a 4K camera. There are also 8K cameras with a resolution of 7680 x 4320 pixels, which provide even higher detail, and these can also be used as the rear camera 12r. Alternatively, the imaging system 31 may include a dedicated mounted ball camera 12h, which is mounted to the rear 14 of the vehicle 16 and points towards the mounted ball 26 on the rear 14 of the vehicle 16, as shown in the example view. Figure 8 As shown in the example. Also, as... Figure 5As shown, when mounted on vehicle 16, the hook-up camera 12h can be mounted to the vehicle's bumper 58 so as to be adjacent to the hook-up ball 26. Using this camera allows for accurate measurements at lower resolutions (such as HD resolution), but higher resolution cameras can also be used.

[0038] In one example, controller 24 can identify mark 60 on hook ball 26 ( Figure 8 The controller 24 determines the size S1 of the hook-up ball 26, where such markings 60 are typically included on the vehicle hook-up ball 26 to indicate its size. In this regard, the controller 24 can use an optical character recognition (“OCR”) process to analyze the image data 18 to identify the text included in the markings 60. In one example, by using a trained machine learning model, the controller 24 can identify different types and sizes of the connector 24 (e.g., 1-7 / 8", 2", 2-5 / 16", 3", etc.) based on the image data 18 to effectively “read” the size markings 60 etched or imprinted on the trailer ball. Various image processing methods can be used for this OCR to produce high accuracy. Alternatively, the controller 24 may determine the size S1 of the hook ball 26 via image processing, such as edge detection and / or various machine learning processes, for identifying the hook ball 26 within the image data 18, utilizing a pixel counting process, for example for determining the size S1 of the hook ball 26, including calibrating the pixel count calculation by comparison with additional objects (such as factory markings or other original features) of known size of the vehicle 16 within the field of view of the utilized camera 12.

[0039] As discussed above, determining the size S1 of the hook-up ball 26 to assess the compatibility between these two features before attempting to connect the hook-up ball 26 to the nearby connector 28, allows the controller 24 to also consider determining the size S2 of the nearby trailer 30. In one aspect, during or after the determination of the size S1 of the hook-up ball 26 discussed above, the controller 24 may further monitor image data 18 to determine whether the trailer 30 is present in the area of ​​the rear 14 of the vehicle 16 (e.g., in...). Figure 5(As shown in the diagram). This can be accomplished using various image recognition techniques, including but not limited to edge detection algorithms and / or various machine learning techniques. If trailer 30 is identified, controller 24 can determine the size S2 of connector 28. In one embodiment, when the camera resolution is high enough to determine the size of connector 28, this can be accomplished using image data 18, which includes image data 18 received from rear camera 12r. In one aspect, trailers can be identified using a machine learning process trained on a database of different known trailers and / or image data 18 (including sufficient portions of the trailer itself), including but not limited to the identification of specific markers (such as trailer manufacturer name and / or trailer model). If trailer 30 can be successfully identified using this technique, the associated database entry can also include the size S2 of connector 28 included on trailer 30 by the manufacturer, such that the size S2 of connector 28 is then known. In a further variation, image data 18 can be further analyzed to determine the distance between the hook-up ball 26 and the connector 28, allowing the connector 28 to be specifically identified in image data 18 and measured using a pixel counting algorithm. Calibration is then performed based on the distance of the connector 28 from the hook-up ball 26 to determine the size S2 of the connector. The system can look up the connector size based on trailer image recognition and / or OCR interpretation, utilizing image recognition of a specific trailer model to access finished trailer specifications via the internet or a pre-loaded database. The user can be asked to confirm the optically determined size.

[0040] In another embodiment, the size S2 of the connector 28 can be determined using proximity data 22 received from detector 20. Figure 5 and Figure 6As shown, detector 20 may consist of detection system 20 and may include at least one of lidar unit 62, radar unit 64, or ultrasonic sensor 66, all of which output their own proximity data 22, including specific point location data of detected objects around vehicle 16. Controller 24 may use any of the available proximity data 22 or a combination thereof to measure the distance Dc between connector 28 and hook ball 26 (or vehicle 16), and may further determine the size S2 of connector 28 based on the point location data within proximity data 22. This may be done after first identifying connector 28 in image data 18 and associating the identified position of connector 28 with object point location data to confirm the correct data used for such measurement. Alternatively, the measurement performed using image data 18, proximity data 22, or both may be compared with a database of known connector sizes to identify or confirm the correct connector size based on the closest match to the measured size S2. The corresponding sizes S1, S2 of the hook ball 26 and the connector 28 can be identified as corresponding to at least one known size stored in a database and their corresponding associations (e.g., mutual matching) to determine whether the measured size S1 of the hook ball 26 matches the measured size S2 of the connector 28.

[0041] like Figure 5 and Figure 6As further shown, the vehicle control system 10 may further include a human-machine interface (“HMI”) 68 having at least one of a video screen 70 and a speaker 72. If the controller 24 determines that the size S1 of the hook-up ball 26 does not match the size S2 of the connector 28, the controller 24 may cause the vehicle 16 to issue the aforementioned mismatch indication 32 via the video screen 70 and / or the speaker 72. In one aspect, the speaker 72 may be an external vehicle speaker, or it may be in the form of a panel exciter operatively coupled to one of the vehicle panels 74. In one aspect, if a mismatch is detected between the size S1 of the hook-up ball 26 and the size S2 of the connector 28 during an identified hook-up process (e.g., if it is determined that the vehicle is reversing toward the identified trailer 30 or if the controller 24 is performing an automatic hook-up process), the controller 24 may present the mismatch indication 32 via the HMI 68. In a further aspect, if a mismatch is identified, the controller 24 can stop the movement of the vehicle 16 after the identified engagement maneuver has ended, until the operator manually overrides or confirms the size mismatch detection, for example, by restricting the operation of the vehicle's powertrain 76 or by controlling the vehicle's braking system 82 to maintain the vehicle's service brake 76 or parking brake 78 in the engaged position. If the measured size S2 of the connector 28 is more than a predetermined threshold larger than the measured size S1 of the hook ball 26, the controller 24 can prompt the user U to visually inspect below the connector 28. This inspection can be enhanced by utilizing a smartphone 84 or another measuring device, particularly via mirroring or by extending the HMI 68 via a smartphone application that facilitates communication between the smartphone 84 and the HMI 68 via Bluetooth, WiFi, etc. HMI 68 can further cause vehicle 16 to notify user of the size S1 of hook ball 26 and request confirmation that connector 28 is of appropriate size, including in cases where controller 24 cannot determine the size S1 or S2 of one or more of hook ball 26 or connector 28 between two possible sizes. As discussed above, this can be accomplished using speaker 72 (including via panel 74) or via connected smartphone 84.

[0042] Turn Figure 9 It schematically illustrates the control used as described above. Figure 5Method 110 for the vehicle under discussion (such as vehicle 16). In one aspect, method 110 includes initially, optionally, monitoring a hook-up operation (step 112) – this can be done by monitoring image data 18 of a nearby trailer 30 detected within image data 18 and further optionally by monitoring the powertrain 76 to obtain an indication that the vehicle gear selector 86 is in reverse. If a hook-up operation is detected (if checked, step 114), the controller 24 can then check the hook-up ball 26 within image data 18 (step 116). When the hook-up ball 26 is identified (step 118), the controller 24 can use a trained machine learning model 88 or an OCR routine 90 ( Figure 6 The controller 24 processes image data 18 (including high-resolution image data 18 obtained from high-resolution camera 12r or 12h) to determine the size S1 of the hook ball 26 (step 120). As discussed above, the hook ball 26 may include size markings 60 on its outer surface (e.g., its flat upper surface 61). The optical character recognition routine 90 may identify the size markings 60 and recognize at least one numeric character within the size markings 60. The determination of the size S1 of the hook ball 26 may be based on a numerical evaluation of at least one numeric character within the size markings. In a further optional step (122), if the hook ball 26 is detected, the controller 24 may notify the user.

[0043] Method 110 further includes determining the size S2 of the identified trailer coupler 28 (step 124). In one example, controller 24 may seek to identify the trailer 30 and / or the associated coupler 28 of the trailer 30 within image data 18 (this may be done as part of the hook-up operation detection in optional step 112) or otherwise obtain confirmation that the trailer 30 is nearby and at least determine the approximate location of the coupler 28 (step 126). When the coupler 28 is identified, the size S2 is determined, which can be done by processing the high-resolution image data 18 or proximity data 22 received from one of the devices in the rear camera 12r (in a variant with suitable resolution) or the detection system 20 according to either of the above-described processes to determine the size S2 of the coupler 28 identified in image data 18. The method further includes: determining their compatibility status based on the size of the hook-up ball 26 and the coupler 28 (step 128), and if they are determined to be incompatible (step 130), issuing a mismatch indication 32 by the vehicle (132). As discussed above, the method may also include restricting vehicle movement and seeking cooperation or correction confirmation from the user.

[0044] In a variation of the vehicle control system 10 discussed above, the system includes an HMI 68 within the vehicle 16, a vehicle braking system 82, a vehicle powertrain 76, and a controller 24. For example... Figure 6As shown, controller 24 communicates with vehicle braking system 82 and is configured to control service brake 78 included in vehicle braking system 82. Controller 24 further communicates with vehicle powertrain 76 and is configured to control throttle valve 92 included in powertrain 76. Controller 24 performs a coupling confirmation process, which includes causing vehicle 16 to move forward by controlling throttle valve 92 and / or service brake 78. After achieving the desired amount of movement, controller 24 then causes vehicle 16 to stop by controlling service brake 78 (and, if necessary, throttle valve 92). Controller 24 then monitors whether the relative movement of the coupling 28 of trailer 30 connected to coupling ball 26 of vehicle 16 exceeds a predetermined threshold. In response to detecting that the relative movement of coupling 28 and coupling ball 26 exceeds the predetermined threshold, controller 24 causes vehicle 16 to issue mismatch indication 32 via HMI 68. It is worth noting that, as Figure 4 and Figure 10 As shown, if the connector 28 assembled with the hook-up ball 26 is too large, the connector 28 (along with the trailer) will move more than the amount allowed by typical connector 28 and hook-up ball 26 tolerances. In this way, as discussed above, the controller 24 performs automated maneuvering of the vehicle 16 to move the vehicle forward or backward a short distance while monitoring a known factor or combination thereof related to the engagement of the connector 28 and hook-up ball 26. In one embodiment, during the above maneuver, the controller 24 may command the trailer 30 to apply and maintain trailer brakes. The controller 24 can then monitor excessive relative movement between the vehicle 16 and the trailer 30, which should be very small since trailer movement is constrained.

[0045] On another front, the powertrain 76 may include one or more electric motors (as in the case of battery electric vehicles or hybrid vehicles). Position control within the electric motors can be precise enough to move the vehicle forward by a few millimeters. If the coupling 28 is too large for the hook ball 26, the position control will move the vehicle 16 forward slightly with less torque until the oversized coupling 28 engages with the hook ball 26 (initially at...). Figure 4 The slack between (as shown in the diagram) is eliminated (by bringing the hook ball 26 into contact with the front end of the connector 28, as shown in the diagram). Figure 10 (As shown). Once the distance is eliminated, the electric motor will require greater torque and current to continue moving the vehicle 16 forward, even slightly. A series of slight forward and backward maneuvers within a range of 0.5 to 2 inches will allow the electric motor to know whether the connector 28 is too large based on the rapid increase in torque required for slow forward movement.

[0046] In addition to any detectable changes in torque, the aforementioned factors related to the mismatch between the size S1 of the connector 28 and the S2 of the hook ball 26 can include the relative speed or motion difference between the trailer 30 and the vehicle 16. In another example, movement of the connector 28 relative to (or into) the hook ball 26 can produce an audible indication. Therefore, the vehicle control system 10 may also include a microphone 94 configured to detect sounds outside the vehicle 16 and output audio data 96. The controller 24 may receive the audio data 96 from the microphone 94 and detect whether the relative motion between the connector 28 and the hook ball 26 exceeds a predetermined threshold by detecting portions of the audio data 96 that include audible contact above a predetermined decibel level or otherwise match a predetermined audio profile between the interior of the connector 28 and the hook ball 26. The braking torque sensor may also be used to monitor a delayed increase in braking torque due to delayed contact between the hook ball 26 and the connector 28 (due to the size S1, S2 mismatch). In a further aspect, the vehicle control system 10 may further include a vibration sensor operatively coupled to the coupling ball 26 and output vibration data. The controller 24 may receive vibration data from the vibration sensor to detect whether the relative motion between the coupling and the coupling ball exceeds a predetermined threshold by detecting the portion of the vibration data indicating contact between the interior of the coupling 28 and the coupling ball 26. Alternatively, detecting high vibration at low speeds may indicate a size mismatch. The vehicle control system 10 may further utilize the imager 12 (such as the coupling ball camera 12h) by identifying the coupling 28 in image data 18 and comparing the position of the coupling 28 with the fixed portion of the vehicle 16 in image data 18 to detect whether the relative motion between the coupling 28 and the coupling ball 26 exceeds a predetermined threshold by monitoring whether the position of the coupling 28 in image data 18 is moving toward or away from the fixed portion of the vehicle 16. In a further aspect, the vehicle control system 10 may monitor the trailer electrical coupling 98 connected to the vehicle 16 before performing the coupling confirmation process as described above. Figure 1 Whether it is connected to the trailer connector 99, such that when the trailer 30 is newly connected to the vehicle 16, the controller 24 initiates this check. If the controller 24 detects a mismatch according to any or more of the above processes, it may take any of the measures discussed above.

[0047] On another front, trailer 30 may be equipped with an ultra-wideband (“UWB”) or RFID tag containing information about the size S2 of connector 28. Then, when connector 28 approaches hook ball 26, controller 24 can read the nearby tag to automatically identify the size.

[0048] It should be understood that changes and modifications may be made to the foregoing structure without departing from the concept of this disclosure, and it should also be understood that such concept is intended to be covered by the appended claims unless otherwise expressly stated in their language.

[0049] Equally important, it should be noted that the construction and arrangement of the elements of this disclosure as illustrated in the exemplary embodiments are merely illustrative. While only a few embodiments of the invention have been described in detail in this disclosure, those skilled in the art will readily understand that many modifications are possible (e.g., variations in the size, dimensions, structure, shape and proportions of various elements, values ​​of parameters, mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter. For example, an element shown as integrally formed may be composed of multiple parts, or elements shown as multiple parts may be integrally formed; the operation of interfaces may be reversed or otherwise altered; the length or width of structures and / or components, or connectors or other elements of the system, may be changed; the nature or number of adjustment positions provided between elements may be altered. It should be noted that the elements and / or assemblies of the system may be constructed from any of a variety of materials providing sufficient strength or durability in any of a variety of colors, textures, and combinations. Therefore, all such modifications are intended to be included within the scope of this invention. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the desired embodiments and other exemplary embodiments without departing from the spirit of this invention.

[0050] It should be understood that any described process or step within a described process may be combined with other disclosed processes or steps to form a structure within the scope of this disclosure. The exemplary structures and processes disclosed herein are for illustrative purposes and should not be construed as limiting.

[0051] According to the present invention, a vehicle control system is provided, comprising: an imager mounted in a region at the rear of the vehicle and pointing towards the region and outputting image data; a detector mounted in a region at the rear of the vehicle and pointing towards the region and outputting proximity data; and a controller that receives the image data and determines the size of a hook-up ball in response to identifying a hook-up ball in the image data; receives at least one of the image data or the proximity data and determines the size of a trailer coupling; determines a compatibility state of the hook-up ball and the trailer coupling based on the size of the hook-up ball and the size of the trailer coupling; and causes the vehicle to issue a mismatch indication in response to the determination that the size of the hook-up ball and the size of the trailer coupling are incompatible.

[0052] According to an embodiment, the imager includes a camera with a resolution of at least 3840 pixels by 2160 pixels.

[0053] According to an embodiment, the camera is mounted at the rear of the vehicle and points to the mounting ball position on the rear of the vehicle.

[0054] According to an embodiment, the detector includes at least one of a lidar unit, a radar unit, or an ultrasonic sensor.

[0055] According to an embodiment, the controller further monitors image data to determine whether a trailer is present in the area behind the vehicle, and in response to identifying a trailer in the area behind the vehicle, uses proximity data to determine the size of the connector of the trailer identified in the area behind the vehicle.

[0056] According to an embodiment, the controller determines the size of the connector based on the portion of proximity data that corresponds to the position of the connector in the image data.

[0057] According to an embodiment, the controller determines the size of the connector by: using proximity data to determine the distance between the trailer connector and the vehicle; and using the distance between the trailer connector and the vehicle as a reference to measure the trailer connector in the image data.

[0058] According to an embodiment, the controller determines the size of the hanging ball by further identifying a mark on the hanging ball indicating the size of the hanging ball and analyzing the mark using an optical character recognition process.

[0059] According to an embodiment, the controller determines the size of the hanging ball by measuring the identified hanging ball in the image data.

[0060] According to an embodiment, the invention is further characterized by a human-machine interface, the human-machine interface including at least one of a video screen and a speaker, wherein the controller causes the vehicle to issue a mismatch instruction through at least one of the video screen or the speaker.

[0061] According to an embodiment, each of the size of the hanging ball and the size of the connector can be identified as corresponding to at least one of the known sizes or known types stored in a database.

[0062] According to the present invention, a control system for a vehicle is provided, the control system comprising: a human-machine interface (HMI) locatable within the vehicle; a vehicle braking system; a vehicle powertrain; and a controller communicating with the vehicle braking system and configured to control a service brake included in the vehicle braking system; communicating with the vehicle powertrain and configured to control a throttle valve included in the powertrain; performing a coupling confirmation process including causing the vehicle to move forward by controlling the throttle valve, subsequently causing the vehicle to stop by controlling the service brake, and monitoring whether the relative motion of a trailer coupling connected to a coupling ball of the vehicle exceeds a predetermined threshold; and, in response to detecting that the relative motion of the coupling and the coupling ball exceeds the predetermined threshold, causing the vehicle to issue a mismatch indication via the HMI.

[0063] According to an embodiment, the invention is further characterized by a microphone configured to detect sounds outside the vehicle and output audio data, wherein the controller receives the audio data from the microphone and detects whether the relative motion between the connector and the hanger ball exceeds a predetermined threshold by detecting the portion of the audio data including the audible contact between the interior of the connector and the hanger ball.

[0064] According to an embodiment, the invention is further characterized by a vibration sensor operably connected to the hanging ball and outputting vibration data, wherein the controller receives the vibration data from the vibration sensor and detects whether the relative motion between the connector and the hanging ball is higher than a predetermined threshold by detecting the contact portion between the interior of the connector and the hanging ball that indicates the vibration data.

[0065] According to an embodiment, the invention is further characterized by an imager mounted in a region at the rear of the vehicle and pointing towards the region and outputting image data, wherein a controller receives the image data, identifies the connector and a fixed part of the vehicle in the image data, and detects whether the relative motion between the connector and the mounting ball is higher than a predetermined threshold by monitoring whether the position of the connector in the image data moves toward the fixed part of the vehicle.

[0066] According to an embodiment, in response to detecting that the relative motion between the connector and the hook ball is higher than a predetermined threshold, the controller further keeps the service brake in an active state.

[0067] According to an embodiment, the invention is further characterized by a trailer electrical coupling that is connected to the vehicle and communicates with a controller, wherein the controller monitors the connection between the trailer electrical coupling and the trailer connector before performing the coupling confirmation process.

[0068] According to the present invention, a method for controlling a vehicle includes: processing high-resolution image data obtained from a high-resolution camera mounted on the rear of the vehicle using at least one of a trained machine learning model or an optical character recognition routine to determine the size of a hook ball connected to the vehicle and identified in the image data; processing at least one of high-resolution image data or sensor data received from sensors mounted to the vehicle to determine the size of a trailer coupler spaced apart from the vehicle and identified in the image data; determining a compatibility status of the hook ball and the coupler based on the size of the hook ball and the size of the trailer coupler; and causing the vehicle to issue a mismatch indication in response to the determination that the size of the hook ball and the size of the trailer coupler are incompatible.

[0069] In one aspect of the invention, the cradle includes size markings on its outer surface; an optical character recognition routine identifies the size markings and identifies at least one digit character within the size markings; and the size of the cradle is determined based on a digital assessment of at least one digit character within the size markings.

[0070] In one aspect of the invention, determining the size of the connector includes: identifying the specific model of the trailer based on information included in the image data and obtaining the size of the connector from a database entry corresponding to the specific model of the trailer.

Claims

1. A vehicle control system, comprising: An imager, which is mounted in the rear area of ​​the vehicle and points to the area and outputs image data; A detector is mounted on the rear of the vehicle in the area and points to the area and outputs proximity data; as well as Controller: Receive the image data, and determine the size of the hanging ball in response to identifying the hanging ball in the image data; Receive at least one of the image data or the proximity data and determine the size of the trailer's coupling; The compatibility status of the hook-up ball and the connector of the trailer is determined based on the size of the hook-up ball and the size of the connector of the trailer; as well as The vehicle issues a mismatch indication in response to the determination that the size of the hook ball and the size of the connector of the trailer are incompatible.

2. The vehicle control system of claim 1, wherein the imager comprises a camera with a resolution of at least 3840 pixels by 2160 pixels.

3. The vehicle control system of claim 2, wherein the camera is mounted to the rear of the vehicle and points to the mounting ball position on the rear of the vehicle.

4. The vehicle control system according to any one of claims 1 to 3, wherein the detector comprises at least one of a lidar unit, a radar unit, or an ultrasonic sensor.

5. The vehicle control system of claim 4, wherein the controller further monitors the image data to determine whether the trailer is present in the area at the rear of the vehicle.

6. The vehicle control system as described in claim 5, wherein, In response to identifying the trailer in the area at the rear of the vehicle, the controller uses the proximity data to determine the size of the coupling of the trailer identified in the area at the rear of the vehicle.

7. The vehicle control system of claim 5, wherein the controller determines the size of the connector based on a portion of the proximity data corresponding to the position of the connector of the trailer in the image data.

8. The vehicle control system of claim 5, wherein the controller determines the size of the coupling by using the proximity data to determine the distance between the coupling of the trailer and the vehicle.

9. The vehicle control system of claim 8, wherein the controller further determines the size of the connector by measuring the connector of the trailer in the image data using the distance between the connector of the trailer and the vehicle as a reference.

10. The vehicle control system of any one of claims 1 to 3, wherein the controller determines the size of the hook ball by further identifying a mark on the hook ball indicating the size of the hook ball and analyzing the mark using an optical character recognition process.

11. The vehicle control system of any one of claims 1 to 3, wherein the controller determines the size of the hook ball by measuring the identified hook ball in the image data.

12. The vehicle control system of any one of claims 1 to 3, further comprising a human-machine interface, said human-machine interface comprising at least one of a video screen and a speaker.

13. The vehicle control system of claim 12, wherein the controller causes the vehicle to issue the mismatch indication via at least one of the video screen or the speaker.

14. The vehicle control system of any one of claims 1 to 3, wherein each of the size of the hook ball and the size of the connector is identified as corresponding to at least one of a known size or a known type stored in a database.

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