Intelligent vehicle precision control

Abstract

A system for intelligent vehicle precision control (IVPC) includes a towing vehicle and a trailer capable of being connected to the towing vehicle through a hitch device. An IVPC application includes a precision adjustment mode and a precision control mode. The IVPC application determines that vehicle operator input is being received through a physical control device and / or a digital control device, prompts the vehicle operator to select between at least the following options: longitudinal input and steering input, and receives vehicle operator input to switch between the precision adjustment mode and the precision control mode. The precision adjustment mode changes a scaling of the vehicle operator input, while the precision control mode enables the vehicle operator input to actuate actuators of a powertrain system, a braking system, and / or a steering system to move the towing vehicle and precisely maneuver and align the towing vehicle for connection to the trailer at the hitch device.

Description

Technical Field

[0001] This disclosure relates to vehicle control technology, and more specifically, to systems and methods for assisting a vehicle operator in attaching a towing vehicle to a trailer. Typical trailer towing driver assistance systems provide lane keeping, lane centering, and adaptive cruise control functions. Some trailer towing driver assistance systems also provide an optical view of the vehicle's trailer hitch, thereby providing the vehicle operator with visual cues for attaching the vehicle's trailer hitch to the trailer. Background Technology

[0002] While current trailer control and / or trailer-attachment assistance systems based on Advanced Driver Assistance Systems (ADAS) or other active safety systems achieve their intended goals, there is still a need for new and improved systems and methods for precise control of intelligent vehicles. These systems and methods should enable vehicle operators to more easily connect tow vehicles and trailers while utilizing existing hardware, maintaining or reducing system complexity and manufacturing complexity; adapting to existing vehicles equipped with the appropriate hardware and supporting remote upgrades; and enhancing functionality and redundancy while improving the convenience, comfort, and satisfaction of vehicle operators. Summary of the Invention

[0003] According to several aspects of this disclosure, a system for precision control of an intelligent vehicle includes: a towing vehicle and a trailer capable of being connected to the towing vehicle via a hitch. One or more sensors are integrated in the towing vehicle for detecting static and dynamic state information about the towing vehicle. One or more actuators are integrated in the towing vehicle for changing the static and dynamic states of the towing vehicle. The system also includes a controller having a processor, memory, and input / output (I / O) ports. These I / O ports communicate with the one or more sensors and the one or more actuators. The processor executes a portion of program code stored in the memory. The program code portion includes an Intelligent Vehicle Precision Control (IVPC) application. The IVPC application includes at least first, second, third, fourth, and fifth control logic. The first control logic enables a precision mode of the IVPC application. The second control logic, in the precision mode of the IVPC application, monitors the system hardware and determines that input from a vehicle operator to the IVPC application is being received via physical and / or digital controls. The third control logic, in the precision mode of the IVPC application, prompts the vehicle operator to select from at least two options: longitudinal input and steering input. The fourth control logic, in the precision control mode of the IVPC application, receives vehicle operator input to switch between precision adjustment mode and precision control mode. The fifth control logic, in precision control mode, allows vehicle operator input to activate one or more actuators of the powertrain system and / or one or more actuators of the steering system. In precision control mode, the vehicle operator's input causes the towing vehicle to move longitudinally through the actuation of one or more actuators of the powertrain or braking system, and causes the towing vehicle to steer or rotate through the actuation of one or more actuators of the steering system. Through the IVPC application, the vehicle operator precisely manipulates the towing vehicle to a position where the towing vehicle and trailer are aligned at the hook-up for connection.

[0004] In another aspect of this disclosure, the first control logic further includes: control logic that receives vehicle operator input with IVPC application precision mode enabled via one or more human-machine interfaces (HMIs) communicating with the controller via I / O ports. The one or more HMIs include: a control interface for the towing vehicle; an infotainment system for the towing vehicle; a head-up display (HUD) for the towing vehicle; and input devices controllable by the vehicle operator, including: buttons, sliders, control knobs, haptic / audiovisual and / or voice-responsive interfaces, touchscreens, mobile devices, mobile phones, laptops, and tablets.

[0005] In another aspect of this disclosure, the second control logic further includes: control logic that monitors the powertrain system and steering system of the towing vehicle to obtain driver input sources. When it is determined that vehicle operator input is being received via a physical control device, the second control logic enables the physical control mode of the IVPC application. When it is determined that vehicle operator input is being received via a digital control device, the second control logic enables the digital control mode of the IVPC application. The physical control device includes: a physical HMI, including knobs, buttons, physical sliders, a keyboard, and directional keys (D-pad); the digital control device includes: a touchscreen interface of the towing vehicle's infotainment system, a touchscreen interface of one or more mobile devices, mobile phones, and laptops.

[0006] In another aspect of this disclosure, the third control logic further includes: control logic that, upon receiving longitudinal input from the vehicle operator, activates actuators of the powertrain system and braking system of the traction vehicle to generate torque to the wheels of the traction vehicle, thereby causing the traction vehicle to move forward or backward; and upon receiving steering input from the vehicle operator, the third control logic activates actuators of the steering system of the traction vehicle to change the steering rate, steering speed, and adjust the rotation or lateral movement of the traction vehicle.

[0007] In another aspect of this disclosure, the fourth control logic also includes: control logic that selectively switches between and enables a precision adjustment mode and a precision control mode based on the vehicle operator's selection.

[0008] In another aspect of this disclosure, the fourth control logic also includes: control logic that, in a precise adjustment mode, changes the scaling and magnitude of the inputs of the vehicle operator to one or more actuators of the powertrain system and one or more actuators of the steering system.

[0009] In another aspect of this disclosure, in a precision adjustment mode, the vehicle operator input scaling ratio and magnitude are adjusted by one or more of the knob and digital control device, such that when a rightward or clockwise (CW) rotation input is received on the knob or a rightward or open gesture is applied to the digital control device, the vehicle operator input scaling ratio increases from a first level to a second level greater than the first level; and when a leftward or counterclockwise (CCW) rotation input is received on the knob or a leftward or pinch gesture is applied to the digital control device, the vehicle operator input scaling ratio decreases from a first level to a third level less than the first level.

[0010] In another aspect of this disclosure, the fourth control logic further includes: control logic for continuously checking the rotation of the knob or the input action of the vehicle operator to the digital control device within a predetermined time period of the system's timer or poller, and when an action is detected, remaining within the timer to continue checking the action and continuing to change the scaling ratio and amplitude of the vehicle operator input; and when no action is detected within the predetermined time period of the timer or poller, the fourth control logic exits the precision mode of the IVPC application.

[0011] In another aspect of this disclosure, in precision control mode, the scaling and amplitude of the vehicle operator input are adjusted by one or more of a knob and a digital control device, such that upon receiving a rightward or clockwise (CW) rotation input from the vehicle operator to the knob or a rightward or open gesture applied to the digital control device, the rightward / clockwise / open input or gesture is converted into a longitudinal forward movement command issued to one or more actuators of the powertrain system or braking system, or into a rightward / clockwise rotation command issued to one or more actuators of the steering system; and upon receiving a leftward or counterclockwise (CCW) rotation input from the vehicle operator to the knob or a leftward or pinch gesture applied to the digital control device, the leftward, counterclockwise, or pinch input or gesture is converted into a longitudinal backward movement command issued to one or more actuators of the powertrain system or braking system, or into a leftward or counterclockwise rotation command issued to one or more actuators of the steering system.

[0012] In another aspect of this disclosure, the fifth control logic further includes: control logic for continuously checking the rotation of the knob or the input action of the vehicle operator to the digital control device within a predetermined time period of the system's timer or poller, and when an action is detected, maintaining the timer to continue checking the action and continuing to move the tractor vehicle according to the input of the vehicle operator; and when no action is detected within the predetermined time period of the timer or poller, the fifth control logic exits the precision mode of the IVPC application.

[0013] In another aspect of this disclosure, a method for precision control of an intelligent vehicle includes: detecting static and dynamic state information about the tractor vehicle using one or more sensors integrated in the tractor vehicle; and changing the static and dynamic state of the tractor vehicle using one or more actuators integrated in the tractor vehicle. The method further includes: executing a portion of program code stored in a controller memory using a processor of a tractor vehicle controller having input / output (I / O) ports communicating with one or more sensors and one or more actuators, the portion of program code including an Intelligent Vehicle Precision Control (IVPC) application. The IVPC application includes control logic for: enabling a precision mode of the IVPC application, monitoring the tractor vehicle hardware in the precision mode, and determining that input from a vehicle operator to the IVPC application is being received via physical and / or digital controls. The IVPC application also includes control logic for prompting the vehicle operator to select between at least one of the following options: longitudinal input and steering input, and receiving vehicle operator input to switch between a precision adjustment mode and a precision control mode, wherein the precision adjustment mode scales the vehicle operator input, while the precision control mode controls the tractor vehicle. The IVPC application also includes control logic for activating one or more actuators in the powertrain system and / or one or more actuators in the steering system based on input from the vehicle operator. In precision control mode, the vehicle operator's input causes longitudinal movement of the towing vehicle through the actuation of one or more actuators in the powertrain or braking system, and steering or rotation of the towing vehicle through the actuation of one or more actuators in the steering system. Through the IVPC application, the vehicle operator precisely maneuvers the towing vehicle to a position where the towing vehicle and trailer are aligned at the hook-up for connection.

[0014] In another aspect of this disclosure, the method for precise control of intelligent vehicles further includes receiving vehicle operator input in a precision mode enabled by one or more human-machine interfaces (HMIs) communicating with the controller via I / O ports, wherein the one or more HMIs include: a control interface for the towing vehicle; an infotainment system for the towing vehicle; a head-up display (HUD) for the towing vehicle; and input devices controllable by the vehicle operator, including: buttons, sliders, control knobs, haptic / audiovisual and / or voice-responsive interfaces, touchscreens, mobile devices, mobile phones, laptops, and tablets.

[0015] In another aspect of this disclosure, the method for precise control of intelligent vehicles further includes: monitoring the powertrain system and steering system of the towing vehicle to obtain vehicle operator input sources; activating the physical control mode of the IVPC application when it is determined that vehicle operator input is being received via a physical control device; and activating the digital control mode of the IVPC application when it is determined that driver input is being received via a digital control device. The physical control device includes: a physical HMI, including knobs, buttons, physical sliders, a keyboard, and directional keys (D-pad); the digital control device includes: a touchscreen interface of the towing vehicle's infotainment system, or a touchscreen interface of one or more mobile devices, such as smartphones and laptops.

[0016] In another aspect of this disclosure, when a longitudinal input is received from a vehicle operator, the method for precise control of intelligent vehicles activates the actuators of the powertrain system and braking system of the traction vehicle to generate torque to the wheels of the traction vehicle, thereby causing the traction vehicle to move forward or backward; and when a steering input is received from a vehicle operator, the method activates the actuators of the steering system of the traction vehicle to change the steering rate, steering speed, and adjust the rotation or lateral movement of the traction vehicle.

[0017] In another aspect of this disclosure, the method for precise control of intelligent vehicles further includes: selectively switching between a precise adjustment mode and a precise control mode and enabling one of the modes based on the vehicle operator's selection; and in the precise adjustment mode, changing the input scaling ratio and magnitude of the vehicle operator to one or more actuators of the powertrain system and one or more actuators of the steering system.

[0018] In another aspect of this disclosure, the method for precise control of intelligent vehicles further includes: in a precise adjustment mode, adjusting the scaling ratio and magnitude of the vehicle operator input via at least one of a knob and a digital control device. When a rightward or clockwise (CW) rotation input is received on the knob or a rightward or open gesture is applied to the digital control device, the method increases the vehicle operator input scaling ratio from a first level to a second level greater than the first level; and when a leftward or counterclockwise (CCW) rotation input is received on the knob or a leftward or pinch gesture is applied to the digital control device, the method decreases the vehicle operator input scaling ratio from the first level to a third level less than the first level.

[0019] In another aspect of this disclosure, the method for precise control of intelligent vehicles further includes: continuously checking the rotation of a knob or the input action of the vehicle operator to the digital control device within a predetermined time period of the system's timer or poller; when an action is detected, it is held within the timer; the method continues to check the action and continues to change the scaling ratio and amplitude of the vehicle operator's input; and when no action is detected within the predetermined time period of the timer or poller, the precise mode of the IVPC application is exited.

[0020] In another aspect of this disclosure, the method for precise control of an intelligent vehicle further includes: in a precise control mode, adjusting the scaling and amplitude of a vehicle operator input via one or more of a knob and a digital control device, such that: when receiving a rightward or clockwise (CW) rotation input from the vehicle operator to the knob or a rightward or open gesture applied to the digital control device, the method converts the rightward, clockwise, or open input or gesture into a longitudinal forward movement command issued to one or more actuators of the powertrain system or braking system, or into a rightward or clockwise rotation command issued to one or more actuators of the steering system; and when receiving a leftward or counterclockwise (CCW) rotation input from the vehicle operator to the knob or a leftward or pinch gesture applied to the digital control device, the method converts the leftward, counterclockwise, or pinch input or gesture into a longitudinal backward movement command issued to one or more actuators of the powertrain system or braking system, or into a leftward or counterclockwise rotation command issued to one or more actuators of the steering system.

[0021] In another aspect of this disclosure, the method for precise control of intelligent vehicles further includes: continuously checking the rotation of a knob or the input action of the vehicle operator to the digital control device within a predetermined time period of the system's timer or poller; when an action is detected, remaining within the timer, continuing to check the action, and continuing to move the towing vehicle according to the input of the vehicle operator; and when no action is detected within the predetermined time period of the timer or poller, the method exits the precision mode of the IVPC application.

[0022] In another aspect of this disclosure, a method for precise control of an intelligent vehicle includes: detecting static and dynamic state information about the tractor vehicle via one or more sensors integrated in the tractor vehicle; and changing the static and dynamic state of the tractor vehicle using one or more actuators integrated in the tractor vehicle. The method further includes: executing a portion of program code stored in a controller memory using a processor of a tractor vehicle controller having input / output (I / O) ports communicating with one or more sensors and one or more actuators, the portion of program code including an Intelligent Vehicle Precision Control (IVPC) application. The IVPC application also includes control logic for: engaging a precision mode of the IVPC application, including: receiving vehicle operator input that enables the precision mode of the IVPC application via one or more human-machine interfaces (HMIs) communicating with the controller via the I / O ports. The one or more HMIs include a control interface for the tractor vehicle; an infotainment system for the tractor vehicle; a head-up display (HUD) for the tractor vehicle; and input devices controllable by the vehicle operator, including: buttons, sliders, control knobs, haptic / audiovisual and / or voice-responsive interfaces, touchscreens, mobile devices, mobile phones, laptops, and tablets. The method also includes: in precision mode, monitoring the hardware of the towing vehicle and determining whether vehicle operator input to the IVPC application is being received via physical and / or digital controls, including: monitoring the towing vehicle's powertrain and steering systems to obtain driver input sources; enabling the physical control mode of the IVPC application when it is determined that vehicle operator input is being received via physical controls; and enabling the digital control mode of the IVPC application when it is determined that driver input is being received via digital controls. Physical controls include: physical HMIs, including knobs, buttons, physical sliders, keyboards, and directional keys (D-pad); digital controls include: the touchscreen interface of the towing vehicle's infotainment system, and the touchscreen interfaces of one or more mobile devices / phones and laptops. The method further includes prompting the vehicle operator to select between at least the following options: longitudinal input and steering input, including: when receiving longitudinal input from the vehicle operator, activating actuators of the powertrain system and braking system of the tractor vehicle to generate torque to the wheels of the tractor vehicle, thereby moving the tractor vehicle forward or backward; and when receiving steering input from the vehicle operator, activating actuators of the steering system of the tractor vehicle to change the steering rate, steering speed, and adjust the rotational or lateral movement of the tractor vehicle. The method also includes receiving input from the vehicle operator to selectively switch between a precision adjustment mode and a precision control mode based on the vehicle operator's selection and activating one of these modes; and in the precision adjustment mode, changing the scaling and magnitude of the input from the vehicle operator to one or more actuators of the powertrain system and one or more actuators of the steering system.The method further includes: in precision control mode, adjusting the scaling and amplitude of vehicle operator input via one or more of a knob and a digital control device. When a rightward or clockwise (CW) rotation input to the knob is received, or a rightward or open gesture is applied to the digital control device, the vehicle operator input scaling is increased from a first level to a second level greater than the first level. When a leftward or counterclockwise (CCW) rotation input to the knob is received, or a leftward or pinch gesture is applied to the digital control device, the vehicle operator input scaling is decreased from a first level to a third level less than the first level. The method further includes: continuously checking the knob rotation or the vehicle operator input to the digital control device for a predetermined amount of time within a system timer or poller; when an action is detected, maintaining the timer, continuing to check for actions, and continuing to change the vehicle operator input scaling and amplitude. When no action is detected within the predetermined amount of time within the timer or poller, exiting the precision mode of the IVPC application; and in precision control mode, adjusting the vehicle operator input scaling and amplitude via one or more of a knob and a digital control device. When the method receives a rightward or clockwise (CW) rotation input from the vehicle operator onto the knob or a rightward or open gesture applied to the digital control device, it converts the rightward, clockwise, or open gesture into a longitudinal forward movement command to one or more actuators of the powertrain or braking system, or into a rightward or clockwise rotation command to one or more actuators of the steering system. When the method receives a leftward or counterclockwise (CCW) rotation input from the vehicle operator onto the knob or a leftward or pinch gesture applied to the digital control device, it converts the leftward, counterclockwise, or pinch gesture into a longitudinal backward movement command to one or more actuators of the powertrain or braking system, or into a leftward or counterclockwise rotation command to one or more actuators of the steering system. The method further includes: continuously checking the rotation of the knob or the input action of the vehicle operator to the digital control device for a predetermined amount of time within a system timer or poller, and when an action is detected, maintaining the timer, continuing to check for the action, and continuing to move the towing vehicle according to the vehicle operator's input. When no action is detected within a predetermined amount of time by the timer or poller, the method exits the precision mode of the IVPC application and precisely maneuvers the towing vehicle through the IVPC application to align the towing vehicle and trailer at the hook-up for connection.

[0023] Other applicable fields will become further clear from the description provided herein. It should be understood that the specification and specific embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0024] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this disclosure in any way.

[0025] Figure 1 This is a schematic diagram of a system for precise control of an intelligent vehicle according to an exemplary embodiment;

[0026] Figure 2A This is a flowchart depicting a method for precise control of an intelligent vehicle according to an exemplary embodiment;

[0027] Figure 2B It is depicted according to an exemplary embodiment. Figure 2A The flowchart of the precise switching part of the method; and

[0028] Figure 2C It is depicted according to an exemplary embodiment. Figure 2A A flowchart of the knob control section in the method. Detailed Implementation

[0029] The following description is merely exemplary and is not intended to limit this disclosure, its application, or its uses.

[0030] Reference Figure 1The diagram illustrates a system 10 for precise control of intelligent vehicles. System 10 includes a towing vehicle 12, which can be connected to a trailer 14 via a hitch 16. The towing vehicle 12 is illustrated as a passenger car; however, it should be understood that the towing vehicle 12 can be any type of vehicle, including but not limited to: cars, trucks, SUVs, vans, motorhomes, semi-trailers, towing trailers, including delivery vehicles used in warehouses, tricycles, motorcycles, aircraft, amphibious vehicles, or any other towing vehicle 12 that is both in contact with the ground and connected to the trailer 14. Similarly, the trailer 14 is described as a vehicle towing trailer or flatbed trailer, but it should be understood that the trailer 14 can be any type of trailer, including but not limited to: enclosed trailers, dump trailers, flatbed trailers, multi-purpose trailers, Cornestoga trailers, car transport trailers, multi-vehicle transport trailers, low-flatbed trailers, refrigerated trailers, boat trailers, landscaping trailers, car transport trailers, gooseneck trailers, etc. As shown in the figure, the coupling device 16 is a receiving coupling device with a ball-head connector. However, it should be understood that the coupling device 16 can take many forms, including receiving coupling devices, fifth-wheel coupling devices, gooseneck coupling devices, weight-distribution coupling devices, and ring-type traction coupling devices. The connection between the towing vehicle 12 and the trailer 14 is further reinforced by one or more restraint or safety devices 15, which may include, but are not limited to, chains 17, ropes, etc. It should also be understood that although the term "trailer" is used herein, system 10 is intended to be used with any towed or towable object or device, including but not limited to the towed vehicle 12', trailer 14, boats, aircraft, etc.

[0031] System 10 also includes one or more sensors 18 integrated in the towing vehicle 12 and / or trailer 14. Sensors 18 are used to detect static and dynamic information about the towing vehicle 12 and trailer 14, and may include, but are not limited to, electromagnetic (EM) sensors 18A, such as cameras, infrared cameras, video cameras, LiDAR sensors, RADAR sensors, SONAR sensors, etc. Electromagnetic sensors 18A (e.g., of the type described above) can be used to determine the proximity between the towing vehicle 12 and / or trailer 14, and / or the proximity between the towing vehicle 12 and / or trailer 14 and objects in their surrounding environment. Sensor 18 may also include sensors capable of directly and / or indirectly measuring the static and dynamic states of the towing vehicle 12 and trailer 14, including but not limited to: an inertial measurement unit (IMU), suspension sensor 18B and control units such as a semi-active damping suspension (SADS) / air suspension sensor, a continuous damping control (CDC) vehicle height sensor, a global positioning system (GPS) sensor 18C, wheel 20 speed sensors and / or brake 21 sensor 18D (capable of measuring the current rotational speed and / or torque of one or more wheels 20 or axles 19A / 19B of the towing vehicle 12), a throttle position sensor, an accelerator pedal position sensor, a steering position sensor (capable of measuring the position / steering rate and steering speed of the steering system 23), a tire pressure monitoring system, aerodynamic element position sensors, etc. In some embodiments, suspension sensor 18B and control units such as a semi-active damping suspension (SADS) / air suspension sensor, a continuous damping control (CDC) vehicle height sensor define an axle load detection device for the towing vehicle 12, which is capable of monitoring the vertical load or normal force borne by the suspension system of the towing vehicle 12. Specifically, in a non-limiting example embodiment, suspension sensor 18B, along with control units such as semi-active damping suspension (SADS) / air suspension sensors and continuous damping control (CDC) vehicle height sensors, can directly and / or indirectly measure the vertical load or normal force and / or vertical displacement or vehicle height borne by the front axle 19A and rear axle 19B of the tractor vehicle 12.

[0032] An IMU can measure motion, acceleration, etc., across multiple degrees of freedom. In a specific example, an IMU can measure position, motion, acceleration, etc., within at least three degrees of freedom. Similarly, an SADS sensor can be an IMU capable of measuring three or more degrees of freedom. In some examples, an SADS can be a suspension hub accelerometer, etc. Therefore, the state information of the traction vehicle 12 can include various data, including but not limited to: wheel 20 speed data, SADS data, GPS data, and IMU data including attitude, acceleration, position, etc. Sensor 18 may also include sensors of the powertrain system 22 of the traction vehicle 12, including but not limited to sensors 26 of the transmission 24, control sensors 30 of the engine 28, etc., without departing from the scope or intent of this disclosure. Sensors of the powertrain system 22 are used to detect the state of the powertrain system 22, including the amount of torque currently generated by the engine 28, electric motor, or other prime mover of the traction vehicle 12. Similarly, sensors 26 of the transmission 24 detect the state of the transmission 24 of the traction vehicle 12, including the state of the torque multiplier, such as the gear ratio currently engaged by the transmission 24 of the traction vehicle 12.

[0033] System 10 also includes one or more controllers 32 that communicate with various sensors 18 of the tractor vehicle 12 and / or trailer 14, process information received therefrom, and generate output signals for controlling or altering the performance of the tractor vehicle 12 and / or trailer 14. The controllers 32 are integrated into the tractor vehicle 12. More specifically, the controllers 32 are non-general-purpose electronic control devices having a pre-programmed digital computer or processor 34, a non-transitory computer-readable medium or memory 36 for storing data (including control logic, software applications, instructions, computer code, data lookup tables, etc.), and input / output (I / O) ports 38. The computer-readable medium or memory 36 includes any type of computer-accessible media, such as read-only memory (ROM), random access memory (RAM), hard disk drive, optical disc (CD), digital video disc (DVD), or any other type of memory. The “non-transitory” computer-readable memory 36 does not include wired, wireless, optical, or other communication links for transmitting transient electrical or other signals. The non-transitory computer-readable storage device 36 includes media that can permanently store data, as well as media that can store data and be overwritten thereafter, such as rewritable optical discs or erasable storage devices. Computer code includes various types of program code, including source code, object code, and executable code. The processor 34 is configured to execute the code or instructions. The tractor vehicle 12 may have other controllers 32, such as a dedicated Wi-Fi controller, engine control module, transmission control module, body control module, infotainment control module, etc. The I / O port 38 may be configured to communicate via wired communication or wirelessly via a Wi-Fi protocol conforming to the IEEE 802.11x standard, without departing from the scope or intent of this disclosure.

[0034] The controller 32 also includes one or more applications 40. An application 40 is a software program configured to perform a specific function or set of functions. An application 40 may include one or more computer programs, software components, instruction sets, procedures, functions, objects, classes, instances, associated data, or portions thereof, suitable for implementation in a suitable computer-readable program code form. Applications 40 may be stored within memory 36 or in additional or separate memory 36. Examples of applications 40 include audio or video streaming services, games, browsers, social media, etc. In other examples, applications 40 are used to manage body control system functions, suspension control system functions, transmission and / or engine control system functions, etc., in an exemplary tractor vehicle 12.

[0035] Please see Figure 2ASystem 10 utilizes at least one Intelligent Vehicle Precision Control (IVPC) application 44 stored in memory 36 of controller 32 to assist vehicle operator 46 in precisely moving and positioning the master vehicle 12, enabling the vehicle 12 to be correctly attached to trailer 14. More specifically, IVPC application 44 monitors the hitchhiking device 16 by collecting optical information from one or more EM sensors 18A of the towing vehicle 12. However, it should be understood that the electromagnetic sensor 18A information collected by IVPC application 44 may also include sonar (SONAR), lidar (LiDAR), radar (RADAR), and / or ultrasonic information, or may completely replace optical information.

[0036] IVPC application 44 is shown in flowchart form. Figure 2A In the middle. IVPC application 44 begins at box 100. At box 102, vehicle operator 46, intending to maneuver towing vehicle 12 to a position where it can be connected to trailer 14, activates the precision mode of IVPC application 44. The precision mode of IVPC application 44 for towing vehicle 12 provides vehicle operator 46 with a way to precisely control the movement of towing vehicle 12 and can proportionally adjust or change the scaling ratio and magnitude of the large torque and / or steering input manually input during normal driving operations, thereby achieving minimal and extremely precise motion control during trailer connection operations. That is, the precision mode of IVPC application 44 allows vehicle operator 46 to manually depress the accelerator pedal, brake pedal, or manually manipulate the steering wheel / steering wheel 47 of towing vehicle 12, and / or activate the advanced driver assistance system (ADAS) of towing vehicle 12 to automatically and / or selectively at least partially manually achieve precise positioning of towing vehicle 12 through the actuation of actuators of powertrain system 22 and / or steering system 23. In other examples, the precision mode of the IVPC application 44 allows the vehicle operator 46 to correctly and precisely position the towing vehicle 12, at least partially remotely and / or autonomously, by activating the actuators of the powertrain system 22 and / or steering system 23. When the vehicle operator 46 uses the IVPC application 44 in ADAS-assisted mode, the vehicle operator 46 can digitally activate the powertrain system 22 and / or steering system 23, for example, by manipulating one or more controls of the human-machine interface (HMI) 48, which are electronically connected to, but not necessarily physically connected to, the actuators of the steering system 23 and / or powertrain system 22. The actuators of the steering system 23 may include, but are not limited to, power-assisted steering actuators, such as motors, pumps, etc., for adjusting the angular position of one or more steerable wheels 20 of the towing vehicle 12, thereby affecting the lateral or rotational direction of travel of the towing vehicle 12.

[0037] IVPC application 44 may be initialized at box 102 via one or more HMIs 48. HMIs 48 may include various types and formats without departing from the scope or intent of this disclosure. In some non-limiting examples, HMI 48 may be one or more control interfaces integrated into the towing vehicle 12, trailer 14, etc. Such devices mounted on the towing vehicle 12 and / or trailer 14 may include infotainment systems, head-up displays, and associated vehicle operator 46 controllable input devices (such as buttons, sliders, control knobs, haptic / audiovisual / voice-responsive interfaces), touchscreen interfaces, etc. In other non-limiting examples, HMI 48 may be a mobile device 50 separate from the towing vehicle 12 and trailer 14, but electronically connected to the control system of the towing vehicle 12 via a wireless and / or wired connection. IVPC application 44 may be loaded into the memory 36 of the controller 32 within the mobile device 50 and communicate with the controller 32 of the towing vehicle 12. Such mobile devices 50 may include, but are not limited to, mobile phones, laptops, tablets, etc.

[0038] Subsequently, at box 104, the IVPC application 44 monitors the hardware of system 10 and determines whether the control input from vehicle operator 46 to the IVPC application 44 comes from one or more physical controls of the towing vehicle 12, or from one or more digital controls, such as the screen of an infotainment system, or the touchscreen or other similar interface of one or more mobile devices (such as mobile phones, laptops, tablets, etc.). More specifically, at box 104, when vehicle operator 46 manipulates one or more physical HMIs 48 (such as knobs 52, buttons 54, etc.), the IVPC application 44 determines that control input from vehicle operator 46 is being received from the physical controls of the towing vehicle 12. Other physical controls may include the keyboard and / or directional keys (D-pad) of an infotainment system, mobile phone, laptop, tablet, or other similar device. In contrast, when vehicle operator 46 receives control input via a digital HMI 48 (such as the screen of the infotainment system of the towing vehicle 12, the touchscreen or other similar interface of one or more mobile devices 50 (such as mobile phones, laptops, tablets, etc.), the IVPC application 44 determines that this control input is received via a digital control. When it is determined at box 104 that the vehicle operator 46 intends to use the physical control device, the IVPC application 44 enters box 106, where the physical control mode of the IVPC application 44 is adopted.

[0039] At box 106, the IVPC application 44 provides one or more prompts to the vehicle operator 46, requesting the vehicle operator 46 to select one of the following options: longitudinal input and steering input. In several non-limiting examples, the one or more prompts may include audiovisual prompts and / or input requests, which may be issued or presented to the vehicle operator 46 via any HMI 48 of system 10. The longitudinal input received from the vehicle operator 46 enables the vehicle operator 46 to activate the actuators of the powertrain system 22 of the tractor vehicle 12, thereby outputting torque to the wheels 20, and thus causing the tractor vehicle 12 to move longitudinally (i.e., forward or backward). In contrast, the steering input received from the vehicle operator 46 enables the vehicle operator 46 to activate the actuators of the steering system 23, thereby changing the steering rate and steering speed, and thus adjusting the rotation and / or lateral movement of the tractor vehicle 12. Therefore, when the vehicle operator 46 selects to make a steering input at box 106, the IVPC application 44 enters box 108, where one or more steering actuators are activated. In contrast, when vehicle operator 46 selects to make longitudinal input at box 106, IVPC application 44 enters box 110, where one or more throttle actuators, brake actuators, and transmission actuators are activated.

[0040] Regardless of whether it's box 108 or box 110, the IVPC application 44 continues to boxes 112 and 114. At box 112, the IVPC application 44 enables the vehicle operator 46 to adjust the steering wheel position and / or throttle of the towing vehicle 12 by rotating a knob 52, etc. The knob 52 is an HMI 48 mounted on the towing vehicle 12. In several respects, the knob 52 is an integral part of the infotainment system within the towing vehicle 12. It should be understood that the word "rotate" used with respect to a knob generally refers to a device capable of rotation about an axis, but the knob 52 described herein can also move in other degrees of freedom. That is, the knob 52 can also be operated as a joystick with four or more lateral degrees of freedom, and / or the knob 52 can be operated as an axially pressable button, so that the knob 52 can not only be rotated but also operated laterally, longitudinally, and axially, thereby allowing manipulation and / or switching between different options or functions. That is, at box 114, the vehicle operator 46 can switch to the precision adjustment mode in boxes 124 to 130 (which will be described in detail below) by using one or more toggle switches, buttons 54 or the switching function of knob 52, instead of operating the towing vehicle 12 by rotating knob 52 (which will be described in detail below).

[0041] When in box 112, in the precision control mode of the IVPC application 44, the IVPC application 44 enters box 116 when the vehicle operator 46 adjusts the steering or longitudinal position of the tractor 12 by physically rotating knob 52. Box 116 of the IVPC application 44 represents a timer or poller. The timer or poller monitors knob 52 for input from the vehicle operator 46 for at least a predetermined and / or variable amount of time. In some examples, the predetermined and / or variable amount of time may be set through market research, user preferences, and / or preset to a specific amount of time (e.g., three seconds). However, it should be understood that the three-second amount of time is not intended to constitute a limitation, and variations in the amount of time during timer / poller operation are within the scope and intent of this disclosure. At box 118, during timer / poller operation, the IVPC application 44 monitors the input of the vehicle operator 46 by checking the rotation of knob 52. When a clockwise rotation of knob 52 is detected at frame 120, the IVPC application 44 translates this clockwise rotation into a longitudinal forward movement command issued to the actuator of the powertrain system 22 of the tractor vehicle 12. The actuator then generates torque on the wheels 20, causing the tractor vehicle 12 to move forward by a distance proportional to the rotation of knob 52. Conversely, when a counter-clockwise (CCW) rotation of knob 52 is detected at frame 122, the IVPC application 44 translates this counter-clockwise rotation into a longitudinal backward or reverse movement command issued to the actuator of the powertrain system 22 of the tractor vehicle 12. The actuator then generates torque on the wheels 20, causing the tractor vehicle 12 to move backward or backward by a distance proportional to the rotation of knob 52.

[0042] Similarly, when vehicle operator 46 selects to input steering input at box 106, then at box 120, clockwise rotation of knob 52 causes IVPC application 44 to generate a command to the actuator of steering system 23, causing the steerable wheel 20 of towing vehicle 12 to turn to the right, the rotation amount proportional to the rotation amount of knob 52. At box 122, when counterclockwise rotation of knob 52 is received, IVPC application 44 generates a command to the actuator of steering system 23, causing the steerable wheel 20 of towing vehicle 12 to turn to the left, the rotation amount proportional to the rotation amount of knob 52.

[0043] When input to knob 52 is received from vehicle operator 46, IVPC application 44 remains in timer / poller 116 and returns to box 118, where IVPC application 44 continuously monitors the rotation of knob 52. When no rotation of knob 52 is detected in box 118 within a predetermined and / or variable time period defined by timer / poller 116, IVPC application 44 enters box 132, where it exits the precision control mode of IVPC application 44.

[0044] Referring again to boxes 124-130, vehicle operator 46 uses the switching function of one or more toggle switches, buttons 54, or knobs 52 to switch into the precision settings within boxes 124-130. Upon receiving input from vehicle operator 46 to enable the precision adjustment mode controlled by knob 52 within the IVPC application 44, the IVPC application enters the second timer / poller 124. The second timer / poller 124 operates substantially the same as the timer / poller at box 116. However, it should be understood that the predetermined and / or variable time amounts of the second timer / poller 124 may be the same as or completely different from the predetermined and / or variable time amounts of the timer / poller at box 116.

[0045] In the precision adjustment mode of knob 52 at box 126, the IVPC application 44 monitors the input of vehicle operator 46 by checking the rotation of knob 52. When clockwise rotation of knob 52 is detected at box 128, the IVPC application 44 increases the scaling factor, ratio, or gain between the rotation of knob 52 and the scaling ratio of the output command issued to the actuator of towing vehicle 12. The scaling factor, ratio, or gain defines the proportional relationship between the rotation of knob 52 and the output command issued to the actuator of towing vehicle 12. Therefore, clockwise rotation of knob 52 increases the scaling ratio of forward, reverse, or left / right steering commands issued to the actuators of powertrain system 22 and / or steering system 23 of towing vehicle 12—when precision mode is off, towing vehicle 12 will produce forward, reverse, and / or left / right steering of a corresponding magnitude based on the scaling ratio input by knob 52.

[0046] Conversely, when a counter-clockwise (CCW) rotation of knob 52 is detected at box 130, the IVPC application 44 translates this counter-clockwise rotation of knob 52 into a reduction in the scaling factor, ratio, or gain between the rotation of knob 52 and the scaling of the output commands issued to the actuators of the tractor vehicle 12. Therefore, counter-clockwise rotation of knob 52 reduces the scaling of forward and reverse commands issued to the actuators of the powertrain system 22 and / or steering system 23 of the tractor vehicle 12—when the precision adjustment mode is off, the tractor vehicle 12 will produce forward, reverse, and / or left / right steering of a corresponding magnitude based on the scaling input from knob 52.

[0047] When input to knob 52 is received from vehicle operator 46 in precision adjustment mode, IVPC application 44 remains in the second timer / poller 124 and returns to frame 126, where IVPC application 44 continuously detects rotation of knob 52. When no rotation of knob 52 is detected in frame 126 within a predetermined and / or variable time period defined in the second timer / poller 124, IVPC application 44 enters frame 132, where it exits precision control mode.

[0048] Referring again to box 104, upon determining that control input from vehicle operator 46 to IVPC application 44 is being received via one or more digital control devices, IVPC application 44 proceeds to box 134, where its digital control mode is enabled. At box 134, system 10 and IVPC application 44 ensure that one or more of the radio, infotainment, and / or mobile components of IVPC application 44 establish a connection and maintain communication with controller 32 of towing vehicle 12. Subsequently, at box 138, system 10 and IVPC application 44 provide vehicle operator 46 with one or more prompts, requiring vehicle operator 46 to select between at least the following options: longitudinal input and steering input. The longitudinal input received from vehicle operator 46 enables vehicle operator 46 to activate the brakes of powertrain system 22 of towing vehicle 12, thereby generating torque to wheels 20, which in turn causes towing vehicle 12 to move longitudinally (i.e., forward or backward). In contrast, steering input received from vehicle operator 46 enables vehicle operator 46 to activate the actuators of steering system 23, thereby changing the steering rate and steering speed, and thus adjusting the rotation and / or lateral movement of the traction vehicle 12. Therefore, when vehicle operator 46 selects throttle input at box 136, IVPC application 44 enters box 138, where one or more of the throttle actuator, brake actuator, and transmission actuator are activated. Conversely, when vehicle operator 46 selects steering input at box 136, IVPC application 44 enters box 140, where the steering actuator is activated.

[0049] Regardless of whether it starts at box 138 or box 140, the IVPC application 44 will proceed to boxes 142 and 144. At box 142, the IVPC application 44 enables the vehicle operator 46 to adjust the steering wheel position and / or throttle of the towing vehicle 12 by manipulating the on-screen control interface 56 (e.g., sliders, knobs 52, virtual buttons) and / or by gesture-based pinch / slide controls, etc. In several respects, the on-screen control interface 56 may be displayed on the screen of the towing vehicle 12's infotainment system, on a mobile device 50, or on another similar HMI 48 connected to the controller 32 of the towing vehicle 12 via a wired / wireless connection. That is, at box 144, the vehicle operator 46 can switch to precise settings (described in detail below) without manipulating the towing vehicle 12 via the on-screen control interface 56 (described in detail below), using one or more toggle switches, buttons 54, or the switching function of the on-screen control interface 56.

[0050] When vehicle operator 46 activates the on-screen control interface 56 at box 142 to adjust the steering or longitudinal position of the tractor 12, the IVPC application 44 enters box 146. Box 146 of the IVPC application 44 represents a timer or poller. The timer or poller monitors the input of vehicle operator 46 to the on-screen control interface 56 for at least a predetermined and / or variable amount of time. In some examples, the predetermined and / or variable amount of time may be set through market research, user preferences, and / or preset to a specific amount of time (e.g., three seconds). However, it should be understood that the three-second amount of time is not intended to constitute a limitation, and variations in the amount of time during the operation of the timer / poller are within the scope and intent of this disclosure. At box 148, during the operation of the timer / poller, the IVPC application 44 monitors the input of vehicle operator 46 by checking the actions of the on-screen control interface 56. At box 150, when a clockwise, forward, or rightward movement of the screen control interface 56 is detected, the IVPC application 44 converts this movement into a longitudinal forward movement command issued to the actuators of the powertrain system 22 of the tractor vehicle 12. The actuators then generate torque on the wheels 20, causing the tractor vehicle 12 to move forward. The distance moved is proportional to the rotation, forward, or rightward movement input to the screen control interface 56. Conversely, when a counterclockwise, backward, or leftward movement of the screen control interface 56 is detected at box 152, the IVPC application 44 converts this movement into a longitudinal backward or reverse movement command issued to the actuators of the powertrain system 22 of the tractor vehicle 12. The actuators then generate torque on the wheels 20, causing the tractor vehicle 12 to move backward or reverse. The distance moved or reversed is proportional to the rotation amplitude of the screen control interface 56.

[0051] Similarly, when vehicle operator 46 selects to input a steering input at box 140, then at box 150, clockwise, forward, or rightward movements of the screen control interface 56 cause the IVPC application 44 to generate instructions to the actuators of the steering system 23, causing the steerable wheels 20 of the towing vehicle 12 to turn to the right, with the rotation amount proportional to the rotation amount of the screen control interface 56. At box 152, when a counterclockwise, backward, and / or leftward input is received to the screen control interface 56, the IVPC application 44 generates instructions to the actuators of the steering system 23, causing the steerable wheels 20 of the towing vehicle 12 to turn to the left, with the rotation amount proportional to the rotation, backward, or leftward input to the screen control interface 56.

[0052] Upon receiving input from vehicle operator 46 to the screen control interface 56, the IVPC application 44 remains within timer / poller 146 and returns to box 148, where it continuously monitors the action of the screen control interface 56. If no action is detected on the screen control interface 56 within a predetermined and / or variable time period defined by timer / poller 146, the IVPC application 44 enters box 154, exiting its precision control mode.

[0053] Referring again to box 144, vehicle operator 46 uses one or more toggle switches, buttons, or the switching function of the screen control interface 56 to switch to the precision adjustment mode of the IVPC application 44. Upon receiving input from vehicle operator 46 to activate the precision adjustment mode based on the screen control interface 56 in the IVPC application 44, the IVPC application enters the second timer / poller 156. The second timer / poller 156 operates substantially the same as the timer / poller at box 146. However, it should be understood that the predetermined and / or variable time amounts of the second timer / poller 156 may be the same as or completely different from the predetermined and / or variable time amounts of the timer / poller at box 146.

[0054] In the precision adjustment mode of the screen control interface 56 at box 158, the IVPC application 44 monitors the input of the vehicle operator 46 by examining the movement of the screen control interface 56. When a clockwise, forward, extended, and / or rightward movement of the screen control interface 56 is detected at box 160, the IVPC application 44 increases the scaling factor, ratio, or gain between the rotation of the screen control interface 56 and the scaling of the output command to the actuator of the trailer 12. The scaling factor, ratio, or gain defines the proportional relationship between the movement of the screen control interface 56 and the output command issued to the actuator of the towing vehicle 12. Therefore, the clockwise, forward, extended, and / or rightward movement of the screen control interface 56 increases the scaling of the forward, backward, or left / right steering commands issued to the actuators of the powertrain system 22 and / or steering system 23 of the towing vehicle 12—when the precision adjustment mode is off, the towing vehicle 12 will produce a corresponding amount of forward, backward, and / or left / right steering based on the input scaling of the screen control interface 56.

[0055] Conversely, when a counter-clockwise, backward, leftward, and / or contraction (i.e., pinching) movement of the screen control interface 56 is detected at frame 162, the IVPC application 44 translates this counter-clockwise, backward, leftward, and / or contraction movement into a scaling factor, ratio, or gain that reduces the ratio between the rotation of the screen control interface 56 and the scaling of the output commands issued to the actuators of the traction vehicle 12. Therefore, the counter-clockwise, backward, leftward, and / or contraction movement of the screen control interface 56 reduces the scaling of the forward and backward movement commands issued to the actuators of the powertrain system 22 and / or steering system 23 of the traction vehicle 12—when the precision adjustment mode is off, the traction vehicle 12 will move forward, backward, and / or turn left and right according to the input scaling ratio of the screen control interface 56.

[0056] When input from vehicle operator 46 to screen control interface 56 is received in precision adjustment mode, IVPC application 44 remains within the second timer / poller 156 and returns to box 158, where IVPC application 44 continuously monitors the action of screen control interface 56. When no action of screen control interface 56 is detected in box 158 within a predetermined and / or variable time amount defined within the second timer / poller 156, IVPC application 44 enters box 154, where it exits precision control mode. Regardless of whether it enters box 132 or box 154, IVPC application 44 enters box 164, where it terminates after vehicle operator 46 has completed aligning towing vehicle 12 with trailer 14 using IVPC application 44.

[0057] Now refer to Figure 2B And continue to refer to Figure 1 and Figure 2A Precise control (e.g.) is shown in more detail in the form of flowcharts. Figure 2A The control initiated within the IVPC application 44 (within middle frame 114 and / or frame 144) is generally indicated by reference numeral 200.

[0058] At box 202, the precision adjustment mode of the IVPC application 44 is activated when input from vehicle operator 46 to one or more toggle switches, buttons 54, or via the switching function of knob 52 is received. Subsequently, at box 204, when a movement is detected within a predetermined time limit defined by the timer / poller at boxes 124 and / or 156, the IVPC application 44 enters box 206. At box 206, vehicle operator 46 can input a pinch or leftward gesture and / or an open or rightward gesture via one or more screen-based HMIs 48. In several aspects, when an open or rightward gesture is used, the IVPC application 44 enters box 208, where amplification of the vehicle operator 46's input is initiated. That is, at box 208, when vehicle operator 46 makes an open or rightward gesture, subsequent input based on non-precise adjustment is amplified or proportionally amplified, thereby increasing the ratio between the actuator output associated with the vehicle operator 46's input and the steering and / or powertrain system. In a non-limiting example, the ratio may double with each subsequent open or rightward movement. Conversely, when vehicle operator 46 uses a pinch or leftward gesture at box 206, system 10 and IVPC application 44 enter box 210, where subsequent inputs based on non-precise adjustments are not amplified, scaled down, or otherwise reduced to decrease the ratio between the actuator output associated with vehicle operator 46's input and the steering and / or powertrain system. In a non-limiting example, this ratio may be halved (i.e., divided by 2) with each subsequent pinch or leftward movement. From boxes 208 and 210, IVPC application 44 enters box 212, where the input of vehicle operator 46 is scaled with a corrected precision value to convert it into the output of system 10, which is then passed to the actuators of the towing vehicle 12. IVPC application 44 then returns to box 204, where timers / pollers at boxes 124 and / or 156 continue to monitor the movement. When no action is detected within the predetermined time defined by the timer / poller in boxes 124 and / or 156, the IVPC application 44 enters box 214, at which point it exits the precision adjustment mode of the IVPC application 44.

[0059] Now refer to Figure 2C And continue to refer to Figure 1 , Figure 2A and Figure 2BThe precise switching modes of the IVPC application 44 are shown in more detail in the form of a flowchart, the overall process of which is indicated by reference numeral 300.

[0060] At box 302, when input from vehicle operator 46 to one or more toggle switches, buttons 54, or via the switching function of knob 52, the precision toggle or precision toggle mode of IVPC application 44 is activated. At box 304, vehicle operator 46 can input one or more of the following gestures via one or more screen-based HMIs 48: pinch, slide backward, slide left or rotate left, and / or open, slide forward, slide right or rotate right. At box 304, when such an action is detected within a predetermined time limit defined by the timer / poller of boxes 116 and / or 146, IVPC application 44 proceeds to box 306. At box 306, IVPC application 44 monitors the input from vehicle operator 46 and measures the velocity or angular velocity input by vehicle operator 46. When the velocity or angular velocity (W) exceeds a predetermined threshold (e.g., W>π / 4), the precision value is increased from level 1 to level 2, higher than level 1, at box 308. Conversely, when the angular velocity (W) is equal to or less than a predetermined threshold (e.g., W ≤ π / 4), the accuracy value is reduced from level one to level three, below level one, at box 310. Whether from box 308 or box 310, the IVPC application 44 enters box 312, where it returns the accuracy value to system 10, and then continues to box 304. Conversely, when no action is detected at box 304 within the predetermined time period defined by the timer / poller in boxes 116 and / or 146, the IVPC application 44 enters box 314, at which point it exits the precision switching mode of the IVPC application 44.

[0061] The system 10 and IVPC application 44 disclosed herein offer several advantages for intelligent and precise vehicle control. These advantages include: utilizing existing hardware to maintain or reduce the complexity of system 10 while maintaining or reducing manufacturing complexity, enabling vehicle operator 46 to more easily, accurately, and precisely connect the towing vehicle 12 to the trailer 14; adapting to existing towing vehicles 12 equipped with the appropriate hardware and supporting remote upgrades; and enhancing the convenience, comfort, and satisfaction of the vehicle operator while increasing functionality and redundancy.

[0062] The descriptions in this disclosure are merely exemplary, and any modifications that do not depart from the spirit and scope of this disclosure are within its protection. Such modifications should not be considered as departing from the spirit and scope of this disclosure.

Claims

1. A system for precise control of intelligent vehicles, comprising: Towing vehicle; A trailer that can be attached to the towing vehicle via a hitch; One or more sensors are integrated in the traction vehicle, the one or more sensors detecting static and dynamic state information about the traction vehicle; One or more actuators integrated in the traction vehicle, the one or more actuators changing the static and dynamic states of the traction vehicle; The controller has a processor, memory, and input / output (I / O) ports that communicate with the one or more sensors and the one or more actuators. The processor executes a portion of program code stored in the memory, the program code including an Intelligent Vehicle Precision Control (IVPC) application, the IVPC application including: The first control logic is used to enable the precise mode of the IVPC application; The second control logic monitors the system hardware and determines that input from the vehicle operator to the IVPC application is being received via physical and / or digital control devices in the precision mode of the IVPC application. The third control logic, in the precision mode of the IVPC application, prompts the vehicle operator to select between at least the following options: longitudinal input and steering input; The fourth control logic, in the precision control mode of the IVPC application, receives vehicle operator input to switch between precision adjustment mode and precision control mode; and The fifth control logic, in the precise control mode, allows the vehicle operator to input the activation of one or more actuators of the powertrain system and / or one or more actuators of the steering system, wherein the vehicle operator's input in the precise control mode causes the towing vehicle to move longitudinally through the actuation of the one or more actuators of the powertrain system or braking system, and causes the towing vehicle to turn or rotate through the actuation of the one or more actuators of the steering system, wherein, through the IVPC application, the vehicle operator precisely manipulates the towing vehicle to a position where the towing vehicle and the trailer are aligned at the hook-up device for connection.

2. The system according to claim 1, wherein, The first control logic further includes: Control logic that receives vehicle operator input for initiating the precision mode of the IVPC application via one or more human-machine interfaces (HMIs), the one or more HMIs communicating with the controller via the I / O ports, wherein the one or more HMIs include: The control interface of the tractor vehicle; the infotainment system of the tractor vehicle; the head-up display (HUD) of the tractor vehicle; and input devices controllable by the vehicle operator, including: buttons, sliders, control knobs, tactile / audiovisual and / or voice response interfaces, touch screens, mobile devices, mobile phones, laptops, and tablets.

3. The system according to claim 2, wherein, The second control logic also includes: The control logic monitors the powertrain system and steering system of the tractor vehicle to obtain vehicle operator input sources, and activates the physical control mode of the IVPC application when it determines that vehicle operator input is being received from the physical control unit; and activates the digital control mode of the IVPC application when it determines that vehicle operator input is being received through the digital control unit, wherein... The physical control device includes: a physical HMI, comprising knobs, buttons, physical sliders, a keyboard, and a D-pad; and The digital control device includes: a touchscreen interface of the infotainment system of the tractor vehicle, and a touchscreen interface of one or more mobile devices, mobile phones, and laptops.

4. The system according to claim 3, wherein, The third control logic also includes: Control logic configured to: upon receiving longitudinal input from the vehicle operator, activate actuators of the powertrain and braking systems of the traction vehicle to generate torque to the wheels of the traction vehicle to achieve forward or reverse movement; and Upon receiving steering input from the vehicle operator, the actuators of the steering system of the tractor vehicle are activated to change the steering rate, steering speed, and adjust the rotation or lateral movement of the tractor vehicle.

5. The system according to claim 4, wherein, The fourth control logic also includes: The control logic, based on the vehicle operator's selection, selectively switches between and activates a precision adjustment mode and a precision control mode.

6. The system according to claim 5, wherein, The fourth control logic further includes: control logic that, in the precise adjustment mode, changes the scaling ratio and magnitude of the inputs of the vehicle operator to the one or more actuators of the powertrain system and the one or more actuators of the steering system.

7. The system according to claim 6, wherein, In the precise adjustment mode, the scaling and amplitude of the vehicle operator's input are adjusted via one or more knobs and digital control devices, wherein... Upon receiving a rightward or clockwise CW rotation input to the knob or a rightward or open gesture applied to the digital control device, the scaling of the vehicle operator input increases from a first level to a second level greater than the first level. as well as Upon receiving a leftward or counterclockwise CCW rotation input to the knob or a leftward slide or pinch gesture applied to the digital control device, the scaling of the vehicle operator input is reduced from the first level to a third level, which is less than the first level.

8. The system according to claim 7, wherein, The fourth control logic also includes: Control logic is configured to continuously check the rotation of the knob or the input action of the vehicle operator to the digital control device within a predetermined time period of the system's timer or poller, and, upon detecting an action, remain within the timer to continue checking the action and continue to change the scaling ratio and amplitude of the vehicle operator's input; and If no action is detected within the predetermined time period of the timer or poller, the precise mode of the IVPC application is exited.

9. The system according to claim 6, wherein, In the precise control mode, the scaling and amplitude of the vehicle operator's input are adjusted via one or more knobs and digital control devices, wherein... Upon receiving a rightward or clockwise CW rotation input from the vehicle operator to the knob or a rightward or open gesture to the digital control device, the rightward, clockwise, or open input or gesture is converted into a longitudinal forward movement command to one or more actuators of the powertrain system or braking system, or into a rightward or clockwise rotation command to one or more actuators of the steering system. as well as Upon receiving a leftward or counterclockwise CCW rotation input from the vehicle operator to the knob or a leftward or pinch gesture to the digital control device, the leftward, counterclockwise, or pinch input or gesture is converted into a longitudinal rearward movement command to one or more actuators of the powertrain system or braking system, or into a leftward or counterclockwise rotation command to one or more actuators of the steering system.

10. The system according to claim 8, wherein, The fifth control logic also includes: Control logic is configured to continuously check the rotation of the knob or the input action of the vehicle operator to the digital control device within a predetermined time period of the system's timer or poller; upon detecting an action, it continues to check the action while maintaining the timer, and continues to move the tractor vehicle according to the input of the vehicle operator; and If no action is detected within the predetermined time period of the timer or poller, the precise mode of the IVPC application is exited.

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