Improvements in intelligent trailer parking using vehicle sensors

Abstract

Procedures and systems are provided that include sensors and a processor for a vehicle configured to tow a trailer. The sensors are configured to receive sensor data relating to the trailer's environment.The processor is coupled to the sensors and configured to at least allow the retrieval of information about a trailer profile, where the profile includes required clearances for the trailer based on trailer extensions configured to retract while the trailer is moving and fully extend when the trailer is parked and the extensions are in use; determining whether there are obstacles in the trailer's path when the extensions are fully extended, based on sensor data and the profile; and executing an action according to instructions provided by the processor if obstacles are in the trailer's path.

Description

Technical area

[0001] The technical field relates generally to vehicles and, more specifically, to systems and methods for parking trailers towed by vehicles. background

[0002] Some vehicles today have systems that control trailer towing, including parking. However, existing technologies do not always allow for optimal trailer parking.

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

[0004] In an exemplary embodiment, a method is provided that includes collecting sensor data via one or more sensors of a vehicle towing a trailer related to the environment of the trailer; retrieving information about a profile of the trailer, the profile including required clearances for the trailer based on one or more extensions of the trailer configured to be retracted while the trailer is moving and fully extended when the trailer is parked and the one or more extensions are in use; determining, via a processor, whether any obstacles are in a path of the trailer when the one or more extensions are fully extended based on the sensor data and the profile;and performing an action in accordance with instructions provided by the processor when it is determined that one or more obstacles are in the path of the trailer;

[0005] In an exemplary embodiment, the step of performing the action also includes providing a warning to a user on a display system of the vehicle according to instructions provided by the processor when it is determined that one or more obstacles are in the path of the trailer.

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

[0007] In an exemplary embodiment, determining whether there are obstacles in the path of the trailer is performed before the one or more extensions are fully deployed.

[0008] In an exemplary embodiment, determining whether there are obstacles in the path of the trailer is performed while the trailer is parked in a parking space while being towed by the vehicle.

[0009] In an exemplary embodiment, the method further comprises generating, via the processor, the profile for the trailer based on information about the one or more extensions of the trailer and the respective distances required for the one or more extensions when fully extended, and storing the profile for the trailer in a non-transitory computer-readable storage medium of the vehicle prior to the vehicle towing the trailer.

[0010] In an exemplary embodiment, the method further comprises transmitting the profile to a remote server for storage on the remote server and for later use by other users of other followers.

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

[0012] In an exemplary embodiment, the method further comprises determining, via the processor, whether any ground surface problems are present near the vehicle when the one or more extensions are fully extended based on the sensor data and the profile; and performing the action in accordance with the instructions provided by the processor when it is determined that one or more ground surface problems are present near the trailer.

[0013] In an exemplary embodiment, the method further comprises determining, via the processor, whether any conditions exist near the trailer when the one or more extensions are fully extended based on the sensor data and the profile; obtaining weather conditions near the trailer that could affect the conditions; and performing the action in accordance with the instructions provided by the processor if it is determined that the conditions are likely to be a problem given the weather conditions.

[0014] In an exemplary embodiment, the method further comprises determining, via the processor using the sensor data, the respective distances from one or more ports to the trailer; and performing the action according to the instructions provided by the processor if it is determined that one or more of the respective distances exceed a predetermined threshold.

[0015] In another exemplary embodiment, a system is provided that includes one or more sensors of a vehicle configured to tow a trailer, the one or more sensors configured to obtain sensor data related to the environment of the trailer; and a processor coupled to the one or more sensors and configured to at least retrieve information related to a profile of the trailer, the profile comprising required clearances for the trailer based on one or more extensions of the trailer configured to be retracted while the trailer is moving and fully extended when the trailer is parked and the one or more extensions are in use;determining whether any obstacles are in a path of the trailer when the one or more extensions are fully extended based on the sensor data and the profile; and performing an action in accordance with instructions provided by the processor when it is determined that one or more obstacles are in the path of the trailer.

[0016] In an exemplary embodiment, the processor is further configured to enable at least providing a warning to a user on a display system of the vehicle according to instructions provided by the processor when it is determined that one or more obstacles are in the path of the trailer.

[0017] In an exemplary embodiment, the processor is further configured to enable at least one automatic control action to be performed with respect to the movement of the vehicle in accordance with the instructions provided by the processor when it is determined that one or more obstacles are in the path of the trailer.

[0018] In an exemplary embodiment, the processor is further configured to at least enable determining whether any obstacles are in the path of the trailer before deploying the one or more extensions and parking the trailer in a parking space while being towed by the vehicle.

[0019] In an exemplary embodiment, the processor is further configured to at least enable creating the profile for the trailer based on information about the one or more extensions of the trailer and the respective distances required for the one or more extensions when fully extended; and to store the profile for the trailer in a non-transitory computer-readable storage medium of the vehicle prior to towing the trailer by the vehicle.

[0020] In an exemplary embodiment, the processor is further configured to enable at least transmitting the profile to a remote server for storage on the remote server and for later use by other users of other tags.

[0021] In an exemplary embodiment, the processor ferenr is configured to at least enable obtaining, via a transceiver, the profile from a remote server relating to one or more other trailers having similar characteristics to the trailer and storing the profile in a non-transitory computer-readable storage medium of the vehicle prior to towing the trailer by the vehicle.

[0022] In an exemplary embodiment, the processor is further configured to enable at least determining whether any ground surface problems exist proximate the vehicle when the one or more extensions are fully extended based on the sensor data and the profile; and performing the action according to the instructions provided by the processor when it is determined that one or more ground surface problems exist proximate the trailer.

[0023] According to another exemplary embodiment, a vehicle is provided that includes a body, a drive system, one or more sensors, and a processor. The drive system is configured to generate movement of the body. The hitch is configured to be coupled to a trailer to pull the trailer. The one or more sensors are configured to collect sensor data about the environment of the trailer.The processor is coupled to the one or more sensors and configured to enable at least retrieving information about a profile of the trailer, the profile including required clearances for the trailer based on one or more extensions of the trailer configured to be retracted while the trailer is moving and fully extended when the trailer is parked and the one or more extensions are in use; determining if any obstacles are in a path of the trailer when the one or more extensions are fully extended based on the sensor data and the profile; and performing an action in accordance with instructions provided by the processor when one or more obstacles are determined to be in the path of the trailer. Brief description of the drawings

[0024] The present disclosure will now be described in conjunction with the following drawings, wherein like reference numerals designate like elements and wherein: Fig. 1 is a functional diagram of a vehicle configured to tow and control the parking of a trailer, the vehicle being illustrated along with the trailer and a remote server communicating with the vehicle, in accordance with example embodiments; Fig. 2 is a flowchart of a method for controlling parking-related functions for a trailer pulled by a vehicle, and in conjunction with the vehicle, the trailer, and the remote server of Fig. 1 may be implemented in accordance with exemplary embodiments; and Fig. 3 is a flowchart of a sub-method corresponding to a step of the method of Fig. 2, namely the step of adjusting a trailer profile, according to exemplary embodiments; Fig. 4 is a flowchart of a sub-process corresponding to another step of the process of Fig. 2, namely the step of implementing the profile during a parking maneuver for the trailer, in accordance with exemplary embodiments; Fig. 5 is a flowchart of a sub-method corresponding to an additional step of the method of Fig. 2, namely the step of implementing the profile after a parking maneuver for the trailer, according to exemplary embodiments; and Fig. 6A, Fig. 6B and Fig. 7 show exemplary implementations of the method of Fig. 2, including the partial procedure of Fig. 3, in accordance with exemplary embodiments. Detailed description

[0025] The following detailed description is merely exemplary in nature and is not intended to limit the disclosure or its application and uses. Furthermore, there is no intention to be bound by any theory presented in the foregoing background or the following detailed description.

[0026] Fig. 1 is a functional diagram of a vehicle 100 adjacent to a trailer 101. In various embodiments, the vehicle 100 is configured to tow the trailer 101. Furthermore, in various embodiments and as described in more detail below, the vehicle 100 includes a control system 120 configured to control and optimize parking-related maneuvers for the trailer 101, and in particular to account for extensions 103 of the trailer 101 that are not visible while the trailer 101 is parked and / or otherwise moving, in accordance with the steps of the method 200 of Fig. 2 and the sub-procedures and implementations of the Fig. 3-7 and as described in more detail below in connection therewith.

[0027] As in Fig. 1, in exemplary embodiments, the trailer 101 includes a body 102 and a plurality of extensions 103. In various embodiments, the extensions 103 are retracted and not visible when not in use (e.g., when the trailer 101 is parked and / or moved). More specifically, in various embodiments, the extensions 103 are configured to be retracted when the trailer 101 is in motion and extended when the trailer 101 is parked and the extensions 103 are in use. However, when the extensions 103 are extended, they create corresponding extended areas 104 that increase the envelope of the trailer 101 and that require additional clearance from obstacles. In the exemplary illustration of Fig. 1, the extensions 103 include a first extension 103(1) (e.g., a pull-out), a second extension 103(2) (e.g., a kitchen), and a third extension 103(3) (e.g., an awning), each of which creates respective extended areas 104(1), 104(2), and 104(3) with associated required clearances when extended. It will be appreciated that the trailer 101 may have a different number and / or type(s) of extensions 103 in various embodiments.

[0028] In various embodiments, vehicle 100 comprises an automobile. Vehicle 100 may be any type of automobile, such as a sedan, station wagon, truck, or sport utility vehicle (SUV), and may be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD), or all-wheel drive (AWD), and / or various other vehicle types in certain embodiments. In certain embodiments, vehicle 100 may also comprise a motorcycle or other vehicle, such as an aircraft, spacecraft, watercraft, etc., and / or one or more other types of mobile platforms (e.g., a robot and / or other mobile platform).

[0029] In certain embodiments, vehicle 100 may be an autonomous or semi-autonomous vehicle, where, for example, vehicle control (including acceleration, deceleration, braking, and / or steering) is automatically scheduled and executed by control system 120. In certain other embodiments, vehicle 100 may be a human-driven vehicle, where control is provided by a human driver.

[0030] In the illustrated embodiment, the vehicle 100 includes a body 110 mounted on a chassis. The body 110 substantially encloses other components of the vehicle 100. As shown in Fig. 1, in various embodiments, the vehicle 100 includes a trailer hitch 111 configured to be coupled to the trailer 101 to tow the trailer 101.

[0031] In various embodiments, the vehicle 100 also includes a propulsion system 112. In various embodiments, the propulsion system 112 includes one or more motors that provide movement of the vehicle 100, which are controlled via driver inputs (e.g., via an accelerator pedal in certain embodiments) and / or automatically via the control system 120. In various embodiments, the propulsion system 112 may also include or be coupled to one or more other vehicle systems that control the movement of the vehicle 100, such as a braking system and / or a steering system, which may also be controlled either via driver inputs (e.g., via a brake pedal or an accelerator pedal, respectively, in certain embodiments) and / or automatically via the control system 120.

[0032] In various embodiments, as in Fig. 1, the control system 120 is coupled to and controls the operation of the propulsion system 112. Furthermore, in various embodiments, the control system 120 provides information and / or control over the towing and parking of the trailer 101, including taking into account the extensions 103 of the trailer 101 that are retracted and not visible during parking and other movements of the trailer 101, for example, as described in more detail below.

[0033] As also in Fig. 1, the control system 120 includes, in various embodiments, a sensor assembly 130, a display system 132, a transceiver 134, and a controller 136.

[0034] In various embodiments, sensor assembly 130 includes various sensors that collect sensor data regarding vehicle 100 and trailer 101, as well as the environment near trailer 101 (e.g., areas where trailer 101 may be parked and / or moved). In various embodiments, sensor assembly 130 includes one or more cameras 138, lidar sensors 140, sonar sensors 142, and ultrasonic sensors 144 configured to detect objects near trailer 101, for example, when trailer 101 is parked. In various embodiments, the sensor assembly 130 also includes one or more input sensors 146 configured to receive user input, for example, to adjust the profile for the trailer 101 via the display system 132 of the vehicle 100. In certain embodiments, the sensor assembly 130 may also include one or more other sensors.

[0035] In various embodiments, the display system 132 provides an interface between the control system 120 and one or more drivers or other users of the vehicle 100. In various embodiments, the display system 132 provides information to the driver or other users to assist in customizing the profile for the trailer 101 and receives input from the user in this regard. In various embodiments, the display system 132 also provides information to the user about detected obstacles near the trailer 101 to assist in parking or other movements of the trailer 101. In various embodiments, the display system 132 provides this functionality in accordance with instructions from the controller 136.

[0036] In various embodiments, transceiver 134 is used to transmit messages to a driver or other user of vehicle 100. In certain embodiments, transceiver 134 is used to receive and send messages about profiles for trailer 101 and / or other trailers (e.g., similar trailers) to remote server 170. In certain embodiments, transceiver 134 may also be used to send and / or receive messages to and from the driver or other user, for example, regarding the profile and / or obstacles detected in the vicinity of trailer 101.

[0037] In various embodiments, controller 136 is connected to sensor assembly 130, display system 132, and transceiver 134, as well as to propulsion system 112 (and / or related systems such as a braking system and / or a steering system in certain embodiments). In various embodiments, controller 136 controls the functionality of control system 120, as well as propulsion system 112 and related systems.

[0038] In various embodiments, the controller (or computer system) 230 provides information and / or controls the towing of the trailer 101, including parking the trailer 101 taking into account the extensions 103 and the resulting changes in the outline of the trailer 101 and the required clearances when the extensions 103 are extended. In various embodiments, the controller 136 performs these steps in accordance with the steps of the method 200 of Fig. 2 and the sub-procedures and implementations of the Fig. 3-7, which are described below in connection with this.

[0039] In various embodiments, the controller 136 (and in certain embodiments, the control system 120 itself) is located within the body 110 of the vehicle 100. In certain embodiments, the controller 136 and / or the control system 120 and / or one or more components thereof may be located outside the body 110, for example, on a remote server, in the cloud, or another device where image processing is performed remotely.

[0040] It becomes clear that the control 136 is different from the Fig. 1. For example, the controller 136 may be coupled to or otherwise utilize one or more remote computer systems and / or other control systems, for example, as part of one or more of the above-mentioned devices and systems of the vehicle 100.

[0041] As in Fig. 1, the controller 136, in various embodiments, comprises a computer system having a processor 148, a memory 150, an interface 152, a storage device 154, and a computer bus 156. The processor 148 performs the computation and control functions of the controller 136 and may include any type of processor or multiple processors, individual integrated circuits such as a microprocessor, or any number of integrated circuits and / or printed circuit boards that cooperate to perform the functions of a processing unit. During operation, the processor 148 executes one or more programs 160 contained in the memory 150 and, as such, controls the general operation of the controller 136 in carrying out the methods described herein, such as the method 200 of Fig. 2 and the sub-procedures and implementations of the Fig. 3-7 and as described in connection therewith.

[0042] The memory 150 may be any suitable type of memory. For example, the memory 150 may include various types of dynamic random access memory (DRAM) such as SDRAM, various types of static RAM (SRAM), and various types of non-volatile memory (PROM, EPROM, and Flash). In certain examples, the memory 150 is located on and / or disposed on the same computer chip as the processor 148. In the illustrated embodiment, the memory 150 stores the aforementioned program 160 along with one or more profiles 162 (e.g., of the trailer 101 being towed by the vehicle 100).

[0043] Bus 156 is used to transfer programs, data, status, and other information or signals between the various components of the computer system of controller 136. Interface 152 enables communication with the computer system of controller 136, e.g., from a system driver and / or another computer system, and may be implemented using any suitable method and apparatus. In one embodiment, interface 152 obtains the various data from sensor array 130 and / or the stored profiles 162 from memory 150. Interface 152 may also include one or more network interfaces for communication with technicians and / or one or more storage interfaces for connection to storage devices, such as storage device 154.

[0044] The storage device 154 may be any suitable type of storage device, including various types of random access memory and / or other storage devices. In an exemplary embodiment, the storage device 154 comprises a program product from which the memory 150 can receive a program 160 that implements one or more embodiments of the method 200 of Fig. 2 and the sub-procedures and implementations of the Fig. 3-7 and as described in connection therewith. In another exemplary embodiment, the program product may be stored and / or otherwise accessed directly in memory 150 and / or a secondary storage device (e.g., hard disk 164), as described below.

[0045] Bus 156 may be any suitable physical or logical means for interconnecting computer systems and components. These include, but are not limited to, direct, hard-wired connections, fiber optic, infrared, and wireless bus technologies. During operation, program 160 is stored in memory 150 and executed by processor 148.

[0046] While this exemplary embodiment is described in the context of a fully functional computer system, those skilled in the art will recognize that the mechanisms of the present disclosure may be distributed as a program product including one or more types of non-transitory, computer-readable, signal-bearing media used to store the program and its instructions and to effect its distribution, such as a non-transitory, computer-readable medium carrying the program and having computer instructions stored therein for causing a computer processor (such as processor 148) to perform and execute the program. Such a program product may take a variety of forms, and the present disclosure applies equally regardless of the particular type of computer-readable, signal-bearing medium used to effect its distribution.Examples of signal-carrying media include writable media such as floppy disks, hard disks, memory cards, and optical disks, as well as transmission media such as digital and analog communication links. In certain embodiments, cloud-based storage and / or other technologies may also be used. It will also be appreciated that the computer system of the controller 136 may otherwise differ from the system illustrated in FIG. Fig. 1, for example, in that the computer system of the controller 136 may be coupled to or otherwise utilize one or more remote computer systems and / or other control systems.

[0047] With continued reference to Fig. 1, in various embodiments, the remote server 170 communicates with the control system 120 via one or more wireless communication networks 180. As previously mentioned, in various embodiments, the control system 120 and the remote server 170 exchange information about the profile 162 of the trailer 101 for the vehicle 100 of Fig. 1 and additional profiles 178 (see below) for various trailers and vehicles.

[0048] As in Fig. 1, the remote server 170, in various embodiments, includes a transceiver 172, a processor 174, and a memory 176. In various embodiments, the transceiver 172 is used to communicate with the transceiver 134 of the control system 120, including for sharing the profiles 162, 178 according to instructions provided by the processor 174. As also shown in Fig. 1, the memory 176 of the remote server 170 stores, in various embodiments, the various profiles 178 of different trailers and vehicles, for example, for shared use with the trailer 101 and the vehicle 100 of Fig. 1 as well as with various other trailers and vehicles.

[0049] With reference to Fig. 2, a flowchart of a method 200 for controlling parking-related functions for a trailer towed by a vehicle is illustrated in accordance with exemplary embodiments. In various embodiments, the method 200 may be used in conjunction with the vehicle 100, the trailer 101, and the remote server 170 of Fig. 1 should be implemented.

[0050] In various embodiments, the method 200 begins in step 202, for example, when the profile for the trailer is created. In various embodiments, this may occur when the trailer 101 is towed by the vehicle 100 for the first time according to the method 200. In other embodiments, this may also occur at one or more later times when the trailer 101 is towed by the vehicle 100.

[0051] In various embodiments, the trailer profile is created in step 204. In various embodiments, the trailer profile is created prior to towing and parking the trailer 101 so that the control system 120 is ready to assist with parking and / or other movement of the trailer 101 when the time comes. In various embodiments, the trailer profile includes not only the dimensions of the trailer (e.g., length and width), but also all extensions 103 and the required clearances when they are fully extended and used. In particular, in various embodiments, the trailer profile utilizes the extensions 103 of the trailer 101 from Fig. 1 together with the respective extended areas 104, which are part of the enclosure of the trailer 101 when parked (e.g., to prevent contact of objects with the extensions 103, etc.). A more detailed explanation of the generation of the profile of step 204 will be given below in connection with Fig. 3 given.

[0052] In various embodiments, the trailer profile is implemented during the parking maneuvers in step 206. In various embodiments, the trailer profile of step 204 is used while the trailer 101 is parked so that no objects or obstacles impede the trailer 101 during parking, after taking into account the extensions 103 and their respective extended portions 104 and the required clearances after parking the trailer 101. A more detailed explanation of the use of the trailer profile during the parking maneuvers of step 206 is provided below in connection with Fig. 4 (together with the corresponding implementations in the Fig. 6A, Fig. 6B and Fig. 7) given.

[0053] In various embodiments, the trailer profile is also implemented following parking maneuvers in step 208. In various embodiments, in step 208, the trailer profile from step 204 is used after parking the trailer 101 and / or when driving the trailer 101 out of the parking space, e.g., such that nothing related to the trailer 101 and / or the vehicle 100 is left behind. A more detailed explanation of the use of the trailer profile after the parking maneuvers of step 208 is provided below in connection with Fig. 5 given.

[0054] In various embodiments, the method may then be terminated in step 210.

[0055] As indicated above, Fig. 3 is a flowchart of a sub-method corresponding to step 204 of the method 200 of Fig. 2, namely the step of adapting a trailer profile, in accordance with exemplary embodiments. In various embodiments, the sub-method of step 204 begins when the trailer profile enhancements are initiated in step 302. For example, in certain embodiments, a driver or other user of the vehicle 100 may begin preparing or enhancing a profile related to the trailer 101, for example, when the trailer 101 is first attached to the vehicle 100 in certain embodiments.

[0056] In various embodiments, the trailer profile setup is initiated (step 304). In various embodiments, the trailer profile setup is initiated via the display system 132 of Fig. 1 in accordance with the instructions provided by the processor 148 of Fig. 1 and its interaction with the user. In various embodiments, the trailer profile setup may be initiated in one of three ways, as set forth in steps 306, 308, and 312 below, respectively.

[0057] In a first implementation, illustrated in step 306, in certain embodiments, a common profile may be used for the trailer profile. Specifically, in certain embodiments, during step 306, the processor 148 may find an existing profile for a similar trailer type to the trailer 101 that is now coupled to the vehicle 100. For example, in certain embodiments, such an existing profile may already exist for one or more other different owners of one or more other trailers previously towed by one or more other different vehicles, where the other different trailers have similar dimensions (including other similar extensions thereof that extend and retract in a similar manner) as the trailer 101 in question for the current user and the current vehicle 100.In certain embodiments, the shared profile may be previously stored in a computer memory, such as in the stored profiles 178 of the memory 176 of the remote server 170 of FIG. Fig. 1. Also in certain embodiments, the shared profile is transmitted from the remote server 170 to the current user's vehicle 100 and then downloaded and stored in the memory 150 of the vehicle 100 as the current profile 162 for the current trailer 101. In various embodiments, the trailer distances in the current profile 162 are stored in the memory 150 (step 318).

[0058] In a second implementation, illustrated in step 308, manual setup of the current profile may be required. In particular, in certain embodiments, and with reference to step 310 in various embodiments, the user is prompted via a message from the display system 132 to manually enter spatial requirements for a visual representation of the trailer 101 on a display screen of the display system 132. For example, in certain embodiments, the user manually enters the dimensions of the trailer 101, including the extensions 103 and the respective extended portions 104 from Fig. 1 (and the associated required distances) when the extensions 103 are fully extended. In various embodiments, the user inputs are received via the input sensors 146 connected to the display system 132. In various embodiments, the processor 148 creates the current profile based on the manual inputs and then stores the current profile in the memory 150 of the vehicle 100 as the current profile 162 for use with the current trailer 101. In various embodiments, the trailer distances are stored in the current profile 162 in the memory 150 (step 318).

[0059] In a third implementation, illustrated in step 312, automatic setup of the current profile may be used. More specifically, in certain embodiments, and with reference to step 314, in various embodiments, the user is prompted by a message from the display system 132 to gradually extend or "unfold" all of the extensions 103 of the trailer 101. In various embodiments, the display system 132 prompts the user to gradually deploy each extension 103, and the processor 148 then uses sensor data to determine and learn the updated dimensions of the trailer 101 when the extensions 103 are extended. In various embodiments, the processor 148 uses this data to determine the additional zones (e.g., the extended areas 104 of Fig. 1) of the trailer 101 with respect to the extensions 103 of the trailer 101 and automatically builds the current profile for the trailer 101 accordingly. In various embodiments, the processor 148 then stores the current profile in the memory 150 of the vehicle 100 as the current profile 162 for use with the current trailer 101. In various embodiments, the trailer spacings in the current profile 162 are stored in the memory 150 (step 318).

[0060] Fig. 4 is a flowchart of a sub-method corresponding to step 206 of the method 200 of Fig. 2, namely the step of implementing the profile during a parking maneuver for the trailer, in accordance with exemplary embodiments. The sub-method of step 206 will be described below in connection with Fig. 4 and Fig. 6A, Fig. B and Fig. 7, which show exemplary implementations of it.

[0061] As in Fig. 4, in various embodiments, the sub-method of step 206 begins in step 402 when a parking maneuver for the trailer is initiated (e.g., when the trailer 101 is parked while coupled to the vehicle 100). In various embodiments, the parking maneuver is initiated at a later time, after the above-described profile of step 204 has already been initiated or enhanced.

[0062] In various embodiments, the clearances for the trailer are determined from the trailer profile (step 404). In various embodiments, the processor 148 receives Fig. 1 Free spaces for the trailer 101 from the current profile 162, which is stored in the memory 150 of Fig. 1, including the dimensions and associated clearances of the trailer 101 when each of the extensions 103 is in its fully extended position.

[0063] In various embodiments, vehicle detection for trailer operation is also enabled (step 406). In various embodiments, the processor 148 outputs Fig. 1 Instructions so that the sensor assembly 130 of Fig. 1 is activated or awakened to obtain sensor data while the trailer 101 is parked, including obstacles that may be in the path of the trailer 101 and other conditions that may be present on the ground nearby (e.g., potholes, bumps, and the like).

[0064] In various embodiments, the distances are checked (step 408). Specifically, in various embodiments, the distances of all detected objects in the environment are checked and compared to the distances required based on the current profile for the trailer 101. In various embodiments, this is performed by the processor 148 using the sensor data in comparison with the current profile 162 for the trailer 101. Furthermore, in various embodiments, the environment of the trailer 101 and the parking lot is also examined for a spatial awareness of connections (e.g., power, water, sewage, and the like) that the trailer 101 may use while in the parking lot.For example, in various embodiments, in addition to determining potential obstacles, the distances to the ports (from the trailer 101) are also determined and it is ensured that these distances to the ports do not exceed a maximum distance from a relevant point of the trailer (which in various embodiments would also be included in the profile of the trailer 101).

[0065] In various embodiments, it is determined whether there are any obstacles in the path of the trailer (step 410). Specifically, in various embodiments, the processor 148 determines whether any detected objects are in the path of the trailer 101 while the trailer 101 is being moved to the parking space and parked, and also whether any detected objects are in the path of the trailer 101 or would likely contact it when the extensions 103 are fully extended. In various embodiments, it is also determined whether there are any relevant interchanges nearby and whether the distances to the interchanges exceed a maximum distance.

[0066] In various embodiments, if it is determined in step 410 that one or more obstacles are in the path of the trailer or that a maximum distance to a connector is exceeded, a notification is provided to the user (step 412). In certain embodiments, a notification is provided to the driver or other user of the vehicle 100 on a screen of the display system 132 of Fig. 1, a warning of the obstacle is issued according to the instructions of the processor 148. In certain embodiments, an image of the obstacle (and / or the port) may also be displayed on the screen of the display system 132. In certain other embodiments, the warning may be transmitted to a smartphone or other personal device of the user, e.g., by a message sent via the transceiver 134 from Fig. 1 according to the instructions of the processor 148. Furthermore, in certain embodiments, the processor 148 may also provide instructions for automatically controlling the movement of the vehicle 100 and the trailer 101 (e.g., by automatically moving, braking, and / or steering the vehicle 100) to avoid the obstacles.

[0067] In various embodiments, method 300 continues to search for obstacles and any ports (step 414). Specifically, in various embodiments, additional sensor data continues to be collected via sensor array 130 and analyzed via processor 148 regarding the same obstacle and other possible obstacles and / or issues with nearby ports (e.g., exceeding the maximum distance to the ports). In various embodiments, method 300 returns to step 410, and steps 410-414 continue in this manner until a subsequent iteration of step 410 determines that no obstacles are present in the path of trailer 101 (and, in various embodiments, that there are no issues with nearby ports).

[0068] In various embodiments, after determining that no obstructions are detected in the trailer's path (and, in various embodiments, no problems with nearby connectors), a determination is made as to whether ground surface conditions or other conditions exist that could affect the trailer (step 416). In various embodiments, this determination is made by processor 148 based on sensor data about the ground near trailer 101. For example, in certain embodiments, a determination is made as to whether there are any significant bumps, depressions, ditches, puddles, branches, or other conditions that would affect the usability of trailer 101 when parked.

[0069] In various embodiments, if it is determined that one or more of such ground surface conditions or other conditions are present, weather information is obtained (step 418). In certain embodiments, for example, weather forecasts for a geographic region in which the trailer 101 is parked may be obtained (e.g., via the transceiver 134 of Fig. 1) that may affect the trailer 101, particularly given the ground conditions or other conditions. For example, if rain or other inclement weather is expected in the geographic region, this may affect the ground conditions of the trailer 101 (e.g., a depression or ditch in the ground surface may quickly fill with water, etc.). As another example, if one or more other conditions are present (e.g., branches or other obstructions located near the trailer 101), the branches may fall and come into contact with the trailer 101 during an approaching storm, etc.

[0070] In various embodiments, a notification is provided to the user (step 420). In certain embodiments, a warning regarding ground surface conditions, along with a weather forecast or other information that may affect ground surface conditions or other conditions, is displayed to a driver or other user of the vehicle 100 on a screen of the display system 132 of Fig. 1 according to the instructions provided by the processor 148. In certain embodiments, an image of the ground surface condition or other condition may also be displayed on the screen of the display system 132. In certain other embodiments, the alert may be communicated to a smartphone or other personal device of the user, e.g., via a message transmitted thereto via the transceiver 134 of FIG. 1 according to the instructions of the processor 148. Furthermore, in certain embodiments, the processor 148 may also provide instructions for automatically controlling the movement of the vehicle 100 and the trailer 101 (e.g., by automatically moving, braking, and / or steering the vehicle 100) to avoid or mitigate the ground conditions.

[0071] In various embodiments, method 300 continues to check for issues, including other ground surface conditions (step 422). Specifically, in various embodiments, additional sensor data continues to be collected via sensor array 130 and analyzed via processor 148 regarding the same ground surface conditions and other possible ground surface conditions. In various embodiments, method 300 returns to step 416, and steps 416-422 continue in this manner until a subsequent iteration of step 416 determines that no adverse ground surface conditions surround trailer 101.

[0072] In various embodiments, the trailer is parked once it is determined that no adverse ground surface conditions exist (step 424). Furthermore, in certain embodiments, updated information about the trailer 101 and its parking (e.g., including an updated map and updated distance data for the trailer 101) is stored. In certain embodiments, the updated information is stored in the memory 150 of the vehicle 100 as part of an updated profile 162 for the trailer 101. Furthermore, in certain embodiments, the updated information is transmitted to the remote server 170, where the updated information is stored in an updated profile 178 stored in its memory 176 for subsequent users of other vehicles and trailers.

[0073] In various embodiments, the sub-method of step 206 then ends (step 428).

[0074] With reference to The Fig. 6A and Fig. 6B shows a first implementation of the sub-method of step 206. First, as in Fig. 6A, a first Fig. for the vehicle 100 and the trailer 101 when the trailer 101 is parked. As in Fig. 6A, the sensors of the sensor assembly 130 of the vehicle 100, in various embodiments, provide sensor detection in a first sensor area 602 and a second sensor area 604.

[0075] As in Fig. 6A, within the first sensor area 602 there is a distance range 606 which is required for the extensions 103 of the trailer 101 when the extensions 103 are fully extended. As also shown in Fig. 6A, in the exemplary embodiment, an obstacle 608 (e.g., a tree) is located within a portion of the distance range 606.

[0076] As in Fig. 6A, within the second sensor area 604 are several distance areas 610, 612 that are required for other extensions 103 of the trailer 101 when the extensions 103 are fully extended. As also shown in Fig. 6A, in the exemplary embodiment, one or more obstacles 614 are located within a portion of the distance range 612.

[0077] Now with reference to Fig. 6B will be a second Fig. with an enlargement of an area of ​​interest in connection with the obstacles 608, 614. As in Fig. 6B, multiple collisions 652 are shown for the trailer 101 when the extensions 103 are fully extended. As shown in Fig. 6B, the obstacle 608 (i.e., the tree) is expected to contact a portion 654 of the trailer 101 when the extensions 103 are fully extended. As also shown in Fig. 6B, the obstacle 614 would likely contact a portion 656 of the trailer 101 when the extensions 103 are fully extended.

[0078] In relation to Fig. 7 will be a Fig. a second implementation of the sub-method of step 206. In particular, as shown in Fig. 7, in certain embodiments, various sensors of sensor array 130 are arranged at various locations on the vehicle, including: (i) a first point "A" 720 (e.g., near the trailer hitch of vehicle 100); (ii) a second point "B" 730 (e.g., near a center or central region of vehicle 100); and (iii) third and fourth points "C1" 740 and "C2" 750 (near the respective side view mirrors of vehicle 100).

[0079] As in the Fig. from Fig. 7, the trailer extensions 103 require clearance within a first clearance range 706, a second clearance range 710, and a third clearance range 712. In an exemplary embodiment, the first clearance range 706 includes an obstacle 708 (e.g., a tree).

[0080] As in Fig. As shown in Figure 7, the sensors at point "A" 720 of the vehicle provide detection zones that include a first sensor beam 721, a second sensor beam 722, a third sensor beam 723, and a fourth sensor beam 724. In the illustrated embodiment, the obstacle 708 is not detected by the first and second sensor beams 721, 722, but by the third and fourth sensor beams 723, 724.

[0081] As also in Fig. As shown in Figure 7, the sensors at point "B" 730 of the vehicle provide detection zones that include a first sensor beam 731, a second sensor beam 732, a third sensor beam 733, and a fourth sensor beam 734. In the illustrated embodiment, the obstacle 708 is not detected by the first and second sensor beams 731, 732, but by the third and fourth sensor beams 733, 734.

[0082] As also in Fig. As shown in Figure 7, the sensors at point "C1" 740 of the vehicle provide detection areas that include a first sensor beam 741, a second sensor beam 742, a third sensor beam 743, and a fourth sensor beam 744. In the illustrated embodiment, the obstacle 708 is not detected by the first and second sensor beams 741, 742, but by the third and fourth sensor beams 743, 744.

[0083] As also in Fig. 7, the sensors at point “C2” 750 of the vehicle provide detection zones comprising a first sensor beam 751 and a second sensor beam 752, neither of which detects the obstacle 708 (but which would potentially detect obstacles if any were within the distance ranges 710 and / or 714 of Fig. 7 would be present).

[0084] As in Fig. As shown in Figure 7, in various embodiments, sensors are used at different locations on the vehicle 100, with different angles associated with the corresponding detection zones and sensor beams. In various embodiments, the processor 148 aggregates the various sensor data from the different angles to detect obstacles by applying trigonometric principles to the different angles.

[0085] Fig. 5 is a flowchart of a sub-method corresponding to step 208 of the method 200 of Fig. 2, namely the step of implementing the profile following a parking maneuver for the trailer, in accordance with exemplary embodiments.

[0086] As in Fig. 5, in various embodiments, the sub-method of step 208 begins at 502 at one or more times after the parking maneuver of step 206 for the trailer has already been completed (e.g., when the trailer 101 is still coupled to the vehicle 100 while the trailer 101 is already parked in a parking space, and / or when the trailer 101 leaves the parking space while being towed by the vehicle 100).

[0087] In various embodiments, vehicle detection for trailer operation is enabled (step 504). In various embodiments, the processor 148 outputs Fig. 1 Instructions so that the sensor assembly 130 of Fig. 1 is activated or awakened to obtain sensor data after the trailer 101 has been parked and remains in the parking space and / or when the trailer 101 leaves the parking space, including obstacles that may be in the path of the trailer 101 and / or that may be left behind by the trailer 101 (e.g., whether the trailer 101 is still connected to water, electricity and / or other services and / or whether components of the trailer 101, accessories and / or other user possessions have been left behind and / or are in the path of the trailer 101, etc.).

[0088] In various embodiments, the sensor data is used to check for nearby obstacles (step 506) and to determine whether obstacles are in the trailer's path and / or can be left behind (e.g., in the parking space) (step 508). Specifically, in various embodiments, the processor 148 makes this determination based on the sensor data while the trailer 101 remains in the parking space and / or is exiting the parking space.

[0089] In various embodiments, if it is determined in step 508 that one or more obstacles are present, a notification is provided to the user (step 510). In certain embodiments, a notification is provided to a driver or other user of the vehicle 100 on a screen of the display system 132 of Fig. 1, a warning about the obstacle is displayed according to the instructions of the processor 148. In certain embodiments, an image of the obstacle may also be displayed on the screen of the display system 132. In certain other embodiments, the warning may be transmitted to a smartphone or other personal device of the user, for example, via a message sent via the transceiver 134 from Fig. 1 is transferred there according to the instructions of the processor 148.

[0090] In various embodiments, method 300 continues to check for obstacles (step 512), regardless of whether a warning was warranted. Specifically, in various embodiments, additional sensor data continues to be collected via sensor array 130 and analyzed via processor 148 with respect to the same obstacle and other potential obstacles.

[0091] In various embodiments, a determination is made as to whether the method 300 is complete (step 514). In certain embodiments, the processor 148 determines in step 514 whether the post-park maneuver is complete (e.g., when the trailer 101 has completely exited the parking space). In various embodiments, if the method 300 is not yet considered complete, it returns to step 512, and steps 512-514 are repeated until the method is determined to be complete.

[0092] In some embodiments, once it is determined in an iteration of step 514 that the method 300 is complete (e.g., that the trailer 101 has completely left the parking space), the method is terminated in step 516.

[0093] Accordingly, methods, systems, and vehicles are provided herein that potentially enable improved information for parking and controlling a trailer towed by a vehicle. In various embodiments, different sensor data is used in detecting objects that may interfere with parking of the trailer 101 after accounting for the extensions 103 of the trailer 101, each of which spans different areas and requires greater clearances after the extensions 103 are deployed. In various embodiments, this may help improve the experience for users of the trailer 101 and the vehicle 100, for example, by avoiding unwanted obstacle-to-trailer contact and / or other impediments to parking and / or moving the trailer 101.

[0094] Instead of only taking into account the body of the trailer when it is towed or parked, taking into account the extensions 103 of the trailer as well helps to avoid a situation where the trailer 101 is parked and the user finds that the extensions 103 of the trailer cannot be fully used due to an obstacle or the ground conditions of the parking lot, etc. This therefore represents a kind of usage protection for the trailer 101 by, for example, anticipating collisions or obstacles that may be present after the trailer is fully positioned in the parking lot.

[0095] It is understood that the systems, vehicles, and methods may vary from those depicted in the figures and described herein. For example, the vehicle 100, the trailer 101, the remote server 170, and / or their components may differ from those described in Fig. 1 and / or described therein. It will also be clear that the steps of the method 200 of Fig. 2, the partial procedures of the Fig. 3-5 and the implementations of the Fig. 6A, Fig. 6B and Fig. 7 may differ from those shown in the figures and / or that different steps may occur simultaneously and / or in a different order than that shown in the figures.

[0096] Although at least one exemplary embodiment has been presented in the foregoing detailed description, it should be recognized that numerous variations exist. It should also be recognized that the exemplary embodiment or exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or configuration of the disclosure in any way. Rather, the foregoing detailed description is intended to provide one skilled in the art with a convenient guide for implementing the exemplary embodiment or exemplary embodiments. It should be understood that various changes in the function and arrangement of elements may be made without departing from the scope of the disclosure as set forth in the appended claims and their legal equivalents.

Claims

[1] Method comprising: Collecting sensor data from one or more sensors of a vehicle towing a trailer relating to the trailer's surroundings; Retrieving information about a profile of the trailer, the profile comprising required clearances for the trailer based on one or more extensions of the trailer configured to be retracted while the trailer is moving and fully extended when the trailer is parked and the one or more extensions are in use; Determining, via a processor, whether any obstacles are in a path of the trailer when the one or more extensions are fully extended based on the sensor data and the profile; and Performing an action according to instructions provided by the processor when it is determined that one or more obstacles are in the path of the trailer. [2] The method of claim 1, wherein the step of performing the action comprises providing a warning to a user on a display system of the vehicle in accordance with the instructions provided by the processor when it is determined that one or more obstacles are in the path of the trailer. [3] The method of claim 1, wherein the step of performing the action comprises performing an automatic control action with respect to the movement of the vehicle in accordance with the instructions provided by the processor when it is determined that one or more obstacles are in the path of the trailer. [4] The method of claim 1, wherein determining whether there are obstacles in the path of the trailer is performed before the one or more extensions are fully deployed and while the trailer is parked in a parking space while being towed by the vehicle. [5] The method of claim 4, further comprising: Generating the profile for the trailer via the processor based on information about the one or more extensions of the trailer and the respective distances required for the one or more extensions when fully extended; and Saving the trailer profile in a non-volatile computer-readable storage medium on the vehicle before the vehicle tows the trailer. [6] The method of claim 4, further comprising: Retrieving the profile of one or more other tags with similar characteristics to the tag from a remote server via a transceiver; and Saving the profile before the vehicle tows the trailer in a non-volatile computer-readable storage medium of the vehicle. [7] The method of claim 1, further comprising: Determining, via the processor, whether any ground surface problems exist near the trailer when the one or more extensions are fully extended based on the sensor data and the profile; and Performing the action according to the instructions provided by the processor when it is determined that one or more ground surface problems exist near the trailer. [8] The method of claim 1, further comprising: Determining, via the processor, whether any conditions exist near the trailer when the one or more extensions are fully extended based on the sensor data and the profile; Obtaining weather conditions near the trailer that could affect the conditions; and Perform the action according to the instructions provided by the processor when it is determined that the conditions are likely to be problematic given the weather conditions. [9] The method of claim 1, further comprising: Determining, via the processor using the sensor data, respective distances from one or more ports to the trailer; and Performing the action according to the instructions provided by the processor when it is determined that one or more of the respective distances exceed a predetermined threshold. [10] System comprising: one or more sensors of a vehicle configured to tow a trailer, the one or more sensors configured to receive sensor data relating to the environment of the trailer; and a processor coupled to the one or more sensors and configured to at least enable: Retrieving information about a profile of the trailer, the profile comprising required clearances for the trailer based on one or more extensions of the trailer configured to be retracted while the trailer is moving and fully extended when the trailer is parked and the one or more extensions are in use; Determining whether any obstacles are in a path of the trailer when the one or more extensions are fully extended based on the sensor data and the profile; and Performing an action according to instructions provided by the processor when it is determined that one or more obstacles are in the path of the trailer.

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