System and method for controlling a trailer separately from a vehicle

Abstract

Systems, methods, and other embodiments described herein relate to controlling a trailer in the absence of a physical connection. In one embodiment, the method includes obtaining a control input to steer the trailer from an input device in the controlling vehicle in response to receiving a signal to initiate hitchless steering of the trailer separately from the controlling vehicle. The method includes communicating the control input to steer the trailer from the controlling vehicle to the trailer. The method includes transmitting a control signal to stop the trailer in response to receiving feedback from the trailer indicating that the trailer is in a requested position.

Description

[Technical field]

[0001] The subject matter described herein relates generally to controlling a trailer without a physical connection to a vehicle, and more specifically to improving the task of steering a trailer by providing a human-machine interface (HMI) within the vehicle to control the movement of the trailer. [Background technology]

[0002] Drivers may encounter difficulties when towing a trailer, for example, when reversing and parking the trailer. To reverse or park a trailer, the driver typically inputs steering controls in the vehicle opposite to how the vehicle itself reverses to move the trailer in the intended manner. Thus, the driver steers the vehicle using opposite controls to what might otherwise be intuitive, thereby resulting in difficulties with accurately controlling the trailer during the maneuver. Generally, the more awareness is developed by the vehicle about the surrounding environment, the better the driver can be supplemented with information to assist in driving and / or the autonomous system can better control the vehicle to avoid hazards.

[0003] Current approaches exist for simplifying trailer reversing, e.g., assistance systems that guide the driver to input controls, thereby reducing the trial and error of adjusting the trailer, however, the approaches still involve a physical connection between the trailer and the vehicle, resulting in the driver attempting to translate the vehicle's motion into trailer reversing motion while also perceiving their surroundings. Summary of the Invention

[0004] Exemplary systems and methods disclosed herein relate to improving control of trailers. As previously discussed, the physical connection between the vehicle and the trailer results in steering difficulties when performing reverse maneuvers. For example, reversing a trailer involves moving the vehicle in opposition to the trailer to achieve the proper trajectory for some maneuvers. Thus, the physical connection between the vehicle and the trailer makes reversing a trailer feel unnatural to the driver.

[0005] Thus, in one embodiment, a system is disclosed that improves control of a trailer by removing the presence of a physical connection and providing the driver with an easier way to control the trailer's movement through the use of a human-machine interface (HMI) in the vehicle, such as a steering wheel, knob, touch screen, or the like. Furthermore, in one approach, the driver may control the trailer's movement through the use of a remote device, such as a phone, remote control, or the like. By removing the physical connection between the vehicle and the trailer, the driver can steer the trailer independently of the vehicle as well. In one approach, the trailer can move freely without the need for a physical connection by selectively actuating at least one front wheel in addition to the rear wheels of the trailer. In one approach, the driver initiates trailer steering from inside the vehicle and then independently controls the vehicle using the vehicle's input device, such as a steering wheel. Upon initiating trailer steering, a wireless connection between the vehicle and the trailer is established and any physical connection then existing between the vehicle and the trailer is disconnected. When the driver initiates a trailer maneuver, the vehicle remains stationary and decoupled from the trailer, thereby avoiding the awkward mirrored control inputs that would be required when directly controlling the trailer through a physical connection. Instead, the vehicle transmits motion to the trailer according to the maneuver received via electronic input devices, such as the vehicle's driving inputs (e.g., steering wheel, brake pedal, accelerator pedal, etc.).

[0006] The trailer receives control inputs via a wireless connection and translates the control inputs into specific controls that operate the trailer, which move the trailer according to a defined motion. Thus, the trailer can reverse, accelerate, brake, steer, and the like. During trailer maneuvering, the vehicle receives feedback from trailer sensors regarding the trailer's motion. The feedback can be in the form of images or videos that provide, for example, real-time footfall regarding the trailer's motion. The feedback informs subsequent trailer maneuvers to move the trailer into a desired position. When the trailer is in the desired position, the system isolates the trailer maneuver by sending a stop request to the trailer. In this way, the system improves trailer maneuvering by providing a wireless control mechanism that simplifies trailer maneuvering while the trailer is not physically connected to the vehicle, facilitating the overall driver experience when reversing the trailer.

[0007] In one embodiment, a system is disclosed. The system includes one or more processors and a memory communicatively coupled to the one or more processors. The memory stores a control module including instructions that, when executed by the one or more processors, cause the one or more processors to obtain a control input from an input device in the controlled vehicle to steer the trailer in response to receiving a signal to initiate hitchless maneuvering of the trailer separate from the controlled vehicle. The control module includes instructions to communicate the control input to steer the trailer from the controlled vehicle to the trailer. The control module includes instructions to transmit a control signal to stop the trailer in response to receiving feedback from the trailer indicating that the trailer is in a required position.

[0008] In one embodiment, a non-transitory computer readable medium is disclosed that includes instructions that, when executed by one or more processors, cause the one or more processors to perform one or more functions. The instructions include instructions for obtaining a control input to steer the trailer from an input device in the controlled vehicle in response to receiving a signal to initiate hitchless steering of the trailer separately from the controlled vehicle. The instructions include instructions for communicating the control input to steer the trailer from the controlled vehicle to the trailer. The instructions include instructions for transmitting a control signal to stop the trailer in response to receiving feedback from the trailer indicating that the trailer is in a desired position.

[0009] In one embodiment, a method is disclosed. In one embodiment, the method includes obtaining a control input to steer the trailer from an input device in the controlled vehicle in response to receiving a signal to initiate hitchless steering of the trailer separately from the controlled vehicle. The method includes communicating the control input to steer the trailer from the controlled vehicle to the trailer. The method includes transmitting a control signal to stop the trailer in response to receiving feedback from the trailer indicating that the trailer is within a requested position. [Brief description of the drawings]

[0010] The accompanying drawings, which are incorporated herein and constitute a part of this specification, illustrate various systems, methods, and other embodiments of the present disclosure. It will be understood that the boundaries of elements shown in the figures (e.g., boxes, groups of boxes, or other shapes) represent one embodiment of the boundaries. In some embodiments, one element may be designed as multiple elements, or multiple elements may be designed as one element. In some embodiments, an element shown as an internal component of another element may be implemented as an external component, and vice versa. Additionally, elements may not be drawn to scale.

[0011] [Figure 1] FIG. 1 illustrates an embodiment of a vehicle in which the systems and methods disclosed herein may be implemented. [Diagram 2] FIG. 1 illustrates an embodiment of a trailer system associated with improving vehicle control of trailer steering. [Diagram 3] FIG. 1 illustrates an embodiment of a trailer in which the systems and methods disclosed herein may be implemented. [Figure 4] 1 is a flow chart illustrating one embodiment of a method associated with improving control of trailer steering. [Diagram 5] 1 is a flow chart illustrating one embodiment of a method associated with trailer steering based on vehicle control. [Figure 6] FIG. 1 illustrates a parking sequence associated with a trailer being wirelessly steered by a vehicle. [Figure 7] FIG. 2 shows an interior view of the vehicle, the input devices used to control the trailer, and the vehicle's display system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Disclosed herein are systems, methods, and other embodiments associated with improving vehicle control for trailer steering by providing the driver with an improved way to control the trailer's movement through the use of a human-machine interface (HMI) within the vehicle. As previously discussed, reversing the trailer while the trailer is physically connected to the vehicle creates difficulties for the driver. When the driver reverses the trailer while the trailer is physically connected to the vehicle, the driver steers the vehicle and controls the trailer using opposite controls to what might otherwise be intuitive. For example, if the driver wants to reverse the trailer to the left, the driver must rotate the steering wheel to the right to move the trailer to the left when reversing. Furthermore, when the driver steers the trailer into a parking spot, difficulties arise with properly aligning the trailer within the boundaries of the parking spot because it is difficult to see and control the trailer's movement from within the vehicle.

[0013] Thus, in one embodiment, a system is disclosed that improves trailer control by disconnecting the physical connection and providing the driver with an improved way to control the trailer's movement. The driver may control the trailer using a human-machine interface (HMI) in the vehicle, such as a steering wheel, knob, touch screen, or the like. The driver may also control the trailer using a remote device, such as a phone, remote control, or the like. By disconnecting the vehicle and trailer, the driver can steer the trailer independently from the vehicle. In this way, the driver focuses on control over the trailer's movement without controlling and considering the vehicle's movement. In one or more mechanisms, the trailer moves freely without the need for a physical connection, for example, by actuating a front moving component, such as a front wheel or gyroscope. The moving component may lower to the ground from a retracted position upon initiating hitchless trailer steering in the vehicle. If the trailer normally operates with two rear wheels when connected to the vehicle, actuation of the front wheels facilitates the trailer's movement.

[0014] In one approach, the driver initiates hitchless trailer maneuvering from inside the vehicle. Initiating hitchless trailer maneuvering may include, for example, using a touchpad or button in the vehicle that is specifically tailored to initiate hitchless trailer maneuvering. The driver may then independently control the trailer using the vehicle's input devices, such as a steering wheel, accelerator / brake pedals, knobs, touch screen, or the like. Upon initiating hitchless trailer maneuvering, a wireless connection between the vehicle and trailer is established and any physical connection that then exists between the vehicle and trailer is severed. In one embodiment, the physical connection is severed by autonomously unhooking the hitch connecting the vehicle and trailer. In one approach, the driver manually disconnects any physical connection that then exists. In this manner, the system improves trailer maneuvering by providing a wireless control mechanism that simplifies steering the trailer while the trailer is not physically connected to the vehicle.

[0015] When the driver initiates hitchless trailer steering, the vehicle remains stationary and separated from the trailer, thereby avoiding the awkward mirrored control inputs that would be required if the trailer were directly controlled through a physical connection. Instead, the vehicle transmits motion to the trailer according to steering received via electronic input devices such as the vehicle's driving inputs (e.g., steering wheel, brake pedal, accelerator pedal, etc.). For example, if the driver turns the steering wheel left, the trailer's steering mechanism will rotate the trailer left, and if the driver initiates the brake pedal, the trailer will brake. The vehicle may also transmit speed and acceleration control to the trailer according to steering received from the vehicle's driving inputs. Thus, in one approach, the driver steers the trailer as if the driver were steering the vehicle itself.

[0016] The trailer receives control inputs via a wireless connection and translates the control inputs into specific controls that operate the trailer, which then move the trailer according to the control inputs. Thus, the trailer can reverse, accelerate, brake, steer, and the like. Additionally, the trailer can move forward to allow the driver to adjust the trailer's position as it reverses into a particular location, such as a parking space. The driver can use input controls within the vehicle, such as a touch screen or buttons, to control whether the trailer travels in reverse or forward.

[0017] While the control input is being transmitted to the trailer, the vehicle receives feedback from the trailer sensor regarding the trailer's movement. In one approach, the feedback is in the form of an image or video providing, for example, real-time footfall regarding the trailer's movement. A display within the vehicle, for example, a head-up display (HUD), augmented reality (AR), touch screen, or the like, shows the real-time footfall regarding the trailer's movement. The real-time footfall informs subsequent trailer maneuvering to move the trailer into the desired position. When the trailer is in the desired position, the system isolates the trailer maneuver by sending a stop request to the trailer. The HMI device (e.g., touch screen, button, etc.) receives manual control input from the driver. Alternatively, the system automatically sends a stop request once the trailer is successfully maneuvered, for example, between the boundaries of a parking space. After the trailer maneuvering is isolated, the vehicle is free to drive with the trailer unattached. In this manner, the system improves trailer maneuvering by facilitating the overall driver experience when reversing the trailer through the use of a wireless control mechanism while the trailer is not physically connected to the vehicle.

[0018] Referring to FIG. 1, an example of a vehicle 100 is shown. As used herein, a "vehicle" is any form of motorized transportation. In one or more implementations, the vehicle 100 is an automobile. Although automobile features are described herein, it will be understood that the embodiments are not limited to automobiles. In one feature, the vehicle 100 includes a physical connection point (e.g., a ball) to which a trailer can be attached, for example, using a hitch for towing. In a further aspect, the vehicle 100 also includes components that facilitate wireless communication between the vehicle 100 and the trailer, such as a wireless communication link that links the vehicle 100 to the trailer systems, for example, the trailer's signaling system, braking system, sensor system, etc. Thus, in various approaches, the vehicle 100 can control and / or obtain information from the trailer's mentioned systems via the wireless communication link.

[0019] Vehicle 100 also includes various elements. It will be understood that in various embodiments, vehicle 100 may not have all of the elements shown in FIG. 1. Vehicle 100 may have any combination of the various elements shown in FIG. 1. Furthermore, vehicle 100 may have additional elements to those shown in FIG. 1. In some arrangements, vehicle 100 may be implemented without one or more of the elements shown in FIG. 1. Although various elements are shown as being located within vehicle 100 in FIG. 1, it will be understood that one or more of the elements may be located outside vehicle 100. Furthermore, the elements shown may be physically separated by large distances. For example, as stated, one or more components of the system of the present disclosure may be implemented within the vehicle, while additional components of the system are implemented in a cloud computing environment or other system remote from vehicle 100.

[0020] Some of the possible elements of the vehicle 100 are shown in FIG. 1 and described in conjunction with subsequent figures. However, a description of many of the elements of FIG. 1 is provided following the description of FIGS. 2-7 to simplify this description. It will further be appreciated that for ease of illustration and clarity, reference numerals have been appropriately repeated among different figures to indicate corresponding or similar elements. Additionally, the description outlines numerous specific details to provide a thorough understanding of the embodiments described herein. However, those skilled in the art will appreciate that the embodiments described herein may be implemented using various combinations of such elements. In any case, the vehicle 100 includes a trailer system 170 that is implemented to perform the methods and other functions as disclosed herein with respect to improving trailer control from within the vehicle.

[0021] 2, an embodiment of the trailer system 170 of FIG. 1 is further illustrated. The trailer system 170 is illustrated as including the processor 110 of the vehicle 100 of FIG. 1. Thus, the processor 110 may be part of the trailer system 170, the trailer system 170 may include a processor separate from the processor 110 of the vehicle 100, or the trailer system 170 may access the processor 110 through a data bus or another communication path. In one embodiment, the trailer control system 170 includes a memory 210 that stores a control module 220. The memory 210 may be a random access memory (RAM), a read only memory (ROM), a hard disk drive, a flash memory, or other suitable memory that stores the control module 220. The control module 220 may be, for example, computer readable instructions that, when executed by the processor 110, cause the processor 110 to perform various functions disclosed herein.

[0022] 2, the control module 220 generally includes instructions that function to control the processor 110 to identify control inputs from one or more input devices of the vehicle 100. In one embodiment, the control inputs are control inputs entered by occupants (e.g., the driver or passengers) within the vehicle 100. As provided herein, in one arrangement, the control module 220 obtains control input data 240 from the input devices that includes at least control inputs to steer the trailer longitudinally and laterally. Additionally, the control inputs may control other trailer functions (e.g., trailer lights, parking brakes, trailer speed, etc.). The input devices may include input devices such as steering wheels, knobs, buttons, touch screens, brake pedals, accelerator pedals, etc.

[0023] 2, the control module 220 generally includes instructions that function to control the processor 110 to receive data inputs from one or more sensors of the vehicle 100 and trailer. In one embodiment, the inputs are observations of one or more objects in an environment proximate to the vehicle 100 and / or other aspects of the surroundings. In one embodiment, the control module 220 provided herein acquires sensor data 250 including at least camera images. In a further mechanism, the control module 220 acquires sensor data 250 from additional sensors, such as radar 123, LiDAR 124, and other sensors that may be suitable for identifying the vehicle and its location.

[0024] Thus, in one embodiment, control module 220 controls each sensor to provide data input in the form of sensor data 250. Additionally, although control module 220 is described as controlling various sensors to provide sensor data 250, in one or more embodiments, control module 220 may employ other techniques for acquiring sensor data 250, either active or passive. For example, control module 220 may passively discover sensor data 250 from electronic information streams provided by various sensors to further components within vehicle 100. Additionally, control module 220 may perform various techniques to fuse data from multiple sensors when providing sensor data 250, and / or sensor data acquired over wireless communication links. Thus, in one embodiment, sensor data 250 represents a combination of perceptions acquired from multiple sensors.

[0025] The sensor data 250 may include, for example, information regarding lane markings, parking space boundaries, etc. Additionally, in one embodiment, the control module 220 controls the sensors to obtain sensor data 250 for an area encompassing 360 degrees around the vehicle 100 and trailer to provide a comprehensive assessment of the surrounding environment of the vehicle 100 and trailer. Of course, in alternative embodiments, the control module 220 may obtain sensor data for only the reverse direction, for example, if the vehicle 100 does not include additional sensors to include the additional area around the vehicle 100 and trailer and / or the additional area is not scanned for other reasons.

[0026] Additionally, in one embodiment, trailer system 170 includes data store 230. In one embodiment, data store 230 is a database. In one embodiment, a database is an electronic data structure stored in memory 210 or another data store that is comprised of routines that can be executed by processor 110 to analyze the stored data, present the stored data, organize the stored data, etc. Thus, in one embodiment, data store 230 stores data used by control module 220 in performing various functions.

[0027] In one embodiment, the data store 230 also includes control input data 240. For example, the control input data 240 may include control inputs such as steering control, braking control, and speed control. In one arrangement, the data store 230 further includes other information used by the control module 220. The discussion now turns to FIGURE 3 to further describe how the control module 220 implements various controls to steer the trailer.

[0028] Referring to FIG. 3, one embodiment of a trailer 310 is shown. As used herein, a "trailer" includes at least two rear wheels 330(a) and 330(b) and is connectable to a vehicle with a physical connection (e.g., a hitch). In one or more implementations, the trailer 310 has at least one forward moving component 320. The moving component 320 is, for example, a wheel, a gyroscope, or another device that can facilitate movement of the trailer 310 when disconnected from the towing vehicle. In one embodiment, in response to receiving a signal from the control module 220 or a physical connection between the trailer 310 and the vehicle 100 being disconnected, the moving component 320 descends and extends to the ground below the trailer 310. The trailer 310 includes a trailer response system 350 with a response module 360, which generally functions to execute commands received from the control module 220 to remotely steer the trailer 310. In one arrangement, the trailer response system 350 also includes a sensor system. The sensor system may include sensors capable of capturing image data and / or other observations of the surroundings of the trailer 310, as well as information about the trailer 310 itself. The sensors may be, for example, cameras, radar, light detection and ranging sensors (LiDAR), inertial measurement sensors (IMUs), etc. The discussion now transitions back to FIG. 2 to further describe how the control module 220 communicates commands to the trailer 310.

[0029] 2, in one embodiment, the control module 220 is further configured to perform additional tasks beyond controlling the respective sensors to obtain and provide the sensor data 250, and obtaining control inputs to identify and communicate the control input data 240. For example, the control module 220 includes instructions that cause the processor 110 to receive a signal from an input device. The control module 220 initiates hitchless steering of the trailer according to the signal. In one embodiment, the controlled vehicle is the vehicle 100, the trailer is the trailer 310, and the input device includes, for example, a button and a touch screen device or another HMI device. The control module 220 obtains the control input data 240 to identify a signal to initiate hitchless steering, where the HMI generates and provides the signal when an occupant (e.g., a driver or passenger) of the vehicle 100 operates, for example, a button or a touch screen device located on the vehicle 100.

[0030] In response to receiving a signal to initiate hitchless steering, the control module 220 identifies whether a wireless connection exists between the vehicle 100 and the trailer 310. If a wireless connection does not exist, the control module 220 establishes a wireless connection between the vehicle 100 and the trailer 310. The control module 220 may establish the wireless connection by using a handshake process that includes the control module 220 identifying a beacon transmitted from the trailer 310 and then transmitting a secure message receivable by the trailer 310.

[0031] Furthermore, in response to receiving a signal to initiate hitchless maneuvering, the control module 220 breaks the then-existing physical connection between the vehicle 100 and the trailer 310. In one embodiment, the control module 220 breaks the physical connection by autonomously disconnecting the hitch connecting the vehicle and the trailer. In a further approach, the driver manually breaks the then-existing physical connection. Furthermore, in response to receiving a signal to initiate hitchless maneuvering, the control module 220 causes the vehicle 100 to remain stationary during the trailer maneuver. In one embodiment, the control module 220 causes the vehicle 100 to remain stationary by parking the vehicle 100 and disabling systems of the vehicle 100 that steer the trailer 310 (e.g., braking system, steering system, etc.).

[0032] The control module 220 identifies control inputs from an input device to steer the trailer 310. In one embodiment, the input device is, for example, a steering wheel, a knob, a button, and a touch screen device. In one configuration, the input device is a remote device, such as a phone or a remote control. The input device provides steering control as a control input. Additionally, the input device may include brake pedal movement and accelerator pedal movement as control inputs. The input device may be used to specify in which longitudinal direction the trailer 310 moves (i.e., whether the trailer 310 moves forward or backward). Thus, the control module 220 identifies the control input by obtaining inputs from the input device.

[0033] The control module 220 communicates control inputs from the vehicle 100 to the trailer 310 to steer the trailer 310 accordingly. In one or more mechanisms, the control module 220 translates the control inputs into commands that control the trailer. That is, the control module 220 may identify the intent of the control inputs and translate the control inputs into commands that can be interpreted by the trailer 310 to induce motion in the trailer 310. Additionally, in at least one approach, the control module 220 forms communications using a specific protocol and encodes commands such that communications between the system 170 and the trailer 310 are secure from malicious interference. In this manner, the trailer system 170 remotely controls the trailer 310 while the vehicle 100 remains stationary.

[0034] For example, if an occupant rotates a steering wheel or knob that can control the trailer 310 in the vehicle 100 to the left, the control module 220 communicates a turn left command to the trailer 310. In response, the trailer 310 controls the steering mechanism of the trailer 310, which rotates the trailer 310 to the left to the same extent that the occupant rotates the steering wheel or knob. In one approach, the HMI obtains a control input in response to an occupant of the vehicle 100 rotating the steering wheel or knob to the left while simultaneously applying pressure to the accelerator pedal. In response, the trailer 310 is steered to the left and accelerates based on the amount the occupant presses the accelerator pedal. In one embodiment, the occupant may use a touch screen device or buttons to input and communicate both speed and steering control to the processor 110.

[0035] The control module 220 receives feedback from the trailer 310. The trailer feedback may be displayed to the occupants of the vehicle 100 using a display. The display may be a head-up display (HUD), an augmented reality (AR) display, or another display device located in the vehicle 100 that may display the feedback from the trailer 310. In either case, the occupants may see on the display how the trailer 310 is responding to the control inputs entered through the input device. In one approach, the trailer feedback includes video and image data obtained from sensors located on the trailer 310. The sensors may be located, for example, on the exterior of the trailer 310 to capture an area encompassing 360 degrees around the trailer 310. For example, the sensors may be located on the rear exterior of the trailer 310, on the roof of the trailer 310, or on the rear wheels 330(a) and 330(b) of the trailer 310. The sensors may include cameras that capture real-time image and video data about the surroundings of the trailer 310. The control module 220 receives real-time image and video data captured by sensors located on the trailer 310 and displays the real-time image and video data on a display located within the vehicle 100, for example.

[0036] In response to receiving feedback from the trailer 310, the control module 220 determines whether to disengage hitchless steering of the trailer 310. When the trailer 310 is steered into a desired position, such as between the boundaries of a parking space, and is laterally centered between the boundaries of the parking space, the control module 220 may automatically determine to disengage hitchless steering of the trailer 310. When the trailer 310 begins to position with respect to meeting parking criteria defined by the trailer system 170, the control module 220 may automatically determine to disengage hitchless steering of the trailer 310. For example, the control module 220 may pre-arrange a stop signal to send to the trailer 310 when the trailer 310 becomes positioned between the desired position, the desired position being between the boundaries of the parking space. Furthermore, such pre-arrangement by the control module 220 may be combined with a later determination that the trailer 310 is parked between the boundaries of the parking space.

[0037] In one embodiment, the control module 220 determines the start of the trailer 310 positioning to align between the boundaries of the parking space by using criteria that define thresholds / conditions associated with the start. As with other aspects of the trailer system 170, the criteria may be implemented with varying degrees of specificity and distinctiveness depending on the particular implementation. For example, in one approach, the trailer system 170 defines the criteria as a threshold distance between two solid lines of the parking space that indicates a magnitude with respect to the distance from the solid lines to trigger a response by the control module 220. Although the distance threshold is described as a binary trigger, it should be understood that the response of the system 170 may include variable tiers (i.e., degrees / combinations) of control according to the distance between the solid lines of the parking space once an initial distance threshold is met.

[0038] In either case, in one or more embodiments, the control module 220 functions to control the trailer 310 according to the position of the trailer as it moves between the boundaries of the parking space or as the trailer moves to any other desired position. Thus, the control module 220 determines to isolate the hitchless maneuver once it determines that the threshold distance meets the parking criteria.

[0039] Alternatively, the control module 220 determines whether to disengage the hitchless steering of the trailer 310 based on electronic input from a machine interface controlled by a human driver of the vehicle 100. The machine interface may be an input device. The input device communicates the disengagement request. For example, a vehicle occupant may press a button or interact with a touch screen device to indicate a request to disengage the hitchless steering. In response to determining to disengage the hitchless steering, the control module 220 transmits a control signal that stops the trailer 310 from moving further. However, if the control module 220 determines that the hitchless steering should not be disengaged, the control module 220 continues to identify and communicate control inputs to move the trailer 310 accordingly.

[0040] Additional aspects of improving trailer control from within the vehicle are described with respect to FIG. 4. FIG. 4 illustrates a flow chart of a method 400 associated with controlling the trailer 310 from the vehicle 100 without a physical connection between the vehicle 100 and the trailer 310. The method 400 is described in terms of the trailer system 170 of FIGS. 1 and 2. Although the method 400 is described in conjunction with the trailer system 170, it should be understood that the method 400 is not limited to implementation within the trailer system 170, but is an example of a system in which the method 400 may be implemented. The description of the method 400 may include a description of FIG. 3 with respect to how the trailer 310 moves in response to receiving control inputs from the trailer system 170 of FIGS. 1 and 2.

[0041] At 410, the control module 220 receives a signal to initiate hitchless steering of the trailer separately from the controlled vehicle. In one embodiment, the controlled vehicle is the vehicle 100 and the trailer is the trailer 310. In one embodiment, the input device includes, for example, a button and a touch screen device. The control module 220 obtains the control input data 240 to identify the signal to initiate hitchless steering. An occupant (e.g., a driver or passenger) generates the signal to initiate hitchless steering by, for example, engaging a button or a touch screen device located on the vehicle 100. The occupant may also generate the signal to initiate hitchless steering by engaging a remote device, such as a phone or remote control.

[0042] In response to receiving a signal to initiate hitchless steering, the control module 220 determines whether a wireless connection exists between the vehicle 100 and the trailer 310 by identifying the presence of a wireless connection. If a wireless connection does not exist between the vehicle 100 and the trailer 310, the control module 220 establishes a wireless connection. For example, the control module 220 may establish a wireless connection by using a handshake process. In one approach, the handshake process includes identifying a beacon transmitted from the trailer 310. The control module 220 recognizes the beacon and attempts to establish a connection by transmitting a secure message that includes authentication information of the vehicle 100. If the trailer 310 receives the secure message from the control module 220 and responds thereto, for example, with a session key or other information supporting a communication link, the wireless connection is successfully established.

[0043] In response to receiving a signal to initiate hitchless maneuvering and establishing a wireless connection with the trailer 310, the control module 220 breaks a then-existing physical connection between the vehicle 100 and the trailer 310 to facilitate movement of the trailer 310 separate from the vehicle 100. In one embodiment, the control module 220 controls the breaking of the physical connection by autonomously disconnecting the hitch connecting the vehicle and the trailer. In one approach, the driver may manually break any then-existing physical connection. Furthermore, in response to receiving a signal to initiate hitchless maneuvering, the control module 220 causes the vehicle 100 to be in a stationary position during the trailer maneuver. In one embodiment, the control module 220 causes the vehicle 100 to remain stationary by controlling the vehicle 100 to engage a parking function (e.g., a park selection in the transmission). The control module 220 may further disable control connections of input systems (e.g., braking system, steering system, etc.) of the vehicle 100 that may function as HMI elements that provide control inputs to steer the trailer 310.

[0044] At 420, the control module 220 identifies a control input to steer the trailer 310. In one embodiment, the input device is, for example, a steering wheel, knob, button, touch screen device, etc. In one approach, the input device is, for example, a remote device, for example, a phone, remote control, etc. The input device provides a steering control as an input. Additionally, the input device may include a brake control and a steering control as an input. The input device may be used to specify in which longitudinal direction the trailer 310 moves (i.e., whether the trailer 310 moves forward or reverse). Thus, the control module 220 identifies the control input by obtaining information from the input device.

[0045] At 430, the control module 220 communicates the control input to the trailer 310 to steer the trailer 310 accordingly. In one or more mechanisms, the control module 220 converts the control input into a command to control the trailer. That is, the control module 220 may identify the intent of the control input and convert the control input into a command interpretable by the trailer 310 to induce a movement in the trailer 310. For example, a passenger may rotate a steering wheel or knob to the right, which causes the control module 220 to identify that the intent of the control input is to rotate the trailer 310 to the right. Thus, the control module 220 converts the right turn control input into a command that the trailer 310 executes. Additionally, in at least one approach, the control module 220 forms the communication using a specific protocol and encodes the command such that the communication between the system 170 and the trailer 310 is secure from malicious interference. In this manner, the trailer system 170 can remotely control the trailer 310 while the vehicle 100 remains stationary.

[0046] The occupant may generate the control inputs by interacting with a single input device within the vehicle 100. For example, if the occupant rotates a steering wheel or knob within the vehicle 100 that can control the trailer 310 to the left, the control module 220 communicates a left rotation command to the trailer 310. In response, the trailer 310 controls the steering mechanism of the trailer 310, which rotates the trailer 310 to the left to the same extent that the occupant rotates the steering wheel or knob. In one approach, the occupant may generate the speed, longitudinal direction, and steering inputs all on a touchpad located within the vehicle 100. For example, the touchpad may include interactable virtual buttons or dials that generate the control inputs in response to the occupant interacting with the buttons or dials. In one embodiment, the vehicle 100 includes buttons that correspond to various control inputs (i.e., buttons to increase / decrease the speed of the trailer 310, buttons to adjust the steering angle of the trailer 310, buttons to specify the longitudinal direction of travel for the trailer 310, etc.). For example, if the occupant interacts with a button to increase the speed of the trailer 310, the control module 220 translates the speed control input into a command that the trailer 310 executes accordingly. In one configuration, the occupant interacts with a remote device, such as a phone or remote control, to generate the control input. For example, the occupant may generate control inputs on a mobile application, such as speed, longitudinal, and steering controls that the trailer 310 executes.

[0047] In one approach, an occupant of the vehicle 100 may generate a control input by simultaneously interacting with more than one input device disposed within the vehicle 100. For example, the occupant may rotate a steering wheel or knob to the left while simultaneously applying pressure to an accelerator pedal. In response, the trailer 310 steers to the left and accelerates based on the amount the occupant presses the accelerator pedal. In one embodiment, the occupant may use a touch screen device to input the speed, longitudinal direction of travel, and steering angle / direction that the trailer 310 will perform. For example, the occupant may use a touch pad to request the trailer 310 to move in a reverse direction at a speed of 2 mph while turning left at a 45 degree angle. Thus, the control module 220 translates the control input received from the touch pad into a command that the trailer 310 will execute such that the trailer 310 will reverse at a speed of 2 mph while turning left at a 45 degree angle. Similarly, an occupant may simultaneously use one or more buttons located on the vehicle 100 to generate multiple control inputs for execution by the trailer 310 .

[0048] At 440, the control module 220 receives the trailer feedback. The control module 220 uses a display to display the trailer feedback to the occupants of the vehicle 100. The display may be a head-up display (HUD), an augmented reality (AR) display, or another display device located in the vehicle 100 that may display feedback from the trailer 310. In either case, the occupants may see on the display how the trailer 310 is responding to the control inputs entered through the input device. In one approach, the trailer feedback includes video and image data obtained from sensors located on the trailer 310. The sensors may include cameras, radar, and LiDAR that capture real-time image and video data about the surroundings of the trailer 310. The sensors may be located, for example, on the exterior surface of the trailer 310 to capture an area encompassing 360 degrees around the trailer 310. For example, the sensors may be located on the rear exterior surface of the trailer 310, on the roof of the trailer 310, or on the rear wheels 330(a) and 330(b) of the trailer 310. In one approach, the sensors may capture an area encompassing a desired parking position for the trailer 310. An occupant may input a requested parking position for the trailer 310 when using an input device (e.g., a touchpad). In response to receiving the requested parking position, the control module 220 controls the sensor system to obtain sensor data 250 encompassing the requested parking position. The control module 220 may display the sensor data 250, for example, on a display within the vehicle 100.

[0049] At 450, in response to receiving feedback from the trailer 310 indicating that the trailer 310 is within the requested position, the control module 220 transmits a control signal to stop the trailer 310. In one approach, the control module 220 automatically transmits a stop signal to the trailer 310 based at least in part on a determination that the trailer 310 is within the requested parking position, e.g., between the boundaries of a parking space, and is centered longitudinally between the boundaries of the parking space. The control module 220 may automatically transmit a stop signal to the trailer 310 when the trailer 310 begins to position with respect to meeting parking criteria defined by the trailer system 170. For example, the control module 220 may pre-arrange a stop signal to transmit to the trailer 310 when the trailer 310 becomes positioned between the requested position, which is between the boundaries of a parking space.

[0050] In one mechanism, the control module 220 compares attributes of the detected position of the trailer 310 to parking criteria. As previously described, the control module 220 may perform a comparison to identify whether the position of the trailer 310 meets basic characteristics (e.g., a measure of distance from the solid lines of a parking space) or may perform a more complex analysis including identifying whether the trailer 310 is being maneuvered in a manner that indicates that the trailer 310 is approaching the requested parking position. In either case, the control module 220 compares the position of the trailer 310 against the parking criteria to identify whether the trailer 310 is in the requested parking position. Thus, in response to determining that the position of the trailer 310 meets the parking criteria, the control module 220 transmits a control signal to stop the trailer 310.

[0051] Alternatively, at 450, the control module 220 transmits a control signal to stop the trailer 310 according to electronic input from a machine interface controlled by a human driver of the vehicle 100. The machine interface may be an input device, where the input device communicates the disconnect request. For example, the occupant may press a button, interact with a touch pad, or interact with a remote device to indicate a request to disconnect the hitchless steering. In one approach, the touch pad may have a virtual "stop" button that the occupant presses to generate a control signal to stop the trailer 310. In one mechanism, the occupant engages a "stop" button located inside the vehicle 100 to generate a control signal to stop the trailer 310. In response to receiving a control signal to stop the trailer 310, the control module 220 transmits a control signal to stop the trailer 310 from moving further. However, if the control module 220 does not receive a control signal to stop the trailer 310, the control module 220 continues to identify and communicate control inputs as described in block 420. If not, the control module 220 proceeds to shut down.

[0052] 5 illustrates a flow chart of a method 500 associated with improving trailer control from within a vehicle. The method 500 is described from the perspective of the trailer response system 350 of FIG 3 as it responds to control inputs from the trailer system 170 of FIG 1 and FIG 2.

[0053] At 510, the control module 220 receives a signal to initiate hitchless steering of the trailer separately from the controlled vehicle, as previously disclosed. In one embodiment, the trailer is the trailer 310 and the controlled vehicle is the vehicle 100. At the same time, the trailer response module 360 ​​receives the signal to initiate hitchless steering of the trailer 310. In response to receiving the signal to initiate hitchless steering of the trailer 310, the response module 360 ​​transmits a beacon to set up a wireless connection with the vehicle 100. In response to transmitting the beacon, the response module 360 ​​receives a secure message from the control module 220 establishing the wireless connection.

[0054] Further, in response to receiving a signal to initiate hitchless steering of the trailer 310, the response module 360 ​​activates the moving components 320 to facilitate trailer steering. The moving components may be, for example, wheels, gyroscopes, or other devices that can facilitate movement. In one configuration, if the moving components 320 are wheels, the wheels function according to the rear wheels 320(a) and 330(b) to steer the trailer 310. In one mechanism, if the moving components 320 are gyroscopes, the gyroscopes balance the trailer 310 on the rear wheels 320(a) and 320(b). When the moving components 320 are not activated, the moving components 320 may be stored in a retracted position, for example, in the undercarriage of the trailer 310. The moving components 320 may include a telescoping support structure that facilitates movement of the moving components 320. In one approach, response module 360 ​​controls the electronic system of trailer 310 to cause moving component 320 to extend from a retracted position to the ground relative to its support structure.

[0055] At 520, the response module 360 ​​receives a control input from the control module 220. The control input may include, for example, speed control, steering control, and braking control. The response module 360 ​​converts the control input into executable instructions that move the trailer 310 in accordance with the control input. For example, when an occupant inputs a turn left control input using an input device in the vehicle 100, the response module 360 ​​may receive a turn left steering control. The response module 360 ​​converts the turn left control input into a turn left command that the trailer 310 executes.

[0056] At 530, the response module 360 ​​executes the control input. For example, if the response module 360 ​​receives a turn left steering control, the response module 360 ​​controls the steering mechanism of the trailer 310 to steer left. In one embodiment, the response module 360 ​​receives a turn left steering control and a speed control. Thus, the response module 360 ​​controls the steering mechanism and propulsion system of the trailer 310 to steer left and accelerate at a speed corresponding to the speed control.

[0057] At 540, the response module 360 ​​transmits feedback to the trailer system 170. In one embodiment, the trailer response system 350 includes sensors, such as cameras, that capture real-time image data and video data of the surroundings of the trailer 310. The sensors may be located, for example, on any exterior surface of the trailer 310 to capture an area encompassing 360 degrees around the trailer 310. In one configuration, the sensors may be located on the rear exterior surface of the trailer 310, on the roof of the trailer 310, or on the rear wheels 330(a) and 330(b) of the trailer 310. In one mechanism, the sensors capture an area encompassing the requested parking position. For example, the sensors may capture real-time image data and video data of the trailer 310 within the boundaries of the parking space.

[0058] At 550, the response module 360 ​​monitors the trailer response system 350 for a stop signal from the control module 220. If the response module 360 ​​does not receive a stop signal from the control module 220, the response module 360 ​​continues to receive and interpret control inputs as described in block 520. Otherwise, the response module 360 ​​proceeds to a stop operation as further described in block 560.

[0059] As a further explanation of how the trailer system 170 improves the control of the trailer 310 separately from the vehicle 100, an example parking sequence associated with the trailer being wirelessly steered by the vehicle will now be described with respect to Figure 6. At time step 600, the vehicle 100 and trailer 310 begin hitchless steering. Thus, as previously described, at 600 the vehicle 100 and trailer 310 establish a wireless connection and the physical connection that exists between the vehicle 100 and trailer 310 is separated pursuant to a communication received from the control module 220.

[0060] At 610, the response module 360 ​​executes the control input from the control module 220 to initiate reverse movement into the parking space, as shown in the example. As shown, the vehicle 100 remains stationary while the control module 220 communicates the control input to the response module 360. In contrast, the trailer 310 moves according to the communicated control input.

[0061] 6 shows a subsequent time step at 620. At 620, the trailer 310 stops between the boundaries of the parking space. In one approach, the trailer 310 stops in response to receiving a stop signal from the vehicle 100. After receiving the stop signal, the control module 220 disconnects the wireless connection between the vehicle 100 and the trailer 310.

[0062] As further explanation of how the trailer system 170 identifies control inputs to control the trailer 310 and receives feedback from the trailer 310, an exemplary interior view of the vehicle 100 is now described with respect to FIG. 7. In various implementations, the vehicle 100 includes at least one mechanical interface. In one arrangement, the mechanical interface is a steering wheel 710. In one embodiment, the mechanical interface is a knob, button, or touchpad 720. In one configuration, the interior of the vehicle 100 includes a combination of a steering wheel 710, knobs, buttons, and a touchpad 720 as mechanical interfaces. Although a steering wheel 710, knobs, buttons, and a touchpad 720 are all shown as being included in the vehicle 100, it will be understood that embodiments herein are not limited to the configuration shown in FIG. 7.

[0063] Additionally, as disclosed herein, the vehicle 100 includes at least one display. Figure 7 illustrates a preferred display 730 that receives feedback from the trailer 310. The display 730 shows real-time image and video data captured by sensors mounted on the trailer 310. Although the display 730 is illustrated as a head-up display (HUD), it will be understood that the display 730 may be any display installed on the vehicle 100, including an augmented reality (AR) display. The display 730 informs the occupants of the vehicle 100 of upcoming trailer maneuvers.

[0064] 1 will now be described in greater detail as an exemplary environment in which the systems and methods disclosed herein may operate. In some examples, the vehicle 100 is configured to selectively switch between different modes of operation / control according to the orientation of one or more modules / systems of the vehicle 100. In one approach, the modes include: 0, no automation; 1, driver assistance; 2, partial automation; 3, conditional automation; 4, high automation; and 5, full automation. In one or more mechanisms, the vehicle 100 may be configured to operate in only a subset of the possible modes.

[0065] In one or more embodiments, vehicle 100 is an autonomous vehicle. As used herein, "autonomous vehicle" refers to a vehicle capable of operating in an autonomous mode (e.g., Category 5, fully automated). "Autonomous mode" refers to using one or more computing systems to control vehicle 100 with minimal or no input from a human driver to navigate and / or steer vehicle 100 along a travel route. In one or more embodiments, vehicle 100 is highly automated or fully automated. In one embodiment, vehicle 100 is configured with one or more semi-autonomous operating modes in which one or more computing systems perform a portion of the navigation and / or steering of the vehicle along a travel route, and a vehicle operator (i.e., the driver) provides input to the vehicle to perform a portion of the navigation and / or steering of vehicle 100 along a travel route.

[0066] The vehicle 100 may include one or more processors 110. In one or more arrangements, the processor 110 may be the main processor of the vehicle 100. For example, the processor 110 may be an electronic control unit (ECU), an application specific integrated circuit (ASIC), a microprocessor, etc. The vehicle 100 may include one or more data stores 115 that store one or more types of data. The data stores 115 may include volatile and / or non-volatile memory. Examples of suitable data stores 115 include RAM (random access memory), flash memory, ROM (read only memory), PROM (programmable read only memory), EPROM (erasable programmable read only memory), EEPROM (electrically erasable programmable read only memory), registers, magnetic disks, optical disks, and hard drives. The data stores 115 may be components of the processor 110, or the data stores 115 may be operatively connected to the processor 110 for use by the processor 110. As used throughout this specification, the term "operably connected" includes direct or indirect connections and can include connections without direct physical contact.

[0067] In one or more arrangements, one or more data stores 115 may include map data 116. The map data 116 may include maps of one or more geographic areas. In some examples, the map data 116 may include information or data about roads, traffic control devices, road marks, structures, features, and / or landmarks in one or more geographic areas. The map data 116 may be in any suitable form. In some examples, the map data 116 may include an aerial photograph of the area. In some examples, the map data 116 may include a ground photograph of the area, including a 360 degree ground photograph. The map data 116 may include measurements, dimensions, distances, and / or information about one or more features included in the map data 116 and / or for other features included in the map data 116. The map data 116 may include a digital map with information about road geometry.

[0068] In one or more arrangements, map data 116 may include one or more terrain maps 117. The terrain maps 117 may include information about the terrain, roads, surfaces, and / or other features of one or more geographic areas. The terrain maps 117 may include elevation data within one or more geographic areas. The terrain maps 117 may define one or more ground surfaces, which may include paved roads, unpaved roads, land, and other defining ground surfaces.

[0069] In one or more mechanisms, the map data 116 may include one or more stationary obstacle maps 118. The stationary obstacle map 118 may include information about one or more stationary obstacles located within one or more geographic areas. A "stationary obstacle" is a physical object whose location does not change or does not substantially change over a period of time and / or whose size does not change or does not substantially change over a period of time. Examples of stationary obstacles may include trees, buildings, curbs, fences, railings, centerlines, utility poles, statues, monuments, signs, benches, furniture, mailboxes, large rocks, and hills. A stationary obstacle may be an object that extends above ground level. One or more stationary obstacles included in the stationary obstacle map 118 may have location data, size data, dimension data, material data, and / or other data associated therewith. The stationary obstacle map 118 may include measurements, dimensions, distances, and / or information about one or more stationary obstacles. The stationary obstacle map 118 may be of high quality and / or high definition. The static obstacle map 118 may be updated to reflect changes in the mapped area.

[0070] The one or more data stores 115 may include sensor data 119. In this context, "sensor data" means any information related to sensors equipped in the vehicle 100, including capabilities and other information related to the sensors. As described below, the vehicle 100 may include a sensor system 120. The sensor data 119 may relate to one or more sensors of the sensor system 120. As an example, in one or more mechanisms, the sensor data 119 may include information related to one or more LiDAR sensors 124 of the sensor system 120.

[0071] In some examples, at least a portion of the map data 116 and / or the sensor data 119 may be located in one or more data stores 115 located on-board the vehicle 100. Alternatively or additionally, at least a portion of the map data 116 and / or the sensor data 119 may be located in one or more data stores 115 located remotely from the vehicle 100.

[0072] As mentioned above, the vehicle 100 may include a sensor system 120. The sensor system 120 may include one or more sensors. A "sensor" means a device that can detect and / or sense something. In at least one embodiment, the one or more sensors detect and / or sense in real-time. As used herein, the term "real-time" refers to a level of processing responsiveness that allows a user or system to sense quickly enough for a particular process or decision to be made or for a processor to keep up with some external process.

[0073] In arrangements where sensor system 120 includes multiple sensors, the sensors may function independently or two or more of the sensors may function in combination. Sensor system 120 and / or one or more of the sensors may be operatively connected to processor 110, data store 115, and / or another element of vehicle 100. Sensor system 120 may generate observations regarding a portion of the environment of vehicle 100 (e.g., nearby vehicles).

[0074] The sensor system 120 may include any suitable type of sensor. Various examples of different types of sensors are described herein. However, it will be understood that the embodiments are not limited to the particular sensors described. The sensor system 120 may include one or more vehicle sensors 121. The vehicle sensors 121 may detect information about the vehicle 100 itself. In one or more mechanisms, the vehicle sensors 121 may be configured to detect changes in the position and orientation of the vehicle 100, for example, based on inertial acceleration or the like. In one or more mechanisms, the vehicle sensors 121 may include one or more accelerometers, one or more gyroscopes, an inertial measurement unit (IMU), a dead reckoning system, a global navigation satellite system (GNSS), a global positioning system (GPS), a navigation system 147, and / or other suitable sensors. The vehicle sensors 121 may be configured to detect one or more characteristics of the vehicle 100 and / or the manner in which the vehicle 100 is operating. In one or more mechanisms, the vehicle sensors 121 may include a speedometer to determine the current speed of the vehicle 100.

[0075] Alternatively or additionally, the sensor system 120 may include one or more environmental sensors 122 configured to obtain data regarding the environment surrounding the vehicle 100 in which the vehicle 100 is operating. "Ambient environmental data" includes data regarding the external environment in which the vehicle is located or one or more portions thereof. For example, the one or more environmental sensors 122 may be configured to detect obstacles in at least a portion of the external environment of the vehicle 100 and / or data regarding the obstacles. The obstacles may be stationary objects and / or dynamic objects. The one or more environmental sensors 122 may be configured to detect other things in the external environment of the vehicle 100, such as, for example, lane markers, signs, traffic lights, traffic signs, lanes, crosswalks, curbs close to the vehicle 100, off-road objects, etc.

[0076] Described herein are various examples of sensors for the sensor system 120. The example sensors may be part of one or more environmental sensors 122 and / or one or more vehicle sensors 121. However, it will be understood that embodiments are not limited to the particular sensors described.

[0077] By way of example, in one or more arrangements, sensor system 120 may include one or more of each of the following: radar sensor 123, LiDAR sensor 124, sonar sensor 125, weather sensor, haptic sensor, position sensor, and / or one or more cameras 126. In one or more arrangements, one or more cameras 126 may be a high dynamic range (HDR) camera, a stereo camera, or an infrared (IR) camera.

[0078] Vehicle 100 may include input system 130. An "input system" includes any component or mechanism or grouping thereof that allows various entities to input data into a machine. Input system 130 may receive input from an occupant of the vehicle. Vehicle 100 may include output system 135. An "output system" includes one or more components that facilitate presenting data to an occupant of the vehicle.

[0079] Vehicle 100 may include one or more vehicle systems 140. Various examples of one or more vehicle systems 140 are shown in FIG. 1. However, vehicle 100 may include more, fewer, or different vehicle systems. Although certain vehicle systems are defined separately, it should be understood that each or any of the systems or portions thereof may be otherwise combined or separated within vehicle 100 via hardware and / or software. Vehicle 100 may include a propulsion system 141, a braking system 142, a steering system 143, a throttle system 144, a transmission system 145, a signaling system 146, and / or a navigation system 147. Each of these systems may include one or more devices, components, and / or combinations thereof, now known or later developed.

[0080] Navigation system 147 may include one or more devices, applications, and / or combinations thereof, now known or later developed, configured to determine a geographic location of vehicle 100 and / or determine driving routes for vehicle 100. Navigation system 147 may include one or more mapping applications that determine driving routes for vehicle 100. Navigation system 147 may include a global positioning system, a local positioning system, or a geolocation system.

[0081] The processor 110, the trailer system 170, and / or the autonomous driving module 160 may be operatively connected to communicate with the various vehicle systems 140 and / or their individual components. For example, returning to FIG. 1 , the processor 110 and / or the autonomous driving module 160 may be in communication to send and / or receive information from the various vehicle systems 140 to control the movement of the vehicle 100. The processor 110, the trailer system 170, and / or the autonomous driving module 160 may control some or all of the vehicle systems 140 and thus may be partially or fully autonomous as defined by SAE 0-5.

[0082] The processor 110, the trailer system 170, and / or the autonomous driving module 160 may be operatively connected to communicate with the various vehicle systems 140 and / or their individual components. For example, returning to FIG. 1 , the processor 110, the lane occupancy system 170, and / or the autonomous driving module 160 may be in communication to send and / or receive information from the various vehicle systems 140 to control the movement of the vehicle 100. The processor 110, the trailer system 170, and / or the autonomous driving module 160 may control some or all of the vehicle systems 140.

[0083] Processor 110, trailer system 170, and / or autonomous driving module 160 may be operable to control the navigation and steering of vehicle 100 by controlling vehicle system 140 and / or one or more of its components. For example, when operating in an autonomous mode, processor 110, trailer system 170, and / or autonomous driving module 160 may control the direction and / or speed of vehicle 100. Processor 110, trailer system 170, and / or autonomous driving module 160 may accelerate, decelerate, and / or change direction of vehicle 100. As used herein, "cause" or "causing" means, either directly or indirectly, to make, force, compel, direct, command, indicate, and / or enable an event or action to occur, or to make, force, compel, direct, command, indicate, and / or enable an event or action to be in a state in which such event or action may occur.

[0084] Vehicle 100 may include one or more actuators 150. Actuator 150 may be an element or combination of elements operable to modify vehicle system 140 or one or more of its components in response to receiving signals or other inputs from processor 110 and / or autonomous driving module 160. For example, one or more actuators 150 may include motors, pneumatic actuators, hydraulic pistons, relays, solenoids, and / or piezoelectric actuators, just to name a few possibilities.

[0085] Vehicle 100 may include one or more modules, at least some of which are described herein. The modules may be implemented as computer readable program code that, when executed by processor 110, implements one or more of the various processes described herein. One or more of the modules may be components of processor 110, or one or more of the modules may be executed on and / or distributed among other processing systems to which processor 110 is operatively connected. The modules may include instructions (e.g., program logic) executable by one or more processors 110. Alternatively or additionally, one or more data stores 115 may include the instructions.

[0086] In one or more arrangements, one or more of the modules described herein may include artificial intelligence elements, such as neural networks, fuzzy logic, or other machine learning algorithms. Further, in one or more arrangements, one or more of the modules may be distributed among multiple modules described herein. In one or more arrangements, two or more of the modules described herein may be combined into a single module.

[0087] Vehicle 100 may include one or more autonomous driving modules 160. Autonomous driving module 160 may be configured to receive data from sensor system 120 and / or any other type of system capable of capturing information about vehicle 100 and / or the vehicle's 100's external environment. In one or more mechanisms, autonomous driving module 160 may use the data to generate one or more driving scene models. Autonomous driving module 160 may determine the position and speed of vehicle 100. Autonomous driving module 160 may determine the location of obstacles, obstacles, or other environmental features including traffic signs, trees, shrubs, nearby vehicles, pedestrians, etc.

[0088] The autonomous driving module 160 may be configured to receive and / or determine location information regarding obstacles in the external environment of the vehicle 100 for use by the processor 110 and / or one or more of the modules described herein, and to estimate the position and orientation of the vehicle 100, the vehicle's position in global coordinates, based on signals from multiple satellites or any other data and / or signals that may be used to determine the current state of the vehicle 100 or to determine the position of the vehicle 100 relative to the vehicle's 100's environment used in creating a map or determining the position of the vehicle 100 relative to the map data.

[0089] The autonomous driving module 160 may be configured independently or in combination with the trailer system 170 to determine a driving path, a current autonomous driving maneuver for the vehicle 100, a future autonomous driving maneuver, and / or a modification to the current autonomous driving maneuver based on data acquired by the sensor system 120, a driving scene model, and / or data from any other suitable source, such as a determination from the sensor data 250 as implemented by the occupancy module 230. A "driving maneuver" refers to one or more actions that affect the movement of the vehicle. Examples of driving maneuvers include accelerating, decelerating, braking, turning, moving the vehicle 100 laterally, changing driving lanes, merging into a driving lane, and / or reversing, just to name a few possibilities. The autonomous driving module 160 may be configured to implement the determined driving maneuver. The autonomous driving module 160 may directly or indirectly cause the autonomous driving maneuver to be implemented. As used herein, "cause" or "causing" means to cause, command, direct, and / or enable an event or action to occur, either directly or indirectly, or to cause, command, direct, and / or enable an event or action to at least become in a state in which such event or action may occur. Autonomous driving module 160 may be configured to perform various vehicle functions and / or send data to, receive data from, interact with, and / or control vehicle 100 or one or more systems thereof (e.g., one or more of vehicle systems 140).

[0090] Detailed embodiments are disclosed herein. However, it should be understood that the embodiments of the present disclosure are intended as examples only. Therefore, the specific structural and functional details disclosed herein should not be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching those skilled in the art to variously employ the aspects of the present specification in substantially any suitable detailed structure. Furthermore, the terms and phrases used herein are not intended to be limiting, but rather to provide an understandable description of possible implementations. Although various embodiments are shown in Figures 1 to 7, the embodiments are not limited to the illustrated structures or applications.

[0091] The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments. In this regard, each block in the flowcharts or block diagrams may represent a module, segment, or portion of code, comprising one or more executable instructions that implement the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may in fact be executed substantially simultaneously, or the blocks may sometimes be executed in the reverse order, depending on the functionality involved.

[0092] The above-mentioned systems, components, and / or processes may be realized in hardware or a combination of hardware and software, in a centralized manner in one processing system, or in a distributed manner with various elements spread across several interconnected processing systems. Any kind of processing system or other device configured to perform the methods described herein is suitable. A typical combination of hardware and software may be a processing system with computer usable program code that, when loaded and executed, controls the processing system such that the processing system performs the methods described herein. The systems, components, and / or processes may also be incorporated in a computer readable storage, such as a computer program product or other data program storage device, readable by a machine, tangibly embodying a program of instructions executable by a machine to perform the methods and processes described herein. These elements may also be incorporated in an application product that comprises all the functionality enabling the implementation of the methods described herein and that, when loaded in a processing system, is capable of executing the methods.

[0093] Furthermore, the mechanisms described herein may take the form of a computer program product in which computer readable program code is embodied, e.g., stored, in one or more computer readable media. Any combination of one or more computer readable media may be utilized. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The phrase "computer readable storage medium" refers to a non-transitory storage medium. The computer readable storage medium may be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination thereof. More specific examples (non-exhaustive list) of computer readable storage media include the following: portable computer diskette, hard disk drive (HDD), solid state drive (SSD), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), portable compact disc read only memory (CD-ROM), digital versatile disk (DVD), optical storage device, magnetic storage device, or any suitable combination thereof. In the context of this specification, a computer-readable storage medium may be any tangible medium that may contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0094] Generally, a module as used herein includes a routine, program, object, component, data structure, etc., that performs a particular task or implements a particular data type. In a further aspect, a memory generally stores the described modules. The memory associated with a module may be a buffer or cache built into a processor, a RAM, a ROM, a flash memory, or another suitable electronic storage medium. In yet a further aspect, a module as contemplated by the present disclosure is implemented as an application specific integrated circuit (ASIC), as a hardware component of a system on a chip (SoC), as a programmable logic array (PLA), or as another suitable hardware component that incorporates a configuration set (e.g., instructions) defined to perform the functions of the present disclosure.

[0095] The program code embodied on the computer readable medium may be transmitted using any suitable medium, including, but not limited to, wireless, wired, fiber optic, cable, RF, and the like, or any suitable combination thereof. The computer program code for performing operations for aspects of the mechanism may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, Smalltalk, C++, or the like, and traditional procedural programming languages ​​such as the "C" programming language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or a connection to an external computer may be made (e.g., through the Internet using an Internet Service Provider).

[0096] The terms "a" and "an," as used herein, are defined as one or more than one. The term "multiple," as used herein, are defined as two or more than two. The term "another," as used herein, is defined as at least a second or more. The terms "including" and / or "having," as used herein, are defined as comprising (i.e., open language). The phrase "and at least one of," as used herein, refers to and includes any and all possible combinations of one or more of the associated listed items. As an example, the phrase "at least one of A, B, and C" includes A only, B only, C only, or any combination thereof (e.g., AB, AC, BC, or ABC).

[0097] Aspects of the present specification may be embodied in other forms without departing from the spirit or essential attributes thereof, and reference should accordingly be made to the following claims, rather than the foregoing specification, as indicating the scope herein.

Claims

1. one or more processors; a memory communicatively connected to the one or more processors; The memory comprises: a control module including instructions that, when executed by the one or more processors, cause the one or more processors to: obtaining, in response to receiving a signal to initiate hitchless steering of the trailer separately from a controlled vehicle, a control input from an input device within the controlled vehicle to steer the trailer; transmitting the control input from the control vehicle to the trailer to steer the trailer; transmitting a control signal to stop the trailer in response to receiving feedback from the trailer indicating that the trailer is within a required position. system.

2. The system of claim 1 , wherein the control module includes instructions for communicating the control input while the controlled vehicle remains in a stationary position.

3. 2. The system of claim 1, wherein the control module includes instructions for generating the control signals according to one of an electronic input from a machine interface controlled by a human operator and an automatic manner based at least in part on a determination that the trailer is within the requested position.

4. The system of claim 1 , wherein the control inputs for steering the trailer include control inputs for steering the trailer in at least a longitudinal direction.

5. the feedback being at least one of video data and image data of the trailer; The system of claim 1 , wherein the control module includes instructions for displaying the at least one of the video data and the image data of the trailer on a display located within the controlled vehicle.

6. The system of claim 1 , wherein the input device is at least one of a steering wheel, a touchpad, a knob, and a button.

7. The system of claim 1 , wherein the control input comprises at least one of a speed control, a braking control, and a steering control.

8. The system of claim 1 , wherein the requested location is a location between marks indicating parking spaces.

9. A non-transitory computer-readable medium containing instructions that, when executed by one or more processors, cause the one or more processors to: obtaining, in response to receiving a signal to initiate hitchless steering of the trailer separately from a controlled vehicle, a control input from an input device within the controlled vehicle to steer the trailer; transmitting the control input from the control vehicle to the trailer to steer the trailer; transmitting a control signal to stop the trailer in response to receiving feedback from the trailer indicating that the trailer is within a required position. Non-transitory computer-readable medium.

10. 10. The non-transitory computer readable medium of claim 9, wherein the instructions to communicate the control input to the trailer include instructions to communicate the control input while the control vehicle remains in a stationary position.

11. 10. The non-transitory computer-readable medium of claim 9, wherein the instructions for sending the control signal to stop the trailer include instructions for generating the control signal according to one of an electronic input from a machine interface controlled by a human driver and an automatic manner based at least in part on a determination that the trailer is within the requested position.

12. 10. The non-transitory computer readable medium of claim 9, wherein the instructions to obtain control inputs to steer the trailer include instructions to obtain the control inputs to steer the trailer in at least a longitudinal direction.

13. receiving the feedback includes receiving at least one of video data and image data of the trailer; the non-transitory computer readable medium includes instructions for displaying the at least one of the video data and the image data of the trailer on a display disposed within the vehicle.

10. The non-transitory computer readable medium of claim 9.

14. In response to receiving a signal to initiate hitchless steering of a trailer separately from a controlled vehicle, obtaining a control input from an input device within the controlled vehicle to steer the trailer; transmitting the control inputs from the control vehicle to the trailer to steer the trailer; sending a control signal to stop the trailer in response to receiving feedback from the trailer indicating that the trailer is within a required position; A method comprising:

15. The method of claim 14 , wherein communicating the control input to the trailer includes communicating the control input while the control vehicle remains in a stationary position.

16. 15. The method of claim 14, wherein sending the control signal to stop the trailer includes generating the control signal in accordance with one of an electronic input from a machine interface controlled by a human driver and an automatic manner based at least in part on a determination that the trailer is within the requested position.

17. The method of claim 14 , wherein obtaining the control inputs to steer the trailer includes obtaining the control inputs to steer the trailer in at least a longitudinal direction.

18. receiving the feedback includes receiving at least one of video data and image data of the trailer; displaying the at least one of the video data and the image data of the trailer on a display disposed within the controlled vehicle; 15. The method of claim 14, comprising:

19. The method of claim 14 , wherein obtaining the control input to steer the trailer includes obtaining a control input from at least one of a steering wheel, a touchpad, a knob, and a button.

20. The method of claim 14 , wherein obtaining the control input comprises obtaining at least one of a speed control, a braking control, and a steering control.

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