A system and method for controlling a trailer separately from the 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 generally relates to controlling a trailer without a physical connection to a vehicle, and more specifically to improving the task of maneuvering a trailer by providing a human-machine interface (HMI) within the vehicle to control the movement of the trailer.

Background Art

[0002] A driver may encounter difficulties when towing a trailer, for example, when backing up and parking the trailer. For backing up or parking the trailer, the driver typically inputs steering control within the vehicle in a manner opposite to how the vehicle itself moves backward to move the trailer in the intended manner. Thus, the driver operates the vehicle using controls that are opposite to what might otherwise be intuitive, thereby making it difficult to accurately control the trailer during such operation. Generally, the more further awareness is developed by the vehicle regarding the surrounding environment, the more information can be provided to assist the driver, and / or the autonomous system can more adequately control the vehicle to avoid danger.

[0003] Current techniques exist for simplifying the backing up of a trailer, for example, an assist system that guides the driver to input controls, thereby reducing the trial and error of adjusting the trailer. However, such techniques still involve a physical connection between the trailer and the vehicle, and as a result, the driver will attempt to convert the movement of the vehicle into the backward movement of the trailer while also performing surrounding perception.

Summary of the Invention

[0004] The exemplary systems and methods disclosed herein relate to improving trailer control. As previously stated, the physical connection between the vehicle and the trailer makes steering difficult when performing reverse maneuvers. For example, reversing a trailer involves moving the vehicle in the opposite direction to the trailer to achieve a proper trajectory for certain maneuvers. Thus, the physical connection between the vehicle and the trailer makes reversing the trailer feel unnatural to the driver.

[0005] Accordingly, in one embodiment, a system is disclosed that improves trailer control by eliminating the presence of physical connections 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, touchscreen, or the like. Furthermore, in one method, the driver may control the trailer's movement through the use of a remote device, such as a telephone, remote control, or the like. By eliminating the physical connection between the vehicle and the trailer, the driver can steer the trailer independently of the vehicle. In one method, the trailer can move freely without requiring a physical connection by selectively acting at least one front wheel in addition to the rear wheels of the trailer. In one method, the driver initiates trailer steering from inside the vehicle and then independently controls the vehicle using a vehicle input device such as a steering wheel. Once trailer steering is initiated, a wireless connection is established between the vehicle and the trailer, and any physical connections that are at that time between the vehicle and the trailer are disconnected. When the driver begins to operate the trailer, the vehicle remains stationary and separated from the trailer, thereby avoiding the cumbersome mirror control inputs that would be possible if the trailer were directly controlled through a physical connection. Instead, the vehicle transmits movement to the trailer according to the controls received via electronic input devices such as the vehicle's driving inputs (e.g., steering wheel, brake pedal, accelerator pedal).

[0006] The trailer receives control inputs via a wireless connection and translates these inputs into specific controls that operate the trailer, which move the trailer according to predetermined movements. Thus, the trailer can reverse, accelerate, brake, steer, and similar actions. While the trailer is being operated, the vehicle receives feedback from the trailer sensors regarding the trailer's movement. The feedback may be in the form of images or videos providing real-time foot-by-foot measurements of the trailer's movement, for example. The feedback informs the driver of subsequent trailer maneuvers to move the trailer into a desired position. Once the trailer is in the desired position, the system isolates the trailer operation by sending a stop request to the trailer. In this way, the system improves trailer operation by facilitating the overall driver experience when the trailer is reversing, by providing a wireless control mechanism that simplifies the operation of the trailer while it is not physically connected to the vehicle.

[0007] In one embodiment, a system is disclosed. The system includes one or more processors and a memory communicably connected to one or more processors. The memory stores a control module which, when executed by one or more processors, causes one or more processors to obtain control inputs to maneuver the trailer from an input device in the control vehicle in response to receiving a signal to initiate hitchless maneuvering of the trailer, independently of the control vehicle. The control module includes instructions for transmitting control inputs to maneuver the trailer from the control vehicle to the trailer. The control module includes 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 requested location.

[0008] In one embodiment, a non-temporary computer-readable medium is disclosed which includes instructions, which, when executed by one or more processors, causes one or more processors to perform one or more functions. The instructions include instructions to obtain control inputs to steer the trailer from an input device in the control vehicle in response to receiving a signal to initiate hitchless steering of the trailer, independently of the control vehicle. The instructions include instructions to transmit control inputs to steer the trailer from the control vehicle to the trailer. The instructions include 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 requested 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 a control vehicle in response to receiving a signal to initiate hitchless steering of the trailer, independently of the control vehicle. The method includes transmitting the control input to steer the trailer from the control 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. [Brief explanation of the drawing]

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

[0011] [Figure 1] This figure shows one embodiment of a vehicle in which the systems and methods disclosed herein may be implemented. [Figure 2] This figure shows one embodiment of a trailer system related to improving vehicle control for trailer operation. [Figure 3] This figure shows one embodiment of a trailer in which the systems and methods disclosed herein may be implemented. [Figure 4] This is a flowchart showing one embodiment of a method related to improving trailer steering control. [Figure 5] This is a flowchart showing one embodiment of a method associated with trailer steering based on vehicle control. [Figure 6] This diagram shows a parking sequence associated with a trailer being remotely controlled by a vehicle. [Figure 7] This diagram shows the interior of the vehicle, the input devices used to control the trailer, and the vehicle's display system. [Modes for carrying out the invention]

[0012] Systems, methods, and other embodiments relating to improving vehicle control over trailer maneuvering are disclosed herein, by providing the driver with an improved method of controlling the trailer's movement through the use of a human-machine interface (HMI) within the vehicle. As previously stated, reversing a trailer while it is physically connected to the vehicle presents difficulties for the driver. When a driver reverses a trailer while it is physically connected to the vehicle, the driver controls the trailer using controls opposite to those that would otherwise be intuitive when maneuvering the vehicle. For example, if a driver wants to reverse a trailer to the left, the driver must turn the steering wheel to the right in order to move the trailer to the left when reversing. Furthermore, when a driver maneuvers a trailer into a parking spot, it is difficult to see and control the trailer's movement from inside the vehicle, which presents difficulties in properly aligning the trailer within the boundaries of the parking spot.

[0013] Accordingly, in one embodiment, a system is disclosed that improves trailer control by providing the driver with an improved method of controlling the trailer's movement by disconnecting the physical connection. The driver may control the trailer using a human-machine interface (HMI) in the vehicle, e.g., a steering wheel, knob, touchscreen, or similar. The driver may also control the trailer using a remote device, e.g., a telephone, remote control, or similar. By disconnecting the vehicle and the trailer, the driver can steer the trailer independently of the vehicle. Thus, the driver can concentrate on controlling the trailer's movement without controlling and considering the vehicle's movement. In one or more mechanisms, the trailer moves freely without requiring a physical connection by acting forward moving components, e.g., front wheels or gyroscopes. The moving components may descend from a retracted position to the ground when hitchless trailer steering is initiated in the vehicle. If the trailer normally operates with two rear wheels when connected to the vehicle, the actuation of the front wheels facilitates the trailer's movement.

[0014] In one method, the driver initiates hitchless trailer operation from inside the vehicle. Initiating hitchless trailer operation may include, for example, using a touchpad or button in the vehicle that has been specially tuned to initiate hitchless trailer operation. The driver can then independently control the trailer using the vehicle's input devices, such as the steering wheel, accelerator / brake pedals, knobs, touchscreen, or similar. When hitchless trailer operation is initiated, a wireless connection is established between the vehicle and the trailer, and any existing physical connection between the vehicle and the trailer is disconnected. In one embodiment, the physical connection is disconnected by autonomously detaching the hitch connecting the vehicle and the trailer. In another method, the driver manually disconnects any existing physical connection. Thus, the system improves trailer operation by providing a wireless control mechanism that simplifies trailer operation while the trailer is not physically connected to the vehicle.

[0015] When the driver initiates hitchless trailer operation, the vehicle remains stationary and separated from the trailer, thereby avoiding the cumbersome mirror control inputs that would occur if the trailer were directly controlled through a physical connection. Instead, the vehicle transmits movement to the trailer according to the controls received via electronic input devices such as the vehicle's driving inputs (e.g., steering wheel, brake pedal, accelerator pedal). For example, if the driver turns the steering wheel to the left, the trailer's steering mechanism will turn the trailer to the left, and if the driver presses the brake pedal, the trailer will apply the brakes. The vehicle can also transmit speed and acceleration control to the trailer according to the controls received from the vehicle's driving inputs. Thus, in one method, the driver controls the trailer as if they were controlling the vehicle itself.

[0016] The trailer receives control inputs via a wireless connection and translates these inputs into specific controls that operate the trailer, which in turn move the trailer according to the inputs. Thus, the trailer can reverse, accelerate, brake, steer, and similar actions. Furthermore, the trailer can move forward, allowing the driver to adjust its position when reversing into a specific location, such as a parking space. The driver may control whether the trailer is reversing or moving forward using in-vehicle input controls, such as a touchscreen or buttons.

[0017] While control input is being transmitted to the trailer, the vehicle receives feedback from trailer sensors regarding the trailer's movement. In one method, the feedback is in the form of an image or video providing real-time foot counts regarding the trailer's movement. A display within the vehicle, such as a head-up display (HUD), augmented reality (AR), touchscreen, or similar, shows real-time foot counts regarding the trailer's movement. The real-time foot counts inform subsequent trailer maneuvers to move the trailer into the desired position. Once the trailer is in the desired position, the system isolates the trailer maneuver by sending a stop request to the trailer. An HMI device (e.g., touchscreen, buttons) receives manual control input from the driver. Alternatively, once the trailer has been successfully maneuvered, for example, between the boundaries of a parking space, the system automatically sends a stop request. After the trailer maneuver is isolated, the vehicle is free to drive without the trailer connected. In this way, the system improves trailer maneuverability 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 Figure 1, an example of vehicle 100 is shown. As used herein, “vehicle” is any form of powered means of transport. In one or more embodiments, vehicle 100 is an automobile. Mechanisms relating to automobiles are described herein, but it will be understood that embodiments are not limited to automobiles. In one mechanism, vehicle 100 includes a physical connection point (e.g., a ball) to which a trailer can be attached, for example using a towing hitch. In further embodiments, vehicle 100 also includes components that facilitate wireless communication between vehicle 100 and a trailer, such as a wireless communication link to which vehicle 100 links to a trailer system, e.g., a trailer signaling system, a braking system, a sensor system, etc. Thus, in various ways, vehicle 100 can control the aforementioned systems of the trailer and / or obtain information from the systems via the wireless communication link.

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

[0020] Some of the possible elements of vehicle 100 are shown in Figure 1 and described in conjunction with subsequent figures. However, for the sake of brevity, a description of many of the elements in Figure 1 is provided after the description of Figures 2-7. Furthermore, it will be understood that, for the purpose of simplifying and clarifying the illustrations, reference numbers are repeated as appropriate between different figures to indicate corresponding or similar elements. In addition, the description outlines numerous specific details to provide a complete understanding of the embodiments described herein. However, those skilled in the art will understand that the embodiments described herein may be carried out using various combinations of such elements. In any case, vehicle 100 includes a trailer system 170, which is implemented to perform methods and other functions as disclosed herein with respect to improving trailer control from within the vehicle.

[0021] Referring to FIG. 2, a further embodiment of the trailer system 170 of FIG. 1 is shown. The trailer system 170 is shown as including the processor 110 of the vehicle 100 of FIG. 1. Thus, the processor 110 may be part of the trailer system 170, or 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 is a random access memory (RAM), read only memory (ROM), hard disk drive, flash memory, or other suitable memory that stores the control module 220. The control module 220 is, for example, computer-readable instructions that, when executed by the processor 110, cause the processor 110 to perform the various functions disclosed herein.

[0022] Referring to FIG. 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 input is a control input entered by an occupant (e.g., driver or passenger) within the vehicle 100. As provided herein, in one mechanism, the control module 220 obtains control input data 240 from the input device that includes at least control inputs for longitudinally and laterally maneuvering the trailer. Further, the control input may control other trailer functions (e.g., trailer lights, parking brake, trailer speed, etc.). The input device may include input devices such as, for example, a steering wheel, knob, button, touch screen, brake pedal, accelerator pedal, etc.

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

[0024] Thus, in one embodiment, control module 220 controls each sensor to provide a data input in the form of sensor data 250. Further, 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 obtaining sensor data 250 that are either active or passive. For example, control module 220 may passively find sensor data 250 from the flow of electronic information provided to additional components within vehicle 100 by various sensors. Further, control module 220 may perform various techniques to fuse data from multiple sensors and / or sensor data obtained in a wireless communication link when providing sensor data 250. Thus, in one embodiment, sensor data 250 represents a combination of perceptions obtained from multiple sensors.

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

[0026] Furthermore, in one embodiment, the trailer system 170 includes a data store 230. In one embodiment, the data store 230 is a database. In one embodiment, the database is an electronic data structure stored in memory 210 or another data store, which consists of routines that can be executed by the processor 110 for purposes such as analyzing the stored data, providing the stored data, and organizing the stored data. Thus, in one embodiment, the data store 230 stores data used by the control module 220 when 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, brake control, and speed control. In one mechanism, the data store 230 further includes other information used by the control module 220. Now, the explanation will move to Figure 3 to further illustrate how the control module 220 implements various controls for steering the trailer.

[0028] Referring to Figure 3, one embodiment of the trailer 310 is shown. As used herein, “trailer” includes at least two rear wheels 330(a) and 330(b) and is connectable to a vehicle by 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 the movement of the trailer 310 when it is disconnected from the towing vehicle. In one embodiment, in response to receiving a signal from the control module 220 or the physical connection between the trailer 310 and the vehicle 100 being disconnected, the moving component 320 descends and extends to the ground beneath the trailer 310. The trailer 310 includes a trailer response system 350 comprising a response module 360, which generally functions to execute commands received from the control module 220 to remotely steer the trailer 310. In one mechanism, the trailer response system 350 also includes a sensor system. The sensor system may include sensors capable of acquiring 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 units (IMUs), etc. Now, the explanation will return to Figure 2 to further explain how the control module 220 transmits commands to the trailer 310.

[0029] Referring to Figure 2, in one embodiment, the control module 220 is further configured to perform additional tasks beyond acquiring control inputs to identify and transmit control input data 240, including control for each sensor to acquire and provide sensor data 250. For example, the control module 220 includes instructions to 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 vehicle 100, the trailer is trailer 310, and the input device includes, for example, buttons and touchscreen devices or another HMI device. The control module 220 acquires control input data 240 and identifies a signal to initiate hitchless steering, where the occupants of vehicle 100 (e.g., driver or passenger) operate, for example, a button or touchscreen device located in vehicle 100, and the HMI generates and provides the signal.

[0030] Upon receiving a signal to initiate hitchless operation, the control module 220 identifies whether a radio connection exists between the vehicle 100 and the trailer 310. If a radio connection does not exist, the control module 220 establishes a radio connection between the vehicle 100 and the trailer 310. The control module 220 may establish a radio connection by using a handshake process, which 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, upon receiving a signal to initiate hitchless operation, the control module 220 disconnects any existing physical connection between the vehicle 100 and the trailer 310. In one embodiment, the control module 220 disconnects the physical connection by autonomously detaching the hitch connecting the vehicle and the trailer. In a further method, the driver manually disconnects any existing physical connection. Furthermore, upon receiving a signal to initiate hitchless operation, the control module 220 brings the vehicle 100 to a stationary state while the trailer is being operated. In one embodiment, the control module 220 parks the vehicle 100 and keeps it stationary by disabling the vehicle 100's systems (e.g., brake system, steering system, etc.) that operate the trailer 310.

[0032] The control module 220 steers the trailer 310 by identifying control inputs from input devices. In one embodiment, the input devices are, for example, a steering wheel, knobs, buttons, and touchscreen devices. In one configuration, the input device is a remote device such as a telephone or remote control. The input device provides steering control as a control input. Furthermore, the input device may include the movement of the brake pedal and the movement of the accelerator pedal 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 control inputs by acquiring inputs from input devices.

[0033] The control module 220 transmits control inputs from the vehicle 100 to the trailer 310 and operates 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 them into commands that can be interpreted by the trailer 310 to induce movement in the trailer 310. Furthermore, in at least one method, the control module 220 uses a specific protocol to form communication and encode commands so that communication between the system 170 and the trailer 310 is secure from malicious interfaces. In this way, 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 within the vehicle 100 to the left, the control module 220 transmits a left turn command to the trailer 310. In response, the trailer 310 controls its steering mechanism, which rotates the trailer 310 to the left to the same extent as the occupant rotates the steering wheel or knob. In one method, the HMI obtains a control input corresponding to the 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 touchscreen device or buttons to input and transmit 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 inside the vehicle 100 that can display feedback from the trailer 310. In any case, the occupants can see on the display how the trailer 310 is responding to control inputs entered through the input device. In one method, the trailer feedback includes video and image data acquired from sensors located on the trailer 310. The sensors may be located on the outer 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 outer surface of the trailer 310, on the roof of the trailer 310, or above 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 inside the vehicle 100, for example.

[0036] In response to feedback received from the trailer 310, the control module 220 determines whether to deactivate the hitchless operation of the trailer 310. If the trailer 310 is maneuvered into a requested position, such as between the boundaries of a parking space, and is positioned laterally centered between the boundaries of the parking space, the control module 220 may automatically decide to deactivate the hitchless operation of the trailer 310. If the trailer 310 begins to position itself in relation to meeting the parking criteria defined by the trailer system 170, the control module 220 may automatically decide to deactivate the hitchless operation of the trailer 310. For example, if the trailer 310 is positioned between the boundaries of a requested position, the control module 220 may prepare in advance a stop signal to transmit to the trailer 310, where the requested position is between the boundaries of a parking space. Furthermore, this prior action by the control module 220 may be combined with a later decision that the trailer 310 is parked between the boundaries of a parking space.

[0037] In one embodiment, the control module 220 determines the start of the trailer 310 to position itself to align between the boundaries of a parking space by using a criterion that defines a threshold / condition associated with the start. As in other embodiments of the trailer system 170, the criterion may be implemented with a variable degree of specificity and features depending on the particular implementation. For example, in one method, the trailer system 170 defines the criterion as a threshold distance between two solid lines, indicating a magnitude related to the distance from the solid lines of the parking space, 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 involve variable layers (i.e., a degree / combination) of control according to the distance between the solid lines of the parking space once the initial distance threshold is met.

[0038] In any case, in one or more embodiments, the control module 220 functions to control the trailer 310 according to the trailer's position when the trailer moves between the boundaries of a parking space or when the trailer moves to any other requested position. Thus, when the control module 220 determines that the threshold distance satisfies the parking criteria, it decides to isolate the no-hitch maneuver.

[0039] Alternatively, the control module 220 decides whether to deactivate the hitchless steering of the trailer 310 based on electronic input from a mechanical interface controlled by the human driver of the vehicle 100. The mechanical interface may be an input device that transmits the deactivation request. For example, the occupant may press a button or interact with a touchscreen device to indicate a request to deactivate the hitchless steering. In response to the decision to deactivate the hitchless steering, the control module 220 transmits a control signal that stops the trailer 310 from moving any further. However, if the control module 220 decides that the hitchless steering should not be deactivated, the control module 220 continues to identify and transmit control inputs and moves the trailer 310 accordingly.

[0040] An additional embodiment of improving trailer control from within the vehicle is described with respect to Figure 4. Figure 4 shows a flowchart of Method 400 associated with controlling the trailer 310 from the vehicle 100 without a physical connection between the vehicle 100 and the trailer 310. Method 400 is described in terms of the trailer system 170 of Figures 1 and 2. Although Method 400 is described in conjunction with the trailer system 170, it should be understood that Method 400 is not limited to implementation within the trailer system 170, but is an example of a system in which Method 400 may be implemented. The description of Method 400 may include the description in Figure 3 regarding how the trailer 310 moves in response to receiving control input from the trailer system 170 of Figures 1 and 2.

[0041] At 410, the control module 220 receives a signal to initiate hitchless operation of the trailer, independently of the control vehicle. In one embodiment, the control vehicle is vehicle 100 and the trailer is trailer 310. In one embodiment, input devices include, for example, buttons and touchscreen devices. The control module 220 acquires control input data 240 to identify a signal to initiate hitchless operation. An occupant (e.g., driver or passenger) generates a signal to initiate hitchless operation by, for example, activating a button or touchscreen device located on vehicle 100. An occupant may also generate a signal to initiate hitchless operation by activating a remote device such as a telephone or remote control.

[0042] Upon receiving a signal to initiate hitchless operation, the control module 220 determines whether a radio connection exists between the vehicle 100 and the trailer 310 by identifying the presence of a radio connection. If a radio connection does not exist between the vehicle 100 and the trailer 310, the control module 220 establishes a radio connection. For example, the control module 220 may establish a radio connection by using a handshake process. In one method, 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 sending a secure message containing authentication information for 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 the communication link, the radio connection is successfully established.

[0043] Upon receiving a signal to initiate hitchless maneuvering and establishing a wireless connection with the trailer 310, the control module 220 disconnects any existing physical connection between the vehicle 100 and the trailer 310 to facilitate the separate movement of the trailer 310 from the vehicle 100. In one embodiment, the control module 220 controls the disconnection of the physical connection by autonomously detaching the hitch connecting the vehicle and the trailer. In one method, the driver may manually disconnect any existing physical connection. Furthermore, upon receiving a signal to initiate hitchless maneuvering, the control module 220 keeps the vehicle 100 stationary during trailer operation. In one embodiment, the control module 220 keeps the vehicle 100 stationary by controlling the vehicle 100 to engage a parking function (e.g., parking selection of the transmission). The control module 220 may further disable control connections to input systems of the vehicle 100 (e.g., brake system, steering system, etc.) that can function as HMI elements providing control inputs for steering the trailer 310.

[0044] In 420, the control module 220 identifies control inputs for steering the trailer 310. In one embodiment, the input device is, for example, a steering wheel, knob, button, or touchscreen device. In one method, the input device is, for example, a remote device, such as a telephone or remote control. The input device provides steering control as an input. Furthermore, the input device may include brake control and steering control as 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 control inputs by obtaining information from the input devices.

[0045] In 430, the control module 220 transmits control inputs to the trailer 310 and steers 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 input and translate it into a command that can be interpreted by the trailer 310 to induce movement in the trailer 310. For example, an occupant may turn the steering wheel or knob to the right, causing the control module 220 to identify that the intent of the control input is to turn the trailer 310 to the right. Thus, the control module 220 translates the right-turn control input into a command that the trailer 310 will execute. Furthermore, in at least one method, the control module 220 uses a specific protocol to form communication and encode commands so that communication between the system 170 and the trailer 310 is secure from malicious interfaces. In this way, the trailer system 170 can remotely control the trailer 310 while the vehicle 100 remains stationary.

[0046] An occupant can generate a control input by interacting with a single input device within the vehicle 100. For example, if an occupant rotates a steering wheel or knob that can control the trailer 310 within the vehicle 100 to the left, the control module 220 transmits a left turn command to the trailer 310. In response, the trailer 310 controls its steering mechanism, which rotates the trailer 310 to the left to the same extent as the occupant rotates the steering wheel or knob. In one method, the occupant can generate all speed, longitudinal, and steering inputs on a touchpad located within the vehicle 100. For example, the touchpad may include an interactable virtual button or dial that generates a control input in response to the occupant's interaction with the button or dial. In one embodiment, the vehicle 100 includes buttons corresponding 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 an occupant interacts with a button that increases the speed of the trailer 310, the control module 220 translates the speed control input into a command that the trailer 310 will execute accordingly. In one configuration, the occupant generates control inputs by interacting with a remote device such as a telephone or remote control. For example, the occupant may generate control inputs such as speed, longitudinal, and steering controls that the trailer 310 will execute on a mobile application.

[0047] In one method, the occupant of vehicle 100 may generate control inputs by simultaneously interacting with more than one input device located within vehicle 100. For example, the occupant may rotate 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 touchscreen device to input the speed, longitudinal direction of travel, and steering angle / direction at which the trailer 310 will operate. For example, the occupant may use the touchpad to request the trailer 310 to move in reverse at a speed of 2 miles per hour (approximately 3.21869 km) while turning to the left at a 45-degree angle. The control module 220 then translates the control input received from the touchpad into a command for the trailer 310 to execute, such as turning to the left at a 45-degree angle while moving in reverse at a speed of 2 miles per hour (approximately 3.21869 km). Similarly, the occupants can simultaneously use one or more buttons located on the vehicle 100 to generate multiple control inputs that the trailer 310 will perform.

[0048] At 440, the control module 220 receives trailer feedback. The control module 220 displays the trailer feedback 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 inside the vehicle 100 that can display feedback from the trailer 310. In any case, the occupants can see on the display how the trailer 310 is responding to control inputs entered through the input device. In one method, the trailer feedback includes video and image data acquired 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 on the outer surface of the trailer 310 to capture an area encompassing 360 degrees around the trailer 310, for example. For example, the sensors may be positioned on the rear outer surface of the trailer 310, on the roof of the trailer 310, or above the rear wheels 330(a) and 330(b) of the trailer 310. In one method, the sensors may capture an area encompassing a desired parking position for the trailer 310. The occupant may input the requested parking position for the trailer 310 when using an input device (e.g., a touchpad). Upon receiving the requested parking position, the control module 220 controls the sensor system to acquire sensor data 250 encompassing the requested parking position. The control module 220 may, for example, display the sensor data 250 on a display in the vehicle 100.

[0049] At 450, in response to receiving feedback from the trailer 310 indicating that the trailer 310 is within the requested location, the control module 220 transmits a control signal to stop the trailer 310. In one method, the control module 220 automatically transmits a stop signal to the trailer 310 based at least in part on the determination that the trailer 310 is within the requested parking location, such as between the boundaries of a parking space, and is positioned longitudinally between the boundaries of the parking space. When the trailer 310 begins to position itself in relation to meeting the parking criteria defined by the trailer system 170, the control module 220 may automatically transmit a stop signal to the trailer 310. For example, when the trailer 310 is positioned between the boundaries of a requested location, the control module 220 may have a stop signal prepared in advance to transmit to the trailer 310.

[0050] In one mechanism, the control module 220 compares the attributes of the detected position of the trailer 310 with parking criteria. As previously described, the control module 220 may perform a comparison to determine whether the position of the trailer 310 meets basic characteristics (e.g., magnitude of distance from the solid lines of the parking space), or it may perform a more complex analysis including determining whether the trailer 310 is being maneuvered to indicate that it 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 determine whether the trailer 310 is in the requested parking position. Accordingly, in response to the determination 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, in block 450, the control module 220 transmits a control signal to stop the trailer 310 in accordance with electronic input from a mechanical interface controlled by a human driver of the vehicle 100. The mechanical interface may be an input device, where the input device transmits a separation request. For example, the occupant may press a button, interact with a touchpad, or interact with a remote device to indicate a request to separate hitch-free operation. In one method, the touchpad 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 generates a control signal to stop the trailer 310 by coordinating with a “stop” button located inside the vehicle 100. Upon receiving the control signal to stop the trailer 310, the control module 220 transmits a control signal to stop the trailer 310 from moving any 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 transmit control inputs as described in block 420. Otherwise, the control module 220 proceeds to the stop operation.

[0052] Figure 5 shows a flowchart of Method 500 associated with improving trailer control from within the vehicle. Method 500 is described in terms of the trailer response system 350 in Figure 3 as the trailer response system 350 responds to control inputs from the trailer system 170 in Figures 1 and 2.

[0053] As previously disclosed, in 510, the control module 220 receives a signal to initiate hitchless steering of the trailer, independently of the control vehicle. In one embodiment, the trailer is trailer 310 and the control vehicle is vehicle 100. Simultaneously, the trailer response module 360 ​​receives a signal to initiate hitchless steering of trailer 310. In response to receiving the signal to initiate hitchless steering of trailer 310, the response module 360 ​​transmits a beacon to set up a wireless connection with vehicle 100. In response to transmitting the beacon, the response module 360 ​​receives a secure message from the control module 220 to establish the wireless connection.

[0054] Furthermore, upon receiving a signal to initiate hitchless steering of the trailer 310, the response module 360 ​​activates the moving component 320 to facilitate trailer steering. The moving component may be, for example, wheels, a gyroscope, or other device that can facilitate movement. In one configuration, if the moving component 320 is 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 component 320 is a gyroscope, the gyroscope balances the trailer 310 at the rear wheels 320(a) and 320(b). When the moving component 320 is not activated, it may be stored in a retracted position, for example, in the understructure of the trailer 310. The moving component 320 may include a telescopic support structure that facilitates the movement of the moving component 320. In one method, the response module 360 ​​controls the electronic system of the trailer 310 to cause the movable component 320 to extend from its retracted position to the ground relative to the support structure of the movable component 320.

[0055] At 520, the response module 360 ​​receives control inputs from the control module 220. These control inputs may include, for example, speed control, steering control, and brake control. The response module 360 ​​translates the control inputs into executable commands that move the trailer 310 according to the control inputs. For example, if an occupant inputs a left turn control input using an input device in the vehicle 100, the response module 360 ​​may receive a left turn steering control. The response module 360 ​​translates the left turn control input into a left turn 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 left-turn steering control, the response module 360 ​​controls the steering mechanism of the trailer 310 to steer the trailer 310 to the left. In one embodiment, the response module 360 ​​receives a left-turn steering control and a speed control. Therefore, the response module 360 ​​controls the steering mechanism and propulsion system of the trailer 310 to steer the trailer 310 to the left and accelerate to the 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 and video data of the area around the trailer 310. The sensors may be positioned on any outer surface of the trailer 310 to capture an area encompassing 360 degrees around the trailer 310, for example. In one configuration, the sensors may be positioned on the rear outer 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 and video data of the trailer 310 within the boundaries of the parking space.

[0058] In block 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 the control input as described in block 520. Otherwise, the response module 360 ​​proceeds with the stop operation as further described in block 560.

[0059] As a further explanation of how the trailer system 170 improves upon controlling the trailer 310 separately from the vehicle 100, an example of a parking sequence associated with the trailer being wirelessly controlled by the vehicle is described here with respect to Figure 6. In time step 600, the vehicle 100 and the trailer 310 begin hitchless driving. Thus, as previously stated, in 600, the vehicle 100 and the trailer 310 establish a wireless connection, and the physical connection existing between the vehicle 100 and the trailer 310 is separated according to the communication received from the control module 220.

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

[0061] Figure 6 shows the subsequent time step at 620. At 620, the trailer 310 stops between the boundaries of the parking space. In one method, 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 internal diagram of the vehicle 100 is described here with respect to Figure 7. In various implementations, the vehicle 100 includes at least one mechanical interface. In one mechanism, 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 the steering wheel 710, knob, button, and touchpad 720 as the mechanical interface. Although the steering wheel 710, knob, button, and touchpad 720 are all shown as being included in the vehicle 100, it will be understood that the embodiments herein are not limited to the configuration shown in Figure 7.

[0063] Furthermore, as disclosed herein, the vehicle 100 includes at least one display. Figure 7 shows a preferred display 730 that receives feedback from the trailer 310. The display 730 displays real-time image and video data captured by sensors mounted on the trailer 310. Although the display 730 is shown 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 subsequent trailer maneuvers.

[0064] Hereinafter, Figure 1 will be described in full 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 method, 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, the vehicle 100 is an autonomous vehicle. As used herein, “autonomous vehicle” means a vehicle capable of operating in an autonomous mode (e.g., Category 5, fully automated). “Autonomous mode” means controlling the vehicle 100 with minimal or no input from a human driver using one or more computing systems to navigate and / or steer the vehicle 100 along a route. In one or more embodiments, the vehicle 100 is highly automated or fully automated. In one embodiment, the vehicle 100 is configured in one or more semi-autonomous operating modes, in which one or more computing systems perform part of the navigation and / or steering of the vehicle along a route, and the vehicle operator (i.e., driver) provides input to the vehicle to perform part of the navigation and / or steering of the vehicle 100 along a route.

[0066] Vehicle 100 may include one or more processors 110. In one or more mechanisms, the processor 110 may be the main processor of vehicle 100. For example, the processor 110 may be an electronic control unit (ECU), an application-specific integrated circuit (ASIC), a microprocessor, etc. 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 memory 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 operably 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 may include connections that do not involve direct physical contact.

[0067] In one or more mechanisms, one or more data stores 115 may include map data 116. Map data 116 may include maps of one or more geographic areas. In some examples, map data 116 may include information or data about roads, traffic control devices, road marks, structures, features, and / or landmarks within one or more geographic areas. Map data 116 may be in any preferred form. In some examples, map data 116 may include aerial photographs of the area. In some examples, map data 116 may include ground photographs of the area, including 360-degree ground photographs. Map data 116 may include measurements, dimensions, distances, and / or information about one or more items included in map data 116, and / or about other items included in map data 116. Map data 116 may include digital maps with information about road shapes.

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

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

[0070] One or more data stores 115 may contain sensor data 119. In this context, “sensor data” means any information relating to the sensors provided by the vehicle 100, including the capabilities and other information relating to the sensors. The vehicle 100 may include a sensor system 120, as described below. The sensor data 119 may relate to one or more sensors of the sensor system 120. For example, in one or more mechanisms, the sensor data 119 may include information relating 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 sensor data 119 may be stored in one or more data stores 115 located and mounted on the vehicle 100. Alternatively or additionally, at least a portion of the map data 116 and / or sensor data 119 may be stored in one or more data stores 115 located away from the vehicle 100.

[0072] As described above, the vehicle 100 may include a sensor system 120. The sensor system 120 may include one or more sensors. "Sensor" means a device capable of detecting and / or sensing something. In at least one embodiment, one or more sensors detect and / or sense in real time. As used herein, the term "real time" means a level of processing responsiveness that allows a user or system to detect a particular process or decision being made quickly enough, or that enables a processor to follow some external process.

[0073] In a mechanism where the sensor system 120 includes multiple sensors, the sensors may function independently or two or more sensors may function in combination. The sensor system 120 and / or one or more sensors may be operablely connected to the vehicle's processor 110, data store 115, and / or other elements. The sensor system 120 may generate observations about a part of the vehicle's environment (e.g., nearby vehicles).

[0074] The sensor system 120 may include any preferred type of sensor. Various examples of different types of sensors are described herein. However, it will be understood that embodiments are not limited to the specific 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. In one or more mechanisms, the vehicle sensors 121 may include one or more accelerometers, one or more gyroscopes, inertial measurement units (IMUs), dead reckoning systems, global navigation satellite systems (GNSS), global positioning systems (GPS), navigation systems 147, and / or other preferred sensors. The vehicle sensors 121 may be configured to detect one or more characteristics of the vehicle 100 and / or how the vehicle 100 is operating. In one or more mechanisms, the vehicle sensors 121 may include a speedometer that determines 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 acquire data about the environment surrounding the vehicle 100 in which the vehicle 100 is operating. "Environmental data" includes data about the external environment in which the vehicle is positioned or one or more parts thereof. For example, one or more environmental sensors 122 may be configured to detect obstacles in at least a part of the external environment of the vehicle 100, and / or data about such obstacles. Such obstacles may be stationary objects and / or dynamic objects. One or more environmental sensors 122 may be configured to detect other things in the external environment of the vehicle 100, such as lane markers, signs, traffic lights, traffic signs, lanes, crosswalks, curbs near the vehicle 100, and off-road objects.

[0076] Various examples of sensors for the sensor system 120 are described herein. Exemplary 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 specific sensors described.

[0077] As an example, in one or more mechanisms, the sensor system 120 may include one or more of the following: a radar sensor 123, a LiDAR sensor 124, a sonar sensor 125, a weather sensor, a haptic sensor, a position sensor, and / or one or more cameras 126. In one or more mechanisms, 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 an input system 130. The "input system" includes components or mechanisms or groups thereof that enable various entities to input data into the machine. The input system 130 may receive input from the occupants of the vehicle. Vehicle 100 may include an output system 135. The "output system" includes one or more components that facilitate the presentation of data to the occupants 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 Figure 1. However, vehicle 100 may include more vehicle systems, fewer vehicle systems, or different vehicle systems. While specific vehicle systems are defined separately, it should be understood that each or any of the systems or parts thereof may be combined or separated in other ways 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 signal transmission system 146, and / or a navigation system 147. Each of these systems may include one or more devices, components, and / or combinations thereof that are currently known or will be developed in the future.

[0080] The navigation system 147 may include one or more currently known or future-developed devices, applications, and / or combinations thereof configured to determine the geographical location of the vehicle 100 and / or determine a driving route for the vehicle 100. The navigation system 147 may include one or more mapping applications for determining a driving route for the vehicle 100. The navigation system 147 may include a global positioning system, a local positioning system, or a geolocation system.

[0081] The processor 110, trailer system 170, and / or autonomous driving module 160 may be operablely connected to communicate with various vehicle systems 140 and / or their individual components. For example, returning to Figure 1, the processor 110 and / or autonomous driving module 160 may be in a state of communication to transmit and / or receive information from various vehicle systems 140 to control the movement of the vehicle 100. The processor 110, trailer system 170, and / or autonomous driving module 160 may control some or all of the vehicle systems 140 and may therefore be partially or fully autonomous as defined by SAE0-5.

[0082] The processor 110, the trailer system 170, and / or the autonomous driving module 160 may be operablely connected to communicate with various vehicle systems 140 and / or their individual components. For example, returning to Figure 1, the processor 110, the lane occupancy system 170, and / or the autonomous driving module 160 may be in a state of communication to transmit and / or receive information from 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] The processor 110, the trailer system 170, and / or the autonomous driving module 160 may be operable to control the navigation and steering of the vehicle 100 by controlling the vehicle system 140 and / or one or more of its components. For example, when operating in autonomous mode, the processor 110, the trailer system 170, and / or the autonomous driving module 160 may control the direction and / or speed of the vehicle 100. The processor 110, the trailer system 170, and / or the autonomous driving module 160 may accelerate, decelerate, and / or change the direction of the vehicle 100. As used herein, “make” or “cause” means to make, force, compel, direct, order, instruct, and / or enable an event or action to occur, either directly or indirectly, or to make, force, compel, direct, order, instruct, and / or enable an event or action to be in a state in which such event or action can occur.

[0084] The vehicle 100 may include one or more actuators 150. The actuators 150 may be elements or combinations of elements that can operate to modify one or more of the vehicle system 140 or its components in response to receiving signals or other inputs from the processor 110 and / or the autonomous driving module 160. For example, one or more actuators 150 may include, just a few possibilities, motors, pneumatic actuators, hydraulic pistons, relays, solenoids, and / or piezoelectric actuators.

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

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

[0087] The vehicle 100 may include one or more autonomous driving modules 160. The autonomous driving modules 160 may be configured to receive data from a sensor system 120 and / or any other type of system that can take in information about the vehicle 100 and / or the external environment of the vehicle 100. In one or more mechanisms, the autonomous driving modules 160 may use such data to generate one or more driving scene models. The autonomous driving modules 160 may determine the position and speed of the vehicle 100. The autonomous driving modules 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 position in global coordinates, based on signals from multiple satellites or any other data and / or signals, such other data and / or signals may be used to determine the current state of the vehicle 100, or to determine the position of the vehicle 100 relative to the environment used when creating a map or determining the position of the vehicle 100 relative to map data.

[0089] The autonomous driving module 160 may be configured independently or in combination with the trailer system 170 to determine the driving path, current autonomous driving maneuvers for the vehicle 100, future autonomous driving maneuvers, and / or modifications to the current autonomous driving maneuvers, based on data from any other preferred source, such as data acquired by the sensor system 120, a driving scene model, and / or determinations from sensor data 250, as implemented by the occupying module 230. "Driving maneuvers" means one or more actions that affect the movement of the vehicle. Examples of driving maneuvers include, to name just a few possibilities, acceleration, deceleration, braking, turning, lateral movement of the vehicle 100, changing driving lanes, merging into driving lanes, and / or reversing. The autonomous driving module 160 may be configured to implement the determined driving maneuvers. The autonomous driving module 160 may implement such autonomous driving maneuvers directly or indirectly. As used herein, “cause” or “make happen” means, directly or indirectly, to cause, command, instruct, and / or enable an event or action to occur, or to cause, command, instruct, and / or enable an event or action to occur, or to cause, command, instruct, and / or enable an event or action to occur, or at least be in a state in which such an event or action can occur. The autonomous driving module 160 may be configured to perform various vehicle functions and / or to transmit data to, receive data from, interact with, and / or control the vehicle 100 or one or more of its systems (e.g., one or more of the vehicle systems 140).

[0090] Detailed embodiments are disclosed herein. However, it should be understood that the embodiments of this disclosure are intended to be merely illustrative. Accordingly, the specific structural and functional details disclosed herein should not be construed as restrictive, but merely as representative grounds for the claims and for teaching those skilled in the art to employ various aspects of this specification in substantially any suitable detailed structure. Furthermore, the terms and phrases used herein are not intended to be restrictive, but rather to provide an understandable description of possible implementations. Various embodiments are shown in Figures 1 to 7, but these embodiments are not limited to the illustrated structures or uses.

[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 a flowchart or block diagram may represent a module, segment, or portion of code comprising one or more executable instructions that implement a specified logical function. Note that in some alternative implementations, the functions described in a block may occur regardless of the order in which they are shown in the figure. For example, two blocks shown consecutively may actually be executed substantially simultaneously, or blocks may sometimes be executed in reverse order depending on the functions they relate to.

[0092] The systems, components, and / or processes described herein may be implemented in hardware or a combination of hardware and software, in a centralized manner within a single processing system, or in a distributed manner where various elements are spread across several interconnected processing systems. Any type of processing system or other device configured to perform the methods described herein is preferred. A typical combination of hardware and software may be a processing system comprising computer-readable program code that, when loaded and running, controls the processing system to perform the methods described herein. The systems, components, and / or processes may also be incorporated into computer-readable storage, such as a machine-readable computer program product or other data program storage device, which tangibly embodies a program of machine-executable instructions for performing the methods and processes described herein. These elements may also be incorporated into an application product that has all the functionality to enable the implementation of the methods described herein and, when loaded into a processing system, can perform said methods.

[0093] Furthermore, the mechanisms described herein may take the form of a computer program product in which computer-readable program code is embodied, for example, in one or more computer-readable media on which it is stored. Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The phrase "computer-readable storage medium" means a non-temporary storage medium. A computer-readable storage medium may be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any preferred combination thereof. More specific examples (non-exclusive list) of computer-readable storage media include, namely, portable computer diskettes, hard disk drives (HDDs), solid-state drives (SSDs), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), digital versatile disks (DVDs), optical storage devices, magnetic storage devices, or any preferred combination thereof. In the context of this specification, a computer-readable storage medium can be any tangible medium that may contain or store programs used by or in connection with an instruction execution system, apparatus, or device.

[0094] In general, modules used herein include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific data type. In further embodiments, memory generally stores the described modules. The memory associated with a module may be a buffer or cache built into a processor, RAM, ROM, flash memory, or another suitable electronic storage medium. In further embodiments, modules conceived by this disclosure may be implemented as application-specific integrated circuits (ASICs), as hardware components of a system-on-a-chip (SoC), as programmable logic arrays (PLAs), or as another suitable hardware component incorporating a set of configurations (e.g., instructions) defined to perform the functions of this disclosure.

[0095] Program code implemented on a computer-readable medium may be transmitted using any suitable medium, including, but not limited to, wireless, wired, optical fiber, cable, RF, or any suitable combination thereof. Computer program code that performs the operation of aspects of this mechanism may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java®, Smalltalk, C++, or similar, and conventional procedural programming languages ​​such as the C programming language or similar programming languages. The program code may be fully executed on the user's computer, partially executed on the user's computer, executed as a standalone software package, partially executed on the user's computer and partially executed on a remote computer, or fully executed 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 (for example, via the Internet using an Internet service provider).

[0096] As used herein, the terms “a” and “an” are defined as one or more. As used herein, the term “plural” is defined as two or more. As used herein, the term “another” is defined as at least a second or more. As used herein, the terms “include” and / or “have” are defined as having (i.e., open language). As used herein, the phrase “at least one of ... and ...” refers to and encompasses all possible combinations of one or more of the associated enumerations. For 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 this specification may be embodied in other forms without departing from the spirit or essential attributes thereof. Therefore, the following claims should be used to indicate the scope herein, rather than the above specification. The inventions disclosed herein include the following embodiments: [Aspect 1] One or more processors, A memory that is communicably connected to one or more processors, The memory is equipped with, It stores a control module containing instructions, and when an instruction is executed by one or more processors, it directs the one or more processors to: In response to receiving a signal to initiate hitchless operation of the trailer, separately from the control vehicle, the control vehicle's input device acquires a control input to operate the trailer. The control vehicle transmits the control input for operating the trailer to the trailer. Upon receiving feedback from the trailer indicating that the trailer is within the requested location, a control signal is transmitted to stop the trailer. system. [Aspect 2] The system according to embodiment 1, wherein the control module includes commands for transmitting the control input while the control vehicle remains stationary. [Aspect 3] The system according to Embodiment 1, wherein the control module includes an instruction to generate the control signal according to one of the following: an electronic input from a mechanical interface controlled by a human driver, and an automatic formula based at least in part on a determination that the trailer is in the requested position. [Aspect 4] The system according to embodiment 1, wherein the control input for steering the trailer includes a control input for steering the trailer in at least in the longitudinal direction. [Aspect 5] The feedback is at least one of the video data and image data of the trailer, The system according to embodiment 1, wherein the control module includes a command to display at least one of the video data and image data of the trailer on a display located in the control vehicle. [Aspect 6] The system according to embodiment 1, wherein the input device is at least one of a steering wheel, a touchpad, a knob, and a button. [Aspect 7] The system according to embodiment 1, wherein the control input includes at least one of speed control, brake control, and steering control. [Aspect 8] The system according to embodiment 1, wherein the requested position is a position between marks indicating a parking space. [Aspect 9] A non-temporary computer-readable medium containing instructions, wherein, when the instructions are executed by one or more processors, the instructions are directed to the one or more processors. In response to receiving a signal to initiate hitchless operation of the trailer, separately from the control vehicle, the control vehicle's input device acquires a control input to operate the trailer. The control vehicle transmits the control input for operating the trailer to the trailer. Upon receiving feedback from the trailer indicating that the trailer is within the requested location, a control signal is transmitted to stop the trailer. Non-temporary computer-readable media. [Aspect 10] The non-temporary computer-readable medium according to embodiment 9, wherein the command for transmitting the control input to the trailer includes a command for transmitting the control input while the control vehicle remains stationary. [Aspect 11] The non-temporary computer-readable medium according to aspect 9, wherein the instruction for transmitting the control signal to stop the trailer includes an instruction for generating the control signal according to either an electronic input from a machine interface controlled by a human driver, or an automatic formula based at least in part on the determination that the trailer is in the requested position. [Aspect 12] The non-temporary computer-readable medium according to embodiment 9, wherein the instruction for obtaining the control input for steering the trailer includes an instruction for obtaining the control input for steering the trailer in at least in the longitudinal direction. [Aspect 13] Receiving the aforementioned feedback includes receiving at least one of the video data and image data of the trailer, The non-temporary computer-readable medium includes instructions for displaying at least one of the video data and image data of the trailer on a display located inside the vehicle. A non-temporary computer-readable medium as described in aspect 9. [Aspect 14] In response to receiving a signal to initiate hitchless operation of the trailer, separately from the control vehicle, the control vehicle acquires a control input to operate the trailer from an input device within the control vehicle, The control vehicle transmits the control input for operating the trailer to the trailer, Upon receiving feedback from the trailer indicating that the trailer is within the requested location, a control signal is transmitted to stop the trailer. Methods that include... [Aspect 15] The method according to embodiment 14, wherein transmitting the control input to the trailer includes transmitting the control input while the control vehicle is stationary. [Aspect 16] The method of embodiment 14, wherein transmitting the control signal to stop the trailer includes generating the control signal according to one of the following: an electronic input from a mechanical interface controlled by a human driver, and an automatic formula based at least in part on a determination that the trailer is in the requested position. [Aspect 17] The method according to embodiment 14, wherein obtaining the control input for steering the trailer includes obtaining the control input for steering the trailer at least in the longitudinal direction. [Aspect 18] Receiving the aforementioned feedback means receiving at least one of the video data and image data of the trailer, Displaying at least one of the video data and image data of the trailer on a display located inside the control vehicle, The method according to embodiment 14, including the method described in embodiment 14. [Aspect 19] The method according to embodiment 14, wherein obtaining the control input for steering the trailer includes obtaining the control input from at least one of a steering wheel, a touchpad, a knob, and a button. [Aspect 20] The method according to embodiment 14, wherein obtaining the control input includes obtaining at least one of speed control, brake control, and steering control.

Claims

1. One or more processors, A memory that is communicably connected to one or more processors, The memory is equipped with, It stores a control module containing instructions, and when an instruction is executed by one or more processors, it directs the one or more processors to: In response to receiving a signal to initiate hitchless operation of the trailer, independently of the control vehicle, the control vehicle receives a control input from an input device, which is at least one of a steering wheel, touchpad, knob, and button, to operate the trailer, and which includes at least one of speed control, brake control, and steering control, allowing the trailer to be operated independently of the control vehicle. The control vehicle transmits the control input for operating the trailer to the trailer. Upon receiving feedback from the trailer indicating that the trailer is within the requested location, a control signal is transmitted to stop the trailer. system.

2. The system according to claim 1, wherein the control module includes commands for transmitting the control input while the control vehicle remains stationary.

3. The system according to claim 1, wherein the control module includes an instruction to generate the control signal according to one of the following: an electronic input from a mechanical interface controlled by a human driver, and an automatic formula based at least in part on a determination that the trailer is in the requested position.

4. The system according to claim 1, wherein the control input for steering the trailer includes at least a control input for steering the trailer in the longitudinal direction.

5. The feedback is at least one of the video data and image data of the trailer, The system according to claim 1, wherein the control module includes a command to display at least one of the video data and image data of the trailer on a display located in the control vehicle.

6. The system according to claim 1, wherein the requested position is a position between marks indicating a parking space.

7. A non-temporary computer-readable medium containing instructions, wherein, when the instructions are executed by one or more processors, the instructions are directed to the one or more processors. In response to receiving a signal to initiate hitchless operation of the trailer, independently of the control vehicle, the control vehicle receives a control input from an input device, which is at least one of a steering wheel, touchpad, knob, and button, to operate the trailer, and which includes at least one of speed control, brake control, and steering control, allowing the trailer to be operated independently of the control vehicle. The control vehicle transmits the control input for operating the trailer to the trailer. Upon receiving feedback from the trailer indicating that the trailer is within the requested location, a control signal is transmitted to stop the trailer. Non-temporary computer-readable media.

8. The non-temporary computer-readable medium according to claim 7, wherein the command for transmitting the control input to the trailer includes a command for transmitting the control input while the control vehicle is stationary.

9. The non-temporary computer-readable medium according to claim 7, wherein the command transmitting the control signal for stopping the trailer includes a command for generating the control signal according to one of the following: an electronic input from a machine interface controlled by a human driver, and an automatic formula based at least in part on the determination that the trailer is in the requested position.

10. The non-temporary computer-readable medium according to claim 7, wherein the command for obtaining the control input for steering the trailer includes a command for obtaining the control input for steering the trailer in at least in the longitudinal direction.

11. Receiving the aforementioned feedback includes receiving at least one of the video data and image data of the trailer, The non-temporary computer-readable medium includes instructions for displaying at least one of the video data and image data of the trailer on a display located inside the vehicle. The non-temporary computer-readable medium according to claim 7.

12. In response to receiving a signal to initiate hitchless operation of the trailer, separately from the control vehicle, the control vehicle acquires a control input to operate the trailer from an input device within the control vehicle, The control vehicle transmits the control input for operating the trailer to the trailer, Upon receiving feedback from the trailer indicating that the trailer is within the requested location, a control signal is transmitted to stop the trailer. Includes, Obtaining the control input for operating the trailer includes obtaining the control input from at least one of the steering wheel, touchpad, knob, and button, and obtaining the control input includes obtaining at least one of the speed control, brake control, and steering control for operating the trailer separately from the control vehicle. method.

13. The method according to claim 12, wherein transmitting the control input to the trailer includes transmitting the control input while the control vehicle is stationary.

14. The method of claim 12, wherein transmitting the control signal for stopping the trailer includes generating the control signal according to an automatic formula which is at least partially based on electronic input from a mechanical interface controlled by a human driver and a determination that the trailer is in the requested position.

15. The method according to claim 12, wherein obtaining the control input for steering the trailer includes obtaining the control input for steering the trailer at least in the longitudinal direction.

16. Receiving the aforementioned feedback means receiving at least one of the video data and image data of the trailer, Displaying at least one of the video data and image data of the trailer on a display located inside the control vehicle, The method according to claim 12, including the method described in claim 12.

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