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公开(公告)号：US20240336256A1
公开(公告)日：2024-10-10
申请号：US18613495
申请日：2024-03-22
发明人： Vidya Nariyambut murali , Roger Arnold Trombley , Leonidas Kiliaris , Jeremy Ferack , Akshay Prabhakarrao Moharir , Michael Litvak , Noga Zieber , Asaf Kagan , Rotem Littman
摘要： A hitch assistance system for assisting in maneuvering a vehicle toward a trailer includes a sensing system that includes an image sensor and a controller. The controller is configured to: identify a position of a coupler of the trailer based on image data received from the image sensor by utilizing a coupler detection model trained based on a library of images depicting couplers; control movement of the vehicle toward an aligned position based on the identified position of the coupler, wherein a hitch ball of the vehicle is aligned with the coupler of the trailer; determine a prospective location of the coupler in image data based on sensor data received from the sensing system; and crop image data based on the determined prospective location of the coupler.
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公开(公告)号：US11590815B2
公开(公告)日：2023-02-28
申请号：US16196487
申请日：2018-11-20
发明人： Li Xu , Kyle Simmons , Shannon Brooks-Lehnert , Katherine Rouen , Roger Arnold Trombley , Bo Bao , Seyed Armin Raeis Hosseiny
摘要： A vehicle hitching assistance system includes a controller acquiring image data from the vehicle and deriving a vehicle path to align a center of a hitch ball of the vehicle with a centerline of a trailer coupler within the image data. The controller also outputs a video image including a representation of a simplified path from the hitch ball to the coupler and outputs a steering signal to cause the vehicle to steer along the vehicle path.
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公开(公告)号：US11155298B2
公开(公告)日：2021-10-26
申请号：US16558571
申请日：2019-09-03
发明人： Luke Niewiadomski , Kyle Simmons , Roger Arnold Trombley , Arnav Sharma , Li Xu
摘要： A vehicle maneuvering apparatus comprises a steering control system configured to control a steering angle of a plurality of steered wheels of a vehicle. The controller is further configured to control the vehicle to stop in a stopped position upon completing a vehicle alignment routine and identify an alignment error distance between the hitch and the coupler position in the stopped position. The controller is further configured to calculate a change distance of the hitch based on the steering angle and calculate an aligned steering error distance. The aligned steering error distance is calculated by comparing the change distance to the alignment error. Based on the aligned steering error distance, the controller may selectively suppress the steering angle alignment routine.
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公开(公告)号：US11148488B2
公开(公告)日：2021-10-19
申请号：US16019032
申请日：2018-06-26
发明人： Luke Niewiadomski , Shannon Brooks-Lehnert , Roger Arnold Trombley , Kenneth Michael Mayer , Chen Zhang
摘要： A vehicle system is configured to control a trailer alignment routine. The system comprises a hitch ball mounted on a vehicle and a controller configured to identify a coupler position of a trailer. The controller is further configured to control motion of the vehicle to an aligned position, wherein the hitch ball is aligned with the coupler position. In response to the aligned position, the controller activates a service brake holding the vehicle and while maintaining the service brake activation, the controller activates a parking brake.
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公开(公告)号：US20210114521A1
公开(公告)日：2021-04-22
申请号：US16657100
申请日：2019-10-18
摘要： A vehicle hitch assistance system comprises a first image sensor in connection with a portion of the vehicle and positioned forward of a forward hitch disposed in a cargo bed of the vehicle. The system further comprises a controller configured to capture first image data with the first image sensor. The first image data depicts a coupler of a trailer. The controller is further configured to identify a trailer type of the trailer based on the first image data. The trailer type is configured to connect to the forward hitch. The controller is further configured to acquire position data identifying a coupler position of the coupler in the first image data, derive a vehicle path aligning the forward hitch with the coupler, and control a maneuvering system driving the vehicle along the vehicle path.
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公开(公告)号：US20210070357A1
公开(公告)日：2021-03-11
申请号：US16565682
申请日：2019-09-10
发明人： Luke Niewiadomski , Li Xu , Donald Jacob Mattern , Mohamed El-sawah , Roger Arnold Trombley , Douglas Rogan , Nikhil Nagraj Rao , Arnav Sharma
摘要： A vehicle system configured to control a trailer alignment routine comprises a hitch mounted on a vehicle and a controller. The controller is configured to identify a coupler position of a trailer and control motion of the vehicle to toward an aligned position. The controller is further configured to control a braking procedure of the vehicle comprising a plurality of concurrent deceleration control procedures in response to a portion of the vehicle passing a gradual stopping distance. The concurrent deceleration procedures comprise monitoring an elapsed time following the portion of the vehicle passing the gradual stopping distance and monitoring a remaining distance to the aligned position based on a velocity of the vehicle and comparing the remaining distance to a rapid stopping distance.
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公开(公告)号：US20210061354A1
公开(公告)日：2021-03-04
申请号：US16558571
申请日：2019-09-03
发明人： Luke Niewiadomski , Kyle Simmons , Roger Arnold Trombley , Arnav Sharma , Li Xu
摘要： A vehicle maneuvering apparatus comprises a steering control system configured to control a steering angle of a plurality of steered wheels of a vehicle. The controller is further configured to control the vehicle to stop in a stopped position upon completing a vehicle alignment routine and identify an alignment error distance between the hitch and the coupler position in the stopped position. The controller is further configured to calculate a change distance of the hitch based on the steering angle and calculate an aligned steering error distance. The aligned steering error distance is calculated by comparing the change distance to the alignment error. Based on the aligned steering error distance, the controller may selectively suppress the steering angle alignment routine.
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公开(公告)号：US20200171897A1
公开(公告)日：2020-06-04
申请号：US16208777
申请日：2018-12-04
发明人： Li Xu , Roger Arnold Trombley , Luke Niewiadomski , Kyle Simmons , Kenneth Michael Mayer , Shannon Brooks-Lehnert , Seyed Armin Raeis Hosseiny , Bo Bao , Katherine Rouen
摘要： A vehicle hitching assistance system includes a controller identifying a trailer coupler within a specified area relative to the vehicle. The specified area is defined between a maximum distance and a minimum distance from a rear of the vehicle and within left and right lateral vehicle control limits. The controller also outputs a steering signal to the vehicle to cause the vehicle to steer to align a hitch ball of the vehicle with the coupler.
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公开(公告)号：US20200148257A1
公开(公告)日：2020-05-14
申请号：US16190419
申请日：2018-11-14
发明人： Luke Niewiadomski , Donald Jacob Mattern , Roger Arnold Trombley , Aleksey Shepelev , Chen Zhang
摘要： A driver assistance system for a vehicle having a hitch includes a trailer detection system, a steering system, and a controller. The controller determines that a trailer is not coupled with the hitch and outputs a reverse hitching path control signal to the steering system and determines that the trailer is coupled with the hitch and outputs a trailer backing path control signal to the steering system.
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公开(公告)号：US20200148018A1
公开(公告)日：2020-05-14
申请号：US16183825
申请日：2018-11-08
摘要： A vehicle hitch assistance system includes a powered suspension system supporting a rear of the vehicle at a height and a controller. The controller acquires position data for a coupler of a trailer, determines when the position data indicates that a hitch ball of the vehicle is aligned with the coupler, and causes the powered suspension system to raise the height of the rear portion of the vehicle until a threshold resistance value is detected.
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