# US 10,864,787 B2 · Systems and methods for a human machine interface for a trailer hitch system

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- Number: US 10,864,787 B2
- Document ID: US10864787B2
- Status: Granted
- Kind: B2
- Application number: 15/658,923
- Filed: 2017-07-25
- Published: 2018-02-01
- Granted: 2020-12-15
- Earliest claimed: 2016-07-28
- Assignees: Robert Bosch GmbH
- Applicants: Robert Bosch GmbH
- Inventors: Rajani Janardhana; Gary B. Ward
- Web page: https://patentgrep.com/patent/US10864787B2

## CPC

- B60D 1/36: for facilitating connection, e.g. hitch catchers
- B60D 1/62: involving supply lines, electric circuits or the like
- B60R 1/26: to the rear of the vehicle
- B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)}
- B62D 15/028: {Guided parking by providing commands to the driver, e.g. acoustically or optically}
- B60R 2300/808: for facilitating docking to a trailer
- G01P 3/00: Measuring linear or angular speed; Measuring differences of linear or angular speeds (G01P5/00 - G01P11/00 take precedence; {direction and speed indication G01P13/045}; counting mechanisms G06M)
- B60D: VEHICLE CONNECTIONS
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G01P: MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT (measuring or recording blood flow A61B5/02, A61B8/06; monitoring speed or deceleration of electrically-propelled vehicles B60L3/00; vehicle lighting systems adapted to indicate speed B60Q1/54; determining position or course in navigation, measuring ground distance in geodesy or surveying G01C; combined measuring devices for measuring two or more variables of movement G01C23/00; measuring velocity of sound G01H; measuring velocity of light G01J7/00; measuring direction or velocity of solid objects by reception or emission of radiowaves or other waves and based on propagation effects, e.g. Doppler effect, propagation time, direction of propagation, G01S; measuring speed of nuclear radiation G01T; measuring acceleration of gravity G01V; {measuring or recording the speed of trains B61L23/00; speed indicators incorporated in motor vehicles B60K35/00; measuring frequency or phase G01R; traffic control G08G})

## Abstract

Systems and methods for a human machine interface for a trailer hitch system. One method includes receiving, a first user input, and presenting on a display a captured video image including a coupler, and determining an area into which the vehicle can be guided. The method includes presenting an indication of the area overlaying the captured video image. The method includes, in response to receiving a second user input indicating a location relative to the coupler, and when the vehicle is not in a reverse gear, presenting a visual command to put the vehicle in the reverse gear, and, when the vehicle is in the reverse gear, automatically steering the vehicle to the coupler based on the location. The method includes, during the automatic steering, receiving the speed of the vehicle, and, when the speed exceeds a threshold, presenting on the display a second visual command to slow the vehicle.

## Claims

### Claim 1

A trailer hitch guidance system for a vehicle, the system comprising:
a display;
a user interface;
a camera;
a velocity sensor configured to measure a speed of the vehicle;
an electronic controller communicatively coupled to the display, the user interface, and the velocity sensor, and configured to
receive, via the user interface, a first user input;
in response to the first user input, present on the display a captured video image from the camera, the captured video image including a coupler;
determine within the captured video image, based on steering restrictions for the vehicle, an area within which the trailer hitch guidance system is able to guide the vehicle;
present on the display an indication of the area overlaying the captured video image;
in response to receiving a second user input indicating a location relative to the coupler, when the electronic controller determines that the vehicle is not in a reverse gear, present, on the display, a visual command to put the vehicle in the reverse gear;
when the vehicle is in the reverse gear, activate an automatic steering of the vehicle steering the vehicle to the coupler based on the location;
during the automatic steering the vehicle, receive, from the velocity sensor, the speed of the vehicle;
when the speed exceeds a first predetermined speed threshold, present on the display a second visual command to slow the vehicle;
determine when the vehicle is less than a predetermined distance from the coupler;
in response to the vehicle being less than the predetermined distance from the coupler, display a third visual command to stop the vehicle, shift the vehicle to a parking gear, and set a parking brake;
determine, after displaying the third command, if the parking brake has been set; and
when the parking brake is not set, present, on the display a second captured video image, the second captured video image including a top down view of the coupler.

### Claim 2 (depends on 1)

The system of claim 1, wherein the electronic controller is further configured to:
when the parking brake is set, return to a home screen.

### Claim 3 (depends on 1)

The system of claim 1, wherein the electronic controller is further configured to:
receive, via the user interface, a third user input selecting an initial location relative to the coupler within the captured video image;
display, in response to the third user input, an enhanced view of the initial location relative to the coupler; and
wherein the second user input indicates the location relative to the coupler by indicating a point on the coupler within the enhanced view.

### Claim 4 (depends on 1)

The system of claim 1, wherein the electronic controller is further configured to:
determine an exit condition; and
in response to determining the exit condition, returning to a home screen.

### Claim 5 (depends on 4)

The trailer hitch system of claim 4, wherein the exit condition is at least one selected from the group consisting of a receiving, via the user interface, a cancel command, when the speed of the vehicle exceeds a predetermined maximum speed threshold, and determining when a user handles a steering wheel of the vehicle.

### Claim 6 (depends on 1)

The trailer hitch system of claim 1, wherein the electronic controller is further configured to:
while the vehicle is in reverse gear, receive, via the user interface, a third user input indicating a second location relative to the coupler; and
adjust the automatic steering to steer the vehicle to the coupler based on the second location.

### Claim 7 (depends on 1)

The trailer hitch system of claim 1, wherein the camera is part of a back-up video camera system of the vehicle.

### Claim 8 (depends on 1)

The trailer hitch system of claim 1, wherein at least part of the trailer hitch system is implemented by at least one selected from a group consisting of a smart phone, a smart tablet, a smart watch, or a portable electronic device communicatively coupled to the vehicle.

### Claim 9

A trailer hitch guidance method for a vehicle, the method comprising:
receiving, via a user interface, a first user input;
in response to the first user input, presenting on a display a captured video image from a camera, the captured video image including a coupler;
determining within the captured video image, based on steering restrictions for the vehicle, an area within which the trailer hitch guidance system is able to guide the vehicle;
presenting on the display an indication of the area overlaying the captured video image;
in response to receiving a second user input indicating a location relative to the coupler, when the vehicle is not in a reverse gear, presenting, on the display, a visual command to put the vehicle in the reverse gear;
when the vehicle is in the reverse gear, activating an automatic steering of the vehicle steering the vehicle to the coupler based on the location;
during the automatic steering the vehicle, receiving, from the velocity sensor, the speed of the vehicle;
when the speed exceeds a first predetermined speed threshold, presenting on the display a second visual command to slow the vehicle;
determining when the vehicle is less than a predetermined distance from the coupler;
in response to the vehicle being less than the predetermined distance from the coupler, displaying a third visual command to stop the vehicle, shift the vehicle to a parking gear, and set a parking brake
determining, after displaying the third command, if the parking brake has been set; and
when the parking brake is not set, presenting, on the display a second captured video image, the second captured video image including a top down view of the coupler.

### Claim 10 (depends on 9)

The trailer hitch guidance method of claim 9 further comprising:
when the parking brake is set, returning to a home screen.

### Claim 11 (depends on 9)

The trailer hitch guidance method of claim 9 further comprising:
receiving, via the user interface, a third user input selecting an initial location relative to the coupler within the captured video image;
displaying, in response to the third user input, an enhanced view of the initial location relative to the coupler; and
wherein the second user input indicates the location relative to the coupler by indicating a point on the coupler within the enhanced view.

### Claim 12 (depends on 9)

The trailer hitch guidance method of claim 9 further comprising:
determining an exit condition; and
in response to determining the exit condition, returning to a home screen.

### Claim 13 (depends on 12)

The trailer hitch guidance method of claim 12 wherein the exit condition is at least one selected from the group consisting of a receiving, via the user interface, a cancel command, when a speed of the vehicle exceeds a predetermined maximum speed threshold, and determining when a user handles a steering wheel of the vehicle.

### Claim 14 (depends on 9)

The trailer hitch guidance method of claim 9 further comprising:
while the vehicle is in a reverse gear, receiving, via the user interface, a third user input indicating a second location relative to the coupler; and
adjusting the automatic steering to steer the vehicle to the coupler based on the second location.

### Claim 15 (depends on 9)

The trailer hitch guidance method of claim 9 wherein the camera is part of a back-up video camera system of the vehicle.

### Claim 16 (depends on 9)

The trailer hitch guidance method of claim 9 wherein at least part of the trailer hitch guidance method is implemented by at least one selected from a group consisting of a smart phone, a smart tablet, a smart watch, or a portable electronic device communicatively coupled to the vehicle.