# US 10,870,323 B2 · Compensation for trailer coupler geometry in automatic hitch operation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,870,323 B2 - Document ID: US10870323B2 - Status: Granted - Kind: B2 - Application number: 16/038,462 - Filed: 2018-07-18 - Published: 2020-01-23 - Granted: 2020-12-22 - Earliest claimed: 2018-07-18 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Luke Niewiadomski; George Edmund Walley, III; Chen Zhang - Web page: https://patentgrep.com/patent/US10870323B2 ## CPC - B60D 1/36: for facilitating connection, e.g. hitch catchers - B60D 1/06: Ball-and-socket hitches - 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)} - G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)} - G05D 1/0246: {using a video camera in combination with image processing means} - B60R 1/31: providing stereoscopic vision - B60R 2300/808: for facilitating docking to a trailer - B60T 7/12: for automatic initiation; for initiation not subject to will of driver or passenger {(limiting speed of vehicles other than rail vehicles B60K31/00)} - B60T 2230/08: Driving in reverse - B60W 30/18109: {Braking} - B62D 15/0285: {Parking performed automatically} - 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) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A vehicle hitch assistance system includes a steering system and a controller. The controller acquires position data for a coupler of a trailer, derives a vehicle path to position a center of a hitch ball of the vehicle at an interference offset past a centerline of the coupler in a driving direction of the vehicle path, and outputs a steering control signal to the steering system to maintain the vehicle along the path. ## Claims ### Claim 1 A vehicle hitch assistance system, comprising: a steering system; and a controller: acquiring position data for a coupler of a trailer; deriving a vehicle path to position a center of a hitch ball of the vehicle at an interference offset past a centerline of the coupler in a driving direction of the vehicle path; and outputting a steering control signal to the steering system to maintain the vehicle along the path. ### Claim 2 (depends on 1) The hitch assistance system of claim 1, further including means for acquiring the position data for the coupler of the trailer. ### Claim 3 (depends on 2) The hitch assistance system of claim 2, wherein the means for acquiring include one or more cameras mounted on the vehicle. ### Claim 4 (depends on 3) The hitch assistance system of claim 3, wherein the means for acquiring further include one or more ultrasonic sensors mounted on a rear of the vehicle, wherein: the hitch assistance system uses the one or more cameras to derive an initial iteration of the vehicle path when the vehicle is determined to be above a predetermined threshold distance from the coupler; and the hitch assistance system uses the ultrasonic sensors to derive a refined iteration of the vehicle path when the vehicle is determined to be below a predetermined threshold distance from the coupler. ### Claim 5 (depends on 1) The hitch assistance system of claim 1, wherein: the position data for the coupler includes position data corresponding with a leading edge of the coupler and one of a distance to the coupler or a width of the coupler; at least one of the distance to the coupler or the width of the coupler is used to determine a position of the centerline of the coupler; and the interference offset corresponds with a distance between the leading edge of the coupler and an undercut of the coupler positioned beyond the leading edge in the driving direction. ### Claim 6 (depends on 1) The hitch assistance system of claim 1, further including a brake system, wherein outputting a steering control signal to the steering system to maintain the vehicle along the path is carried out within a hitching operation executed by the controller and further including: outputting a brake control signal to the brake system, the steering and brake control signals controlling movement of the vehicle along the vehicle path and stopping movement of the vehicle when the center of the hitch ball is aligned at the interference offset. ### Claim 7 (depends on 6) The hitch assistance system of claim 6, wherein: an accuracy of the position data increases during the hitching operation as the vehicle approaches the trailer; and the hitch assistance system iterates derivation of a remaining portion of the path during the hitching operation, including refining the interference offset based on revised position data including the centerline of the coupler. ### Claim 8 (depends on 6) The hitch assistance system of claim 6, wherein the controller further: receives information regarding an accuracy of the interference offset after completion of a hitching operation; and adjusts the interference offset based on the information. ### Claim 9 (depends on 1) The hitch assistance system of claim 1, wherein: an undercut in the coupler defines a lower edge of the coupler that is set back from a leading portion of coupler; the interference offset is a distance between the lower edge and the leading portion in the driving direction. ### Claim 10 (depends on 9) The hitch assistance system of claim 9, wherein the interference offset is less than a difference between an opening size of the coupler and a diameter of the hitch ball. ### Claim 11 (depends on 9) The hitch assistance system of claim 9, wherein the interference offset is a preset system parameter. ### Claim 12 (depends on 9) The hitch assistance system of claim 9, wherein the interference offset is one of input or adjustable by a user. ### Claim 13 (depends on 9) The hitch assistance system of claim 9, wherein: the interference offset is selected from a plurality of interferences offsets stored in memory accessible by the system; and the plurality of interference offsets are respectively associated with a plurality of trailers having additional characteristics thereof stored in the memory. ### Claim 14 A method for assisting a vehicle in hitching with a trailer, comprising: acquiring position data for a coupler of the trailer; deriving a vehicle path to position a center of a vehicle hitch ball at an interference offset past a centerline of the coupler in a driving direction of the vehicle path; and generating a steering control signal to maintain the vehicle along the path and outputting the steering control signal to a steering system of the vehicle. ### Claim 15 (depends on 14) The method of claim 14, further including: using information received from one or more cameras to derive an initial iteration of the vehicle path when the vehicle is determined to be above a predetermined threshold distance from the coupler; and using information received from one or more ultrasonic sensors to derive a refined iteration of the vehicle path when the vehicle is determined to be below the predetermined threshold distance from the coupler. ### Claim 16 (depends on 14) The method of claim 14, wherein: the position data for the coupler includes position data corresponding with a leading edge of the coupler and one of a distance to the coupler or a width of the coupler; at least one of the distance to the coupler or the width of the coupler is used to determine the centerline position of the coupler; and the interference offset corresponds with a distance between the leading edge of the coupler and an undercut of the coupler positioned beyond the leading edge in the driving direction. ### Claim 17 (depends on 14) The method of claim 14, wherein outputting a steering control signal to the steering system to maintain the vehicle along the path is carried out within a hitching operation further including: generating a brake control signal to stop movement of the vehicle when the center of the hitch ball is aligned at the interference offset; and outputting the brake control signal to a vehicle brake system. ### Claim 18 (depends on 17) The method of claim 17, further including iterating derivation of a remaining portion of the path during the hitching operation, including refining the interference offset based on revised position data including the centerline of the coupler. ### Claim 19 (depends on 14) The method of claim 14, wherein: an undercut in the coupler defines a lower edge of the coupler that is set back from a leading portion of coupler; the interference offset is a distance between the lower edge and the leading portion in the driving direction. ### Claim 20 A vehicle, comprising: a hitch ball mounted on a rear of the vehicle; a steering system; and a controller: acquiring position data for a coupler of a trailer; deriving a vehicle path to position a center of the hitch ball at an interference offset past a centerline of the coupler in a driving direction of the vehicle path; and outputting a steering control signal to the steering system to maintain the vehicle along the path.