Saturated steering detection and operation for guided vehicle operation
AssigneeFord Global Technologies, LLC
InventorsLuke Niewiadomski, Kyle Simmons, Li Xu
Life of this patent
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Abstract
A method for controlling a vehicle comprises identifying a first detected position of a trailer coupler in the sensor data and identifying a trajectory range of a hitch of the vehicle based on a steering angle range of the vehicle. In response to the first detected position being outside the trajectory range, the method may continue by calculating a nearby position within the trajectory range based on the trajectory range. The method further comprises maneuvering the vehicle aligning the hitch with the nearby position.
Claims20
A method for controlling a vehicle comprising:
- identifying a first detected position of a trailer coupler in sensor data;
- identifying a trajectory range of a hitch of the vehicle based on a steering angle range of the vehicle;
- in response to the first detected position being outside the trajectory range, calculating a nearby position within the trajectory range with a maximum steering angle;
- and
- controlling a steering apparatus with a processor of a computerized maneuvering system of the vehicle, thereby maneuvering the vehicle aligning the hitch with the nearby position.
A vehicle maneuvering system comprising:
- a steering apparatus;
- and
- a controller that:
- identifies a first target of a trailer coupler in a sensor data;
- compares the first target to a trajectory range of a hitch of the vehicle;
- in response to the first target being outside the trajectory range, calculates a second target based on the trajectory range;
- and
- controls the steering apparatus to align the hitch with the second target.
A vehicle system, comprising:
- a hitch mounted on a vehicle;
- a sensor apparatus configured to capture sensor data in a region proximate to the vehicle depicting a coupler of a trailer;
- a steering apparatus comprising a steering range;
- and
- a controller that:
- identifies a detected position of the coupler in the sensor data;
- compares the detected position to a trajectory range of the hitch based on the steering range;
- in response to the detected position outside the trajectory range, calculates an approximate alignment target based on the trajectory range;
- and
- controls the steering apparatus and a powertrain system of the vehicle to align the hitch with the approximate alignment target.
Dependencies are inferred from the claim text.