Abstract:
A backing system for a vehicle comprises a camera for recording a video image of a user performing a gesture and an electronic control unit for the backing system, wherein the electronic control device includes instructions for: determining that the vehicle is backing up; interpreting a gesture with the electronic control unit to determine the meaning of the gesture; calculating a steering angle based upon the meaning of the gesture; and sending a request to a steering system to provide the steering angle.

Description:
TECHNICAL FIELD 
       [0001]    The present invention is related to a method, system and electronic processing device for maneuvering a vehicle to connect to a trailer, and a connected vehicle-trailer system is in the process of backing up. 
       BACKGROUND 
       [0002]    A trailer is typically connected to a towing vehicle through a trailer hitch. Backing a vehicle into the correct position to connect to the trailer hitch typically requires multiple persons, one to view the trailer hitch and direct the movement to the proper vehicle position and one to steer the vehicle. 
         [0003]    Additionally, once the vehicle is connected to the trailer the hitch allows the trailer to swivel around the hitch horizontally so that the vehicle-trailer unit is able to move around corners. This, however, can pose difficulties when the vehicle is traveling in the reverse. When the vehicle backs up, it pushes the trailer. In certain situations, it is important that the trailer moves straight ahead or along an intended path, for example when taking a boat to water and the trailer needs to roll down into the water. Drivers are often confused as to which way to turn the vehicle steering wheel to get the desired change of direction of the trailer. Applying an incorrect steering angle in the vehicle may also cause the trailer to jack-knife and lose its course. 
         [0004]    Therefore, backing of trailers attached to vehicles often requires multiple persons to effectively control the vehicle and direct the path the vehicle and trailer are required to travel. Additionally, those unaccustomed to operating vehicle and trailer systems may have some difficulty in accurately controlling the path of the trailer while backing the vehicle and trailer. 
         [0005]    The background description provided herein is for the purpose of generally presenting the context of the disclosure. Work of the presently named inventors, to the extent it is described in this background section, as well as aspects of the description that may not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against the present disclosure. 
       SUMMARY 
       [0006]    A backing system for a vehicle comprises a camera for recording a video image of a user performing a gesture and an electronic control unit for the backing system, wherein the electronic control device includes instructions for: determining that the vehicle is backing up; interpreting a gesture with the electronic control unit to determine the meaning of the gesture; calculating a steering angle based upon the meaning of the gesture; and sending a request to a steering system to provide the steering angle. 
         [0007]    A method of maneuvering a vehicle-trailer unit in reverse travel with a backing system, wherein the trailer has a front with a trailer tongue and the vehicle has a rear with a trailer hitch, the trailer tongue being connected to the trailer hitch allowing a horizontal swivel movement of the trailer around the hitch the method comprises determining that the vehicle-trailer unit is backing up with an electronic control unit for the backing system. A current hitch angle is determined, which represents the relative angle between the vehicle and the trailer with the electronic control unit. A gesture is recorded with a camera for the vehicle and the gesture is interpreted with the electronic control unit by image analysis of the image recorded by the camera to determine the meaning of the gesture. The gesture is used to determine a requested motion of the trailer. A requested hitch angle is calculated with the electronic control unit, wherein the requested hitch angle is based upon the meaning of the gesture to achieve the desired motion. A steering angle is also calculated with the electronic control unit based upon the requested hitch angle, wherein the steering angle will allow movement of the vehicle-trailer unit in the reverse direction to obtain the requested hitch angle. The electronic control unit sends request to a steering system to provide the steering angle. 
         [0008]    A method of maneuvering a vehicle in reverse travel with a backing system, the method comprises determining that the vehicle-trailer unit is backing up with an electronic control unit for the backing system. A gesture is recorded with a camera for the vehicle and the gesture is interpreted with the electronic control unit by image analysis of the image recorded by the camera to determine the meaning of the gesture. A steering angle is also calculated with the electronic control unit based upon the requested hitch angle, wherein the steering angle will allow movement of the vehicle-trailer unit in the reverse direction to obtain the requested hitch angle. The electronic control unit sends request to a steering system to provide the steering angle. 
         [0009]    Further areas of applicability of the present disclosure will become apparent from the detailed description provided hereinafter. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the disclosure, are intended for purposes of illustration only and are not intended to limit the scope of the disclosure. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0010]    The present disclosure will become more fully understood from the detailed description and the accompanying drawings, wherein: 
           [0011]      FIG. 1  is a schematic diagram of a first embodiment of a backing system of the present invention for vehicle-trailer unit backing; 
           [0012]      FIG. 2  is a schematic illustration of a method of utilizing the backing system of  FIG. 1 ; 
           [0013]      FIG. 3  is a schematic diagram of a second embodiment of the backing system of the present invention to provide vehicle hitch assist; 
           [0014]      FIG. 4  is a schematic illustration of a method of utilizing the backing system of  FIG. 3 ; 
           [0015]      FIG. 5  is a schematic diagram of a first example gesture for use with the backing system of  FIGS. 1-4 ; 
           [0016]      FIG. 6  is a schematic diagram of a second example gesture for use with the backing system of  FIGS. 1-4 ; 
           [0017]      FIG. 7  is a schematic diagram of a third example gesture for use with the backing system of  FIGS. 1-4 ; and 
           [0018]      FIG. 8  is a schematic diagram of a fourth example gesture for use with the backing system of  FIGS. 1-4 . 
       
    
    
     DETAILED DESCRIPTION 
       [0019]    The following description is merely exemplary in nature and is in no way intended to limit the disclosure, its application, or uses. For purposes of clarity, the same reference numbers will be used in the drawings to identify similar elements. 
         [0020]      FIG. 1  illustrates a vehicle  10  and a trailer  11 . The trailer  11  is controllably secured to the vehicle  10  to form a vehicle-trailer unit  12 . The vehicle-trailer unit  12  utilizes a backing system  14  of the present invention. Throughout the application the relative directions of forward and rear are in reference to the direction which an operator for the vehicle  10  would typically be facing when operating the vehicle  10  in a drive gear on a public road. Therefore, in operation of the backing system  14  the vehicle  10  would be in a reverse gear and the operator may be facing backward. The backing system  14  provides the vehicle operator with a method of electronically defining an intended backing direction  18  of the vehicle-trailer unit  12 . The backing system  14  utilizes the intended backing path  18  to control movement of vehicle-trailer unit  12 . 
         [0021]    The vehicle-trailer unit  12  uses gesture controls to determine the intended backing path  18  a secondary control input may also include voice recognition to determine the intended backing path  18 , as described in further detail below. Using the gesture control input and the voice recognition input the driver may be located outside of the vehicle  10  to direct the vehicle-trailer unit  12  along the intended path  18 . The backing system  14  uses an input device for the backing system  14  would include at least a camera  16  to record video image of the user gestures, example gestures shown in  FIGS. 5-8 , and to interpret the gestures with an electronic control unit (ECU)  22 . Although a camera  16  is used and described herein other sensors capable of detecting movement and gestures by humans could also be used, e.g. a LIDAR sensor or a radar sensor. When voice control is also used the input device for the backing system  14  would include at least a microphone  17  to record sound from the user and to interpret the sounds to specific directions with an electronic control unit (ECU)  22 . When control is intended to occur from outside the vehicle  10  the camera  16  and microphone  17  may be positioned to capture input from outside the vehicle  10  in an area proximate to the vehicle-trailer unit  12 . 
         [0022]    Referring to  FIGS. 1-2 , a first embodiment for utilizing the backing system  14  is described. The trailer  11  is connected to the vehicle  10  through trailer hitch  15 , which allows the trailer to swivel horizontally around the vertical axis of the trailer hitch  15 , which is the axis vertical to the drawing plane. The backing system  14  includes the ECU  22 . The ECU  22  may be connected to at least one vehicle system  24  such as a steering system. Other vehicle  10  systems, such as powertrain and/or brake systems to control and direct movement of the vehicle-trailer unit  12  may also be connected to the control unit  22 . 
         [0023]    The ECU  22  communicates with a control module  25  for the steering system  24 . The control module  25  is an electronic processing unit controlling an active power steering system  24  that is capable of actively changing a steering angle of front axle wheels  27  without the vehicle driver giving a respective input through the vehicle steering wheel. The active power steering system  24  may also include the capability of additionally steering the rear axle wheels  27 . The control module  25  computes corrective actions to be taken in order to maneuver the vehicle and initiates the power steering system  24  accordingly. Thus, the control unit  22  sends instructions to the steering system  24  to move the vehicle-trailer unit  12  based upon the input from the control unit  22 . 
         [0024]    The backing system  14  includes a sensor  26  to help determine hitch angle of the vehicle-trailer unit  12 . The backing system  14  may utilize sensors which are already incorporated into the vehicle  10 , such as proximity sensors or back-up camera or may be separate sensors for the backing system  14 . The sensor  26  may be used to measure hitch angle of the vehicle-trailer unit  12 . The sensor  26  may be one or multiple sensors measuring relative distance between the vehicle  10  and the trailer  11  and using the varied distance to calculate hitch angle. The sensors  26  may use horizontal or vertical features on the trailer  11  in the distance measurement. 
         [0025]    In one embodiment the sensor  26  is a camera, either the same camera or an additional second camera to be used as the input device for gesture control. The second camera  26  may capture an image and image analysis may be used to calculate the hitch angle, as explained herein. A distinct marking  31  can be established on the trailer  11  and captured by the second camera  26  for analysis. For example, the marking  31  may be a 3 or more of dots spaced apart from one another and positioned on the front of the trailer  11  proximate to the hitch  15 . The second camera  26  may capture an image of the marking  31  and the ECU  22  may analyze the image to determine the relative position of the dots to one another. The ECU  22  compares the relative distances of the dots and to stored data of the relative distances. The stored data would include at what hitch angle those relative distances would occur. Thus, the hitch angle can be calculated using a camera for the sensor  26  and a predetermined distinct marking. The marking  31  may be specific to the trailer backing system  14 , e.g. a known decal to be applied to the trailer, since the relative distances of the markings  31  may be prerecorded by the ECU  22 . The distance to the marking  31  from the camera  16  may also need to be input into the system  14 . Alternately, the ECU  22  may employ a learning mode to learn the relative distances at know hitch angles the first time the system  14  is used. 
         [0026]      FIG. 2  illustrates an embodiment of a method, shown at  29 , of using gesture control for the trailer backing system  14 . The path input mode for the trailer backing system  14  is initiated, step  30 . Initiating path input mode, step  30  may include selecting what type of input would be preferred, gesture control or voice control. The user may also be able to select an input location, inside or outside. Selecting input location may be used to initiate the input device  16 ,  116  that corresponds to the desired location. For example, if user selects exterior gesture control input a camera  16  positioned to capture the area proximate the vehicle-trailer unit  12  may be started. The camera  16  could be located on the vehicle  10  or the trailer  11  in a position to capture a rear, or side rear position of a user, as shown in  FIG. 1 . 
         [0027]    A user would employ the camera  16  to input an intended direction of moving the trailer  11 , step  32 . That is, the user moves to a location within the camera view. The user performs a gesture to indicate a desired movement.  FIGS. 5-8  illustrate example gestures that the user may employ. Gestures may be selected to be “intuitive” of those typically used in providing direction to drivers of backing trailers. Arm gestures, as illustrated in  FIGS. 5-8 , or similar hand gestures may be used. To stay within view of the camera  16  the user may need to move as the vehicle-trailer unit  12  moves, indicated by arrow. 
         [0028]    The ECU  22  interprets gestures from a user to detect the desired movement, step  34 . The trailer backing system  14  is designed to work real-time in which the vehicle-trailer unit  12  moves as the user inputs the directions. Based upon the gestures the ECU  22  interprets the gesture to a specific request for trailer movement, and determine the desired hitch angle, i.e. increase, decrease, remain the same, step  36 . The ECU  22  may continue to incrementally change the hitch angle as long as the user continues with the current motion (left or right) and then stop changing the hitch angle once the gesture indicates to do so. 
         [0029]    Once the desired hitch angle, or change in hitch angle is determined the ECU  22  calculates the steering angle that would be needed to obtain the desired hitch angle, step  38  The ECU  22  then requests the steering system  26  to provide the desired steering action, step  40 . 
         [0030]    Additionally, if the actual angle between the vehicle and the trailer differs from an intended angle by an amount greater than a stored threshold value, the power steering system  24  applies a corrective steering angle. The threshold value corresponds to a difference caused by a relatively small angle of at most 10°. The smaller the stored threshold value is, the more sensitive the control will be. The exact threshold value may be empirically determined to best satisfy a driver&#39;s need. It could also be set by the driver of the respective vehicle  10 . As mentioned above, anti-jack knife measures may limit the maximum and/or minimum trailer angle request. 
         [0031]    As mentioned above, a secondary input device  17  may also be used along with the gesture control input  16 . The secondary input device  17  may be a voice control system. The voice control system  17  may be connected to or partially incorporated with other vehicle  10  devices for performing various vehicle  10  functions. The other devices that may be electronically connected include, for example, a telephone, a navigation system, an audio system, a CD changer, or an HVAC system. The voice control includes an audio input  17  and possibly an audio output for the vehicle  10 . 
         [0032]    The microphone  17  could be located on the vehicle  10  or the trailer  11  in a position to capture a rear, or side rear position of a user, as shown in  FIG. 1 . In this manner voice commands, i.e. “stop”, could provide direction to the backing system  14  making the design more robust. A user would employ the microphone  16  to input an intended direction of moving the trailer  11 . That is, the given directions indicating the desired movement of the vehicle-trailer unit  12 . Simple directions and distances may be used for voice input of the intended path  18 , e.g. “back 10 feet”, “stop”, “turn right 90 degrees”, “final position”. The ECU  22  converts the audio input  17  from the vehicle operator into an electrical signal that can be used by the backing system  14 . 
         [0033]    An optional additional camera can be mounted at the rear of the trailer and facing backward. Such a camera could further aid the driver of the vehicle if the direct view in the driving direction is obstructed while traveling in the reverse. 
         [0034]      FIG. 3  illustrates a vehicle  110  and a trailer  111 . The vehicle  110  utilizes a backing system  114  of the present invention. The backing system  114  provides the vehicle operator with a method of electronically defining an intended backing direction  118  of the vehicle  110 . The backing system  114  utilizes the intended backing path  118  to control movement of vehicle  110 . 
         [0035]    The vehicle  110  uses gesture controls to determine the intended backing path  118  a secondary control input may also include voice recognition to determine the intended backing path  118 , as described in further detail below. Using the gesture control input and the voice recognition input the driver may be located outside of the vehicle  110  to direct the vehicle  110  along the intended path  118 . The backing system  114  uses an input device for the backing system  114  would include at least a camera  116  to record video image of the user gestures, example gestures shown in  FIGS. 5-8 , and to interpret the gestures with an electronic control unit (ECU)  122 . When voice control is also used the input device for the backing system  114  would include at least a microphone  117  to record sound from the user and to interpret the sounds to specific directions with an electronic control unit (ECU)  122 . When control is intended to occur from outside the vehicle  110  the camera  116  and microphone  117  may be positioned to capture input from outside the vehicle  110  in an area proximate to the vehicle  110 . The microphone  117  may be mounted to the vehicle  110 , part of a vehicle system or from a separate device that is linked to the backing system  114 , such as a phone microphone that is linked through Bluetooth or another type of connection. 
         [0036]    Referring to  FIGS. 3-4 , a second embodiment for utilizing the backing system  114  is described. The trailer  111  is desired to be connected to the vehicle  110  through trailer hitch  115 , which allows the trailer to swivel horizontally around the vertical axis of the trailer hitch  115 , which is the axis vertical to the drawing plane. The backing system  114  includes the ECU  122 . The ECU  122  may be connected to at least one vehicle system  124  such as a steering system. Other vehicle  110  systems, such as powertrain and/or brake systems to control and direct movement of the vehicle  110  may also be connected to the control unit  122 . 
         [0037]    The ECU  122  communicates with a control module  125  for the steering system  124 . The control module  125  is an electronic processing unit controlling an active power steering system  124  that is capable of actively changing a steering angle of front axle wheels  127  without the vehicle driver giving a respective input through the vehicle steering wheel. The active power steering system  124  may also include the capability of additionally steering the rear axle wheels  127 . The control module  125  computes corrective actions to be taken in order to maneuver the vehicle and initiates the power steering system  124  accordingly. Thus, the control unit  122  sends instructions to the steering system  124  to move the vehicle  110  based upon the input from the control unit  122  toward the trailer hitch  115 . 
         [0038]    The backing system  114  may utilize sensors  126  which are already incorporated into the vehicle  110 , such as proximity sensors or back-up camera. The sensor  126  may be used to measure proximity to the trailer hitch  115 . The sensor  126  may be one or multiple sensors measuring relative distance between the vehicle  110  and the trailer  111  and using the varied distance to calculate the distance to the hitch  115  on a two-dimensional plane. The sensors  126  may use both horizontal and vertical features on the trailer  111  in the distance measurement. In one embodiment the sensor  126  is a camera, either the same camera or an additional second camera to the camera  116  used as the input device for gesture control. 
         [0039]      FIG. 4  illustrates a second embodiment of a method, shown at  129 , of using gesture control for the backing system  114 . The path input mode for the backing system  114  is initiated, step  130 . Initiating path input mode, step  130  may include selecting what type of input would be preferred, gesture control or voice control. The user may also be able to select an input location, inside or outside. Selecting input location may be used to initiate the input device  116  that corresponds to the desired location. For example, if user selects exterior gesture control input a camera  116  positioned to capture the area proximate the vehicle  110  may be started. The camera  116  could be located on the vehicle in a position to capture a rear, or side rear position of a user, as shown in  FIG. 3 . 
         [0040]    A user would employ the camera  116  to input an intended direction of moving the vehicle  110 , step  132 . That is, the user moves to a location within the camera view. The user performs a gesture to indicate a desired movement.  FIGS. 5-8  illustrate example gestures that the user may employ. Gestures may be selected to be “intuitive” of those typically used in providing direction to drivers of backing trailers. Arm gestures, as illustrated in  FIGS. 5-8 , or similar hand gestures may be used. To stay within view of the camera  116  the user may need to move as the vehicle  110  moves, indicated by arrow. 
         [0041]    The ECU  122  interprets gestures from the user to detect the desired movement, step  134 . The backing system  114  is designed to work real-time in which the vehicle  110  moves as the user inputs the directions. Based upon the gestures the ECU  122  interprets the gesture to a specific request for vehicle  110  movement, and calculates the steering angle that would be needed to obtain the desired movement, step  138  The ECU  122  then requests the steering system  126  to provide the desired steering action, step  140 . 
         [0042]    As mentioned above, a secondary input device  117  may also be used along with the gesture control input  116 . The secondary input device  117  may be a voice control system. The voice control system  117  may be connected to or partially incorporated with other vehicle  110  devices for performing various vehicle  110  functions. The other devices that may be electronically connected include, for example, a telephone, a navigation system, an audio system, a CD changer, or an HVAC system. The voice control includes an audio input  117  and possibly an audio output for the vehicle  10 . 
         [0043]    The microphone  117  could be located on the vehicle  110  in a position to capture a rear, or side rear position of a user, as shown in  FIG. 3 . In this manner voice commands, i.e. “stop”, could provide direction to the backing system  14  making the design more robust. A user would employ the microphone  116  to input an intended direction of moving the vehicle  110 . Simple directions and distances may be used for voice input of the intended path  18 , e.g. “back 10 feet”, “stop”, “turn right 90 degrees”, “final position”. The ECU  122  converts the audio input  117  from the vehicle operator into an electrical signal that can be used by the backing system  114 . 
         [0044]    Referring to  FIGS. 5-8 , the user moving their left hand toward the left, shown at  42 , may indicated a desire to change the movement in that direction, such that the trailer  11  or vehicle  110  moves more in that direction,  FIG. 5 . The user moving their right hand toward the right shown at  44 , may indicated a desire to change the movement in that direction, such that the trailer  11  or vehicle  110  moves more in that direction,  FIG. 6 . The user moving one or both hands toward their body, shown at  46 , may indicate a desire to continue in the current direction of movement,  FIG. 7 . The user moving or holding one or both hands away from their body, shown at  48 , may indicate a desire to stop,  FIG. 8 . Other arm and hand gestures may also or alternatively be employed. 
         [0045]    While the best modes for carrying out the invention have been described in detail the true scope of the disclosure should not be so limited, since those familiar with the art to which this invention relates will recognize various alternative designs and embodiments for practicing the invention within the scope of the appended claims.