Hitch assist system and method
A hitch assist system and method are provided herein. A device is configured to detect a hitch coupler of a trailer and a controller is in communication with the device. The controller is configured to generate a boundary area projecting from the hitch coupler, define a vehicle backup path toward the trailer if a tow hitch of the vehicle is located inside the boundary area, and determine a steering angle for steering the vehicle along the vehicle backup path.
1. A hitch assist system comprising:
a device configured to detect a hitch coupler of a trailer; and
a controller in communication with the device and configured to:
generate a boundary area projecting from the hitch coupler;
define a vehicle backup path toward the trailer if a tow hitch of a vehicle is located inside the boundary area; and
determine a steering angle for steering the vehicle along the vehicle backup path.
2. The system of claim 1 , wherein the hitch coupler comprises a coupler ball socket and the tow hitch comprises a hitch ball.
3. The system of claim 1 , wherein the boundary area is a sector that includes a plane enclosed by a first radius, a second radius, and an arc therebetween.
4. The system of claim 3 , wherein the size of the sector is based on an angle between the first and second radii, the angle determined based on a minimum turning radius of the vehicle and a distance from the tow hitch to a rear axle of the vehicle.
5. The system of claim 1 , wherein the boundary area has a fixed size and an aim direction that changes based on a heading angle of the vehicle with respect to a longitudinal axis of the trailer.
6. The system of claim 1 , wherein the vehicle backup path has a trajectory corresponding to the shortest distance between the tow hitch and the hitch coupler.
7. The system of claim 6 , wherein the steering angle is based on an angle of the vehicle backup path with respect to a longitudinal axis of the trailer, and a heading angle of the vehicle with respect to the longitudinal axis of the trailer.
8. The system of claim 1 , wherein the vehicle backup path has a trajectory that is entirely circular and having a constant curvature.
9. The system of claim 8 , wherein the steering angle is based on a heading angle of the vehicle with respect to a longitudinal axis of the trailer, and a positional change of the tow hitch.
10. The system of claim 1 , wherein the vehicle backup path has a first trajectory that is circular followed by a second trajectory that is straight.
11. The system of claim 10 , wherein the first trajectory transitions to the second trajectory when a longitudinal axis of the vehicle intersects with the hitch coupler.
12. The system of claim 1 , wherein if the tow hitch is located outside the boundary area, the controller determines if the tow hitch is located in a region in front of the trailer and defined by a first bound and a second bound, and wherein if the tow hitch is located inside the region, the controller determines a backup path for reversing the vehicle so as to move the tow hitch inside the boundary area.
13. The system of claim 12 , further comprising a display for dynamically displaying at least one of the region and the boundary area.
14. A hitch assist system comprising:
a device configured to detect a hitch coupler of a trailer; and
a controller in communication with the device and configured to:
define a vehicle backup path terminating at or near the hitch coupler, wherein the vehicle backup path has a trajectory that is at least one of circular and straight;
define the vehicle backup path if a tow hitch of a vehicle is located inside a dynamic boundary area projecting from the hitch coupler; and
determine a steering angle for steering the vehicle along the vehicle backup path.
15. The system of claim 14 , wherein the boundary area is a sector that includes a plane enclosed by a first radius, a second radius, and an arc therebetween, and wherein the size of the sector is based on an angle between the first and second radii, the angle determined based on a minimum turning radius of the vehicle and a distance from the tow hitch to a rear axle of the vehicle.
16. The system of claim 14 , wherein the boundary area has a fixed size and an aim direction that changes based on a heading angle of the vehicle with respect to a longitudinal axis of the trailer.
17. The system of claim 14 , wherein the vehicle backup path has a trajectory corresponding to the shortest distance between a tow hitch of the vehicle and the hitch coupler.
18. The system of claim 14 , wherein the vehicle backup path has a trajectory that is entirely circular and having a constant curvature or a trajectory that is circular and then straight.
19. A hitch assist method comprising the steps of:
detecting a hitch coupler of a trailer;
generating a boundary area projecting from the hitch coupler;
defining a vehicle backup path toward the trailer if a tow hitch of a vehicle is located inside the boundary area; and
determining a steering angle for steering the vehicle along the vehicle backup path.