Autonomous trailer hitching using neural network
One aspect of the disclosure provides a method of maneuvering a vehicle in reverse for attachment to a trailer. The method includes: determining, at a computing device in communication with the neural network, a selected trailer in proximity to the vehicle; detecting at least one user input gesture performed by a user and captured in at least one image from at least one camera on the vehicle; selected a maneuver command for the vehicle based on the detected gesture; and executing the maneuver to move the vehicle from the initial position toward a final position adjacent the trailer.
1. A method of maneuvering a vehicle in reverse for attachment to a trailer, the method comprising:
receiving an indication of an autonomous hitch mode is started;
detecting at least one first gesture performed by a user and captured in at least one image from at least one camera on the vehicle;
determining a first command associated with the at least one first gesture using a gesture recognition system;
planning a path based on the first command with a path planning system and maneuvers to follow the path;
executing the maneuvers to move the vehicle along the path from an initial position toward an intermediate position being an intermediate distance along the path from a final position;
at the intermediate position, receiving a second gesture performed by the user, the second gesture including a suspension adjustment gesture;
determining a second command associated with the suspension adjustment gesture using the gesture recognition system;
executing a suspension adjustment behavior causing a suspension system of the vehicle to adjust;
receiving a third gesture performed by the user;
determining a third command associated with the third gesture using the gesture recognition system; and
executing the maneuvers to move the vehicle along the path from the intermediate position to the final position adjacent the trailer.
2. The method of claim 1 , wherein the intermediate position is closer to the final position than the initial position.
3. The method of claim 1 , further comprising, at the final position, connecting a vehicle hitch with a trailer hitch.
4. The method of claim 1 , wherein the maneuvers include steering, braking, and speeding.
5. The method of claim 1 , wherein the gesture recognition system is located in a neural network device to learn a plurality of gestures and associate each of the learned plurality of gestures with a command for the vehicle.
6. The method of claim 1 , wherein the first and third gestures include at least one of: a stop gesture, a pause gesture, a move in reverse gesture, a lower suspension gesture, a raise suspension gesture, a move forward gesture, a move to the right gesture, a move to the left gesture, repeat path planning gesture, or final alignment path following gesture.
7. A method of maneuvering a vehicle in reverse for attachment to a trailer, the method comprising:
capturing, from at least one camera supported by a rear portion of the vehicle, images of a user;
detecting a first gesture performed by the user;
determining, using a gesture recognition system, a first command associated with the first gesture and causing the vehicle to perform an action;
executing vehicle maneuvers causing the vehicle to move along a path from an initial position towards an intermediate position being at an intermediate distance along the path from a final position, the vehicle maneuvers based on the first command;
at the intermediate position, receiving a second gesture performed by the user, the second gesture including a suspension adjustment gesture;
determining, using a gesture recognition system, a second command associated with the suspension adjustment gesture; and
executing a suspension adjustment behavior causing a suspension system of the vehicle to adjust.
8. The method of claim 7 , further comprising:
receiving a third gesture performed by the user;
determining, using a gesture recognition system, a third command associated with the third gesture; and
executing vehicle maneuvers to move the vehicle along the path from the intermediate position to the final position adjacent the trailer.
9. The method of claim 8 , further comprising, at the final position, connecting a vehicle hitch with a trailer hitch.
10. The method of claim 7 , wherein the intermediate position is closer to the final position than the initial position.
11. The method of claim 7 , wherein the maneuvers include steering, braking, and speeding.
12. The method of claim 7 , wherein the gesture recognition system is located in a neural network device to learn a plurality of gestures and associate each of the learned plurality of gestures with a command for the vehicle.
13. The method of claim 7 , wherein the first gesture include at least one of: a stop gesture, a pause gesture, a move in reverse gesture, a lower suspension gesture, a raise suspension gesture, a move forward gesture, a move to the right gesture, a move to the left gesture, repeat path planning gesture, or final alignment path following gesture.