U.S. patent application number 16/378912 was filed with the patent office on 2020-10-15 for vehicle hitch ball detection system.
This patent application is currently assigned to Ford Global Technologies, LLC. The applicant listed for this patent is Ford Global Technologies, LLC. Invention is credited to Mark Bowers, Richard Campbell, Lihui Chen, Rick Haubenstricker, Nikhil Nagraj Rao, Luke Niewiadomski.
Application Number | 20200324593 16/378912 |
Document ID | / |
Family ID | 1000005117833 |
Filed Date | 2020-10-15 |
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United States Patent
Application |
20200324593 |
Kind Code |
A1 |
Niewiadomski; Luke ; et
al. |
October 15, 2020 |
VEHICLE HITCH BALL DETECTION SYSTEM
Abstract
A vehicle control system includes an imager mounted with and
directed to a rear of the vehicle and outputting image data, a
vehicle speed sensor mounted with the vehicle and outputting
vehicle speed data, and an image processor receiving the image data
and the vehicle speed data. The image processor is programmed to
monitor a signal from the vehicle speed sensor and, when the signal
from the vehicle speed sensor indicates a vehicle speed above a
predetermined minimum speed, execute a feature extraction function
to locate a hitch ball mounted to the vehicle in the image
data.
Inventors: |
Niewiadomski; Luke;
(Dearborn, MI) ; Nagraj Rao; Nikhil; (Sunnyvale,
CA) ; Haubenstricker; Rick; (Saline, MI) ;
Campbell; Richard; (Ann Arbor, MI) ; Bowers;
Mark; (Clawson, MI) ; Chen; Lihui; (Rochester
Hills, MI) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Ford Global Technologies, LLC |
Dearborn |
MI |
US |
|
|
Assignee: |
Ford Global Technologies,
LLC
|
Family ID: |
1000005117833 |
Appl. No.: |
16/378912 |
Filed: |
April 9, 2019 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60Y 2300/28 20130101;
B60R 2300/808 20130101; B60R 2300/105 20130101; B60D 1/366
20130101; B60D 1/06 20130101; B60R 2300/305 20130101; B60R 1/003
20130101; B62D 15/027 20130101 |
International
Class: |
B60D 1/36 20060101
B60D001/36; B60R 1/00 20060101 B60R001/00; B62D 15/02 20060101
B62D015/02; B60D 1/06 20060101 B60D001/06 |
Claims
1. A vehicle control system, comprising: an imager mounted with and
directed to a rear of a vehicle and outputting image data including
a series of still image frames at sequential intervals; a vehicle
speed sensor mounted with the vehicle and outputting vehicle speed
data; and an image processor receiving the image data and the
vehicle speed data and programmed to: monitor a signal from the
vehicle speed sensor; and when the signal from the vehicle speed
sensor indicates a vehicle speed above a predetermined minimum
speed, execute a feature extraction function, including a
continuous analysis of successive still images, to locate a hitch
ball mounted to the vehicle in the image data.
2. The system of claim 1, further including a vehicle switchgear
configurable between a park mode and at least one driving mode,
wherein: the image processor receives a state indication from the
switchgear and; the image processor executes the feature extraction
function to locate the hitch ball only when the switchgear state
indication corresponds with the vehicle being shifted from the park
mode into the at least one driving mode and the signal from the
vehicle speed sensor indicates the signal above the predetermined
minimum speed.
3. The system of claim 1, wherein the image processor executes the
feature extraction function to locate the hitch ball only when the
signal from the vehicle speed sensor indicates the signal above the
predetermined minimum speed and below a predetermined maximum
speed.
4. (canceled)
5. The system of claim 1, wherein: the continuous analysis of
successive still images includes deriving a preliminary hitch ball
location for each of the successive still images; and the feature
extraction routine filters the preliminary hitch ball location for
each of the successive still images to converge on a final hitch
ball location.
6. The system of claim 5, wherein: the feature extraction routine
converges on a final hitch ball location using an algorithmic
confidence assessment based on the analysis of successive still
images; and the final hitch ball location is determined when the
confidence assessment reaches a predetermined threshold.
7. The system of claim 5, wherein the final hitch ball location
includes one of a distance of a detected hitch ball from a rear of
the vehicle or a null value when no hitch ball is located when the
confidence assessment reaches a predetermined threshold.
8. The system of claim 1, wherein: the image processor executes the
feature extraction function to locate the hitch ball mounted to the
vehicle in the image data when the signal from the vehicle speed
sensor indicates a vehicle speed above a predetermined minimum
speed over a time interval until the hitch ball has been located;
and the image processor stops the feature extraction function when
one of the hitch ball has been located or the signal from the
vehicle speed sensor indicates that the vehicle speed has changed
to below the predetermined minimum speed.
9. The system of claim 1, wherein the image processor stores a
location of the hitch ball in memory when the feature extraction
function locates the hitch ball.
10. The system of claim 9, wherein: the image processor compares
the location of the hitch ball to at least one previously stored
hitch ball location prior to storing the location of the hitch ball
in memory; and only stores the location of the hitch ball in memory
if the location of the hitch ball is different from the one or more
previously stored hitch ball location.
11. The system of claim 9, further including a vehicle steering
system, wherein: the image processor is included in a controller
that: derives position data for a coupler of a trailer using the
image data; derives a vehicle path to position the location of the
hitch ball stored in memory in an aligned position with the
coupler; and outputs a steering control signal to the steering
system to maintain the vehicle along the path.
12. The system of claim 9, further including: a vehicle steering
system; and an input including a rotating element; wherein the
image processor is included in a controller that: uses an input
from the rotating element to as a trailer backup control signal;
and controls the vehicle steering system to maintain the vehicle,
when coupled with a trailer at the hitch ball location, on a
backing path determined using the hitch ball location.
13. The system of claim 9, further including a vehicle brake
system, wherein: the image processor is included in a controller
that executes at least one automated reverse braking feature based
on a position of the rear of the vehicle including the hitch ball
location.
14. A vehicle, comprising: a vehicle steering system; an imager
mounted with and directed to a rear of the vehicle and outputting
image data including a series of still image frames at sequential
intervals; a vehicle speed sensor mounted with the vehicle and
outputting vehicle speed data; and a controller: operating in a
free driving mode including: receiving the image data and the
vehicle speed data; monitoring a signal from the vehicle speed
sensor; and when the signal from the vehicle speed sensor indicates
a vehicle speed above a predetermined minimum speed, executing a
feature extraction function, including a continuous analysis of
successive still images, to determine a location of a hitch ball
mounted to the vehicle in the image data; and operating in a hitch
assist driving mode including outputting a steering control signal
to the steering system in reversing of the vehicle to align the
hitch ball location with a coupler of a trailer.
15. The vehicle of claim 14, wherein in the hitch assist driving
mode, the controller further: derives position data for a coupler
of a trailer using the image data; derives a vehicle path to
position the location of the hitch ball in an aligned position with
the coupler; and outputs the steering control signal to the
steering system to maintain the vehicle along the path to align the
hitch ball location with a coupler of a trailer.
16. The vehicle of claim 14, further including an input having a
rotating element; wherein the controller further operates in a
trailer backup assist mode including: using an input from the
rotating element to as a trailer backup control signal; and
controlling the vehicle steering system to maintain the vehicle,
when coupled with a trailer at the hitch ball location, on a
backing path determined using the hitch ball location.
17. The vehicle of claim 14, further including a vehicle brake
system; wherein the controller further operates in an automated
reverse braking mode including controlling the vehicle brake system
based on a position of the rear of the vehicle including the hitch
ball location.
18. The vehicle of claim 14, further including a vehicle switchgear
configurable between a park mode and at least one driving mode,
wherein the controller: receives a state indication from the
switchgear and; executes the feature extraction function to
determine the hitch ball location only when the switchgear state
indication corresponds with the vehicle being shifted from the park
mode into the at least one driving mode and the signal from the
vehicle speed sensor indicates the signal above the predetermined
minimum speed.
19. The vehicle of claim 18, wherein the controller executes the
feature extraction function to locate the hitch ball only when the
signal from the vehicle speed sensor indicates the signal above the
predetermined minimum speed and below a predetermined maximum
speed.
20. A method for determining the location of a hitch ball coupled
with a vehicle, comprising: receiving image data, including a
series of still image frames a sequential intervals, from an imager
mounted with and directed to a rear of the vehicle monitoring a
signal from a vehicle speed sensor; and when the signal from the
vehicle speed sensor indicates a vehicle speed above a
predetermined minimum speed, execute a feature extraction function,
including a continuous analysis of successive still images, on the
image data to identify a hitch a mounted to the vehicle in the
image data; and extracting the location of the hitch ball from an
output of the feature extraction function.
Description
FIELD OF THE DISCLOSURE
[0001] The present disclosure generally relates to a system
including functionality for locating a hitch ball relative to a
vehicle to which the hitch ball is mounted. In particular, the
present system runs a hitch ball location function under certain
free driving conditions.
BACKGROUND OF THE DISCLOSURE
[0002] Certain vehicle features benefit from knowing if a hitch is
installed, and the exact position of the hitch relative to the
vehicle. Some examples include an Automatic Hitch feature that
aligns the vehicle hitch directly underneath a targeted trailer
coupler. An Automated Parking feature that aligns the vehicle into
a parking space. A Reverse Brake Assist feature that brakes before
colliding into an object while traveling in reverse. A Trailer
Backup feature, that aids the driver is steering a trailer in
reverse, which depends on the geometry of the trailer tongue
connection.
[0003] Without a well-performing hitch detection algorithm on the
vehicle, each feature suffers its own consequences. An Automatic
Hitch feature fails to align to the trailer properly. An Automated
Parking feature risks colliding the hitch to an adjacent vehicle
due to improper path planning. A Reverse Brake Assist feature may
prevent a collision with the bumper, but fails to prevent a
collision with the actual hitch ball. A Trailer Backup feature may
have inaccuracies that reduces its overall performance. With these
problems in mind, a hitch detection algorithm is used in the
vehicle, to detect the presence of a hitch ball, and its position
relative to the vehicle. Accordingly, further advancements may be
desired.
SUMMARY OF THE DISCLOSURE
[0004] According to one aspect of the present disclosure, a vehicle
control system includes an imager mounted with and directed to a
rear of the vehicle and outputting image data, a vehicle speed
sensor mounted with the vehicle and outputting vehicle speed data,
and an image processor receiving the image data and the vehicle
speed data. The image processor is programmed to monitor a signal
from the vehicle speed sensor and, when the signal from the vehicle
speed sensor indicates a vehicle speed above a predetermined
minimum speed, execute a feature extraction function to locate a
hitch ball mounted to the vehicle in the image data.
[0005] Embodiments of the first aspect of the invention can include
any one or a combination of the following features: [0006] The
system further includes a vehicle switchgear configurable between a
park mode and at least one driving mode, the image processor
receives a state indication from the switchgear, and the image
processor executes the feature extraction function to locate the
hitch ball only when the switchgear state indication corresponds
with the vehicle being shifted from the park mode into the at least
one driving mode and the signal from the vehicle speed sensor
indicates the signal above the predetermined minimum speed; [0007]
The image processor executes the feature extraction function to
locate the hitch ball only when the signal from the vehicle speed
sensor indicates the signal above the predetermined minimum speed
and below a predetermined maximum speed; [0008] The image data
includes a series of still image frames at sequential intervals,
and the feature extraction function includes a continuous analysis
of successive still images; [0009] The continuous analysis of
successive still images includes deriving a preliminary hitch ball
location for each of the successive still images, and the feature
extraction routine filters the preliminary hitch ball location for
each of the successive still images to converge on a final hitch
ball location; [0010] The feature extraction routine converges on a
final hitch ball location using an algorithmic confidence
assessment based on the analysis of successive still images, and
the final hitch ball location is determined when the confidence
assessment reaches a predetermined threshold; [0011] The final
hitch ball location includes one of a distance of a detected hitch
ball from a rear of the vehicle or a null value when no hitch ball
is located when the confidence assessment reaches a predetermined
threshold; [0012] The image processor executes the feature
extraction function to locate the hitch ball mounted to the vehicle
in the image data when the signal from the vehicle speed sensor
indicates a vehicle speed above a predetermined minimum speed over
a time interval until the hitch ball has been located, and the
image processor stops the feature extraction function when one of
the hitch ball has been located or the signal from the vehicle
speed sensor indicates that the vehicle speed has changed to below
the predetermined minimum speed; [0013] The image processor stores
a location of the hitch ball in memory when the feature extraction
function locates the hitch ball; [0014] The image processor
compares the location of the hitch ball to at least one previously
stored hitch ball location prior to storing the location of the
hitch ball in memory and only stores the location of the hitch ball
in memory if the location of the hitch ball is different from the
one or more previously stored hitch ball location; [0015] The
system further includes a vehicle steering system, and the image
processor is included in a controller that derives position data
for a coupler of a trailer using the image data, derives a vehicle
path to position the location of the hitch ball stored in memory in
an aligned position with the coupler, and outputs a steering
control signal to the steering system to maintain the vehicle along
the path; [0016] The system further includes a vehicle steering
system and an input including a rotating element, and the image
processor is included in a controller that uses an input from the
rotating element to as a trailer backup control signal and controls
the vehicle steering system to maintain the vehicle, when coupled
with a trailer at the hitch ball location, on a backing path
determined using the hitch ball location; and [0017] The system
further includes a vehicle brake system, and the image processor is
included in a controller that executes at least one automated
reverse braking feature based on a position of the rear of the
vehicle including the hitch ball location.
[0018] According to another aspect of the present disclosure, a
vehicle includes a vehicle steering system, an imager mounted with
and directed to a rear of the vehicle and outputting image data, a
vehicle speed sensor mounted with the vehicle and outputting
vehicle speed data, and a controller. The controller operates in a
free driving mode including receiving the image data and the
vehicle speed data, monitoring a signal from the vehicle speed
sensor, and, when the signal from the vehicle speed sensor
indicates a vehicle speed above a predetermined minimum speed,
executing a feature extraction function to determine a location of
a hitch ball mounted to the vehicle in the image data. The
controller further operates in a hitch assist driving mode
including outputting a steering control signal to the steering
system in reversing of the vehicle to align the hitch ball location
with a coupler of a trailer.
[0019] According to another aspect of the present disclosure, a
method for determining the location of a hitch ball coupled with a
vehicle includes monitoring a signal from a vehicle speed sensor
and, when the signal from the vehicle speed sensor indicates a
vehicle speed above a predetermined minimum speed, executing a
feature extraction function on image data received from an imager
mounted with and directed to a rear of the vehicle to identify a
hitch ball mounted to the vehicle in the image data and extracting
the location of the hitch ball from an output of the feature
extraction function.
[0020] These and other aspects, objects, and features of the
present disclosure will be understood and appreciated by those
skilled in the art upon studying the following specification,
claims, and appended drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0021] In the drawings:
[0022] FIG. 1 is a perspective view of a vehicle in an unhitched
position relative to a trailer;
[0023] FIG. 2 is a diagram of a system according to an aspect of
the disclosure that executes operations for assisting in various
maneuvers of the vehicle, including with respect to the trailer,
and for locating a hitch ball of the vehicle in connection with
such maneuvers;
[0024] FIG. 3 is an overhead schematic view of a vehicle during a
step of a sequence for assisting in aligning the vehicle with a
trailer in a position for hitching the trailer to the vehicle
executable by the system;
[0025] FIG. 4 is an overhead schematic view of the vehicle during a
subsequent step of the alignment sequence with the trailer and
showing the position of a hitch ball of the vehicle at an end of a
derived alignment path;
[0026] FIG. 5A is a depiction of an image received from a vehicle
camera during an unsuccessful hitch ball identification and
location process executed with the vehicle at a standstill;
[0027] FIG. 5B is a depiction of an alternative image received from
a vehicle camera during a further unsuccessful hitch ball
identification and location process executed with the vehicle at a
standstill;
[0028] FIG. 5C is a depiction of an alternative image received from
a vehicle camera during a further unsuccessful hitch ball
identification and location process executed with the vehicle at a
standstill;
[0029] FIG. 6 is a depiction of an image received from a vehicle
camera during a successful hitch ball identification and location
process executed with the vehicle in motion;
[0030] FIG. 7 is a plan view of a steering input device having a
rotatable knob for operating a trailer backup assistance function
of the system;
[0031] FIG. 8 is a schematic diagram showing a backup sequence of a
vehicle and a trailer implementing various curvature selections
with the trailer backup assist system;
[0032] FIG. 9 is an overhead schematic view showing a sequence for
maneuvering a vehicle into a parking space according to a further
operation of the system;
[0033] FIG. 10 is a flowchart depicting steps in the hitch ball
identification and location process; and
[0034] FIG. 11. is a flowchart depicting steps for storing and
accessing hitch ball location information from system memory.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0035] For purposes of description herein, the terms "upper,"
"lower," "right," "left," "rear," "front," "vertical,"
"horizontal," "interior," "exterior," and derivatives thereof shall
relate to the device as oriented in FIG. 1. However, it is to be
understood that the device may assume various alternative
orientations, except where expressly specified to the contrary. It
is also to be understood that the specific devices and processes
illustrated in the attached drawing, and described in the following
specification are simply exemplary embodiments of the inventive
concepts defined in the appended claims. Hence, specific dimensions
and other physical characteristics relating to the embodiments
disclosed herein are not to be considered as limiting, unless the
claims expressly state otherwise. Additionally, unless otherwise
specified, it is to be understood that discussion of a particular
feature of component extending in or along a given direction or the
like does not mean that the feature or component follows a straight
line or axis in such a direction or that it only extends in such
direction or on such a plane without other directional components
or deviations, unless otherwise specified.
[0036] Referring generally to FIGS. 1-11, reference numeral 10
designates a vehicle control system 10 including various
combinations of subsystems and routines (e.g., path derivation
routine 66, hitch assist operating routine 68, hitch angle routine
130, curvature routine 98, trailer backup assist ("TBA") operating
routine, and park assist routine 134, as shown in FIG. 2 and
discussed in various examples herein). In one aspect, the vehicle
control system 10 includes an imager (e.g., camera 48) mounted with
and directed to a rear of the vehicle 12 and outputting image data
55, a vehicle speed sensor 56 mounted with the vehicle and
outputting vehicle speed data, and an image processor (e.g.
controller 26 executing image processing routine 64) receiving the
image data 55 and the vehicle speed data. The image processor
(controller 26 executing image processing routine 64, as discussed
below) is programmed monitor a signal from the vehicle speed sensor
56 and, when the signal from the vehicle speed sensor 56 indicates
a vehicle speed above a predetermined minimum speed, execute a
feature extraction function to locate a hitch 34 ball mounted to
the vehicle 12 in the image data 55.
[0037] As shown in FIGS. 1 and 2, the vehicle control system 10 may
be in the form of a driver assistance system 10 with the
aforementioned subsystems and routines being configured to assist
the driver of vehicle 12 in various maneuvers. In this respect, the
driver assistance system 10 can be considered to have functionality
that may generally be described as facilitating autonomous or
semi-autonomous driving in at least those respects. In the example
of system 10 shown in FIG. 2, the maneuvers with which system 10 is
configured to assist a driver include hitching vehicle 12 with a
trailer, such as trailer 16 depicted in FIG. 1, reversing the
vehicle 12 when hitched with trailer 16, and parking vehicle 12. In
this respect, system 10 includes the aforementioned controller 26,
which has a microprocessor 60, or the like, and memory 62 including
operational routines that can be executed by microprocessor 60 to
control vehicle 12 in the desired manner to assist the driver in
executing these maneuvers. In particular, memory 62 is shown as
including a path routine 66 for determining a path 32 to align
vehicle 12 with trailer 16 for connecting the two together and a
hitch assist ("HA") operating routine 68 for controlling movement
of vehicle 12 along that path 32, as discussed further below with
respect to FIGS. 3 and 4. Additionally, memory 62 includes hitch
angle estimation routine 130 and a curvature routine 132 for
controlling the backing of vehicle 12 when coupled with trailer 16
to maintain the combined vehicle 12 and trailer 16 along a
curvature controllable/selectable by the driver, as discussed
further below with respect to FIGS. 7 and 8. Still further, memory
62 includes a park assist routine 134 that controls the movement of
vehicle 12 into a parking space of varying configurations, as
described further below with respect to FIG. 9.
[0038] As discussed herein, the controller 26, in executing these
various routines, uses an imaging processing routine 64 in various
ways to identify certain features surrounding vehicle 12, locate
such features in a frame of reference with respect to vehicle 12,
and to track such features with movement of vehicle 12. In this
respect, the routines associated with the trailer hitching
assistance, trailer backing assistance, and parking assistance can
use image processing routine 64 to determine if a trailer hitch
ball 34 is installed with vehicle 12 and to determine a location of
a detected hitch ball 34 with respect to vehicle 12 (including with
respect to the rear of vehicle 12, such as the adjacent bumper or
the like). As described further below, the hitching assistance
functionality utilizes the location of the hitch ball 34 to
determine when the vehicle 12 is appropriately aligned with the
trailer 16 for connection therewith, and the trailer backing
assistance functionality uses the location of the hitch ball 34
controlling the curvature of backing for the vehicle 12 and trailer
16 combination. Further, as parking maneuvers are often executed in
a reversing direction, making the presence of a hitch ball 34 and
its location relative to vehicle 12 available to the parking
routine can help in guiding vehicle 12 into a desired parking space
without causing hitch ball 34 (or the related ball mount 35) from
colliding with anything surrounding vehicle 12. In a similar
manner, the location 38 of hitch ball 34 can be useful for various
additional vehicle systems, including a backup alert system, which
can adjust its parameters to take the position of a hitch ball 34
into account. A variation of controller 12 with this and similar
functionality is, therefore, also presently contemplated.
Controller 12 or an additional on-board computer within vehicle 12
can allow for selective implantation of such routines by a
user.
[0039] With respect to the general operation of the driver
assistance system 10, as illustrated in the system diagram of FIG.
2, system 10 includes various sensors and devices that obtain or
otherwise provide vehicle status-related information that is
useable to generate and output the reverse hitching path control
signal related to hitching assistance functionality of system 10,
as well as to generate and output the trailer backing path control
signal related to trailer backup assistance functionality of system
10 and to control movement of vehicle 12 in moving into a parking
space. This information includes positioning information from a
positioning system 22, which may include a dead reckoning device 24
or, in addition or as an alternative, a global positioning system
(GPS), to determine a coordinate location of the vehicle 12 based
on the one or more locations of the devices within the positioning
system 22. In particular, the dead reckoning device 24 can
establish and track the coordinate location of the vehicle 12
within a localized coordinate system 82 based at least on vehicle
speed and steering angle .delta.. Other vehicle information
received by driver assistance system 10 may include a speed of the
vehicle 12 from a speed sensor 56 and a yaw rate of the vehicle 12
from a yaw rate sensor 58. It is contemplated that in additional
embodiments, a proximity sensor 54 or an array thereof, and other
vehicle sensors and devices may provide sensor signals or other
information, such as sequential images of a trailer 16, including
the detected coupler 14, that the controller 26 of the driver
assistance system 10 may process with various routines to determine
the height H and position (e.g., based on the distance D.sub.h and
angle .alpha..sub.h) of a coupler 14 of a trailer 16 in the general
area of vehicle 12, as discussed further below.
[0040] As further shown in FIG. 2, one embodiment of the driver
assistance system 10 is in communication with the steering system
20 of vehicle 12, which may be a power assist steering system 20
including an electric steering motor 74 to operate the steered
wheels 76 (FIG. 1) of the vehicle 12 for moving the vehicle 12 in
such a manner that the vehicle yaw changes with the vehicle
velocity and the steering angle .delta.. In the illustrated
embodiment, the power assist steering system 20 is an electric
power-assisted steering ("EPAS") system including electric steering
motor 74 for turning the steered wheels 76 to a steering angle
.delta. based on a steering command, whereby the steering angle
.delta. may be sensed by a steering angle sensor 78 of the power
assist steering system 20. The steering command 69 may be provided
by the driver assistance system 10 for autonomously steering during
a trailer hitch alignment maneuver and may alternatively be
provided manually via a rotational position (e.g., steering wheel
angle) of a steering wheel of vehicle 12. However, in the
illustrated embodiment, the steering wheel of the vehicle 12 is
mechanically coupled with the steered wheels 76 of the vehicle 12,
such that the steering wheel moves in concert with steered wheels
76, preventing manual intervention with the steering wheel during
autonomous steering. More specifically, a torque sensor 80 may be
provided on the power assist steering system 20 that senses torque
on the steering wheel that is not expected from autonomous control
of the steering wheel and therefore indicative of manual
intervention, whereby the driver assistance system 10 may alert the
driver to discontinue manual intervention with the steering wheel
and/or discontinue autonomous steering. In alternative embodiments,
some vehicles have a power assist steering system 20 that allows a
steering wheel to be partially decoupled from movement of the
steered wheels 76 of such a vehicle.
[0041] With continued reference to FIG. 2, the power assist
steering system 20 provides the controller 26 of the driver
assistance system 10 with information relating to a rotational
position of steered wheels 76 of the vehicle 12, including a
steering angle .delta.. The controller 26 in the illustrated
embodiment processes the current steering angle, in addition to
other vehicle 12 conditions to guide the vehicle 12 along a desired
path 32 (FIG. 3). It is conceivable that the driver assistance
system 10, in additional embodiments, may be an integrated
component of the power assist steering system 20. For example, the
power assist steering system 20 may include a hitch assist routine
and a trailer backup assist routine for generating vehicle steering
information and commands as a function of all or a portion of
information received from the imaging system 18, the power assist
steering system 20, a vehicle brake control system 70, a powertrain
control system 72, and other vehicle sensors and devices, as well
as a human-machine interface 40, as discussed further below.
[0042] As also illustrated in FIG. 2, the vehicle brake control
system 70 may also communicate with the controller 26 to provide
the driver assistance system 10 with braking information, such as
vehicle wheel speed, and to receive braking commands from the
controller 26. For instance, vehicle speed information can be
determined from individual wheel speeds as monitored by the brake
control system 70. Vehicle speed may also be determined from the
powertrain control system 72, the speed sensor 56, and the
positioning system 22, as well as using one or more of the cameras
48, 50, 52a, 52b to track the positions of identifiable ground
items or portions over time. In some embodiments, individual wheel
speeds can also be used to determine a vehicle yaw rate .gamma.,
which can be provided to the driver assistance system 10 in the
alternative or in addition to the vehicle yaw rate sensor 58. The
driver assistance system 10 can, further, provide vehicle braking
information to the brake control system 70 for allowing the driver
assistance system 10 to control braking of the vehicle 12 during
backing of the trailer 16. For example, the driver assistance
system 10, in some embodiments, may regulate speed of the vehicle
12 during alignment of the vehicle 12 with the coupler 14 of
trailer 16 (i.e., when implementing hitching assistance
functionality), which can reduce the potential for a collision with
trailer 16, and can bring vehicle 12 to a complete stop at a
determined endpoint 33 of path 32. It is disclosed herein that the
driver assistance system 10 can additionally or alternatively issue
an alert signal corresponding to a notification of an actual,
impending, and/or anticipated collision with a portion of trailer
16. The powertrain control system 72, as shown in the embodiment
illustrated in FIG. 2, may also interact with the driver assistance
system 10 for regulating speed and acceleration of the vehicle 12
during partial or autonomous alignment with trailer 16. As
mentioned above, regulation of the speed of the vehicle 12 may be
advantageous to prevent collision with trailer 16.
[0043] Additionally, the driver assistance system 10 may
communicate with human-machine interface ("HMI") 40 for the vehicle
12. The HMI 40 may include a vehicle display 44, such as a
center-stack mounted navigation or entertainment display (FIG. 1).
HMI 40 further includes an input device, which can be implemented
by configuring display 44 as a portion of a touchscreen 42 with
circuitry 46 to receive an input corresponding with a location over
display 44. Other forms of input, including one or more joysticks,
digital input pads, or the like can be used in place or in addition
to touchscreen 42. Further, the driver assistance system 10 may
communicate via wireless communication with another embodiment of
the HMI 40, such as with one or more handheld or portable devices
96 (FIG. 1), including one or more smartphones. The portable device
96 may also include the display 44 for displaying one or more
images and other information to a user. For instance, the portable
device 96 may display one or more images of the trailer 16 on the
display 44 and may be further able to receive remote user inputs
via touchscreen circuitry 46. In addition, the portable device 96
may provide feedback information, such as visual, audible, and
tactile alerts.
[0044] Still referring to the embodiment shown in FIG. 2, the
controller 26 is configured with a microprocessor 60 to process
logic and routines stored in memory 62 that receive information
from the above-described sensors and vehicle systems, including the
imaging system 18, the power assist steering system 20, the vehicle
brake control system 70, the powertrain control system 72, and
other vehicle sensors and devices. The controller 26 may generate
vehicle steering information and commands (i.e., the
above-mentioned reverse hitching path control signal and a trailer
backing path control signal) as a function of all or a portion of
the information received. During the hitching assistance mode, the
vehicle steering information and commands may be provided to the
power assist steering system 20, during the hitching assistance
mode, for affecting steering of the vehicle 12 to achieve a
commanded path 32 (FIG. 3) of travel for alignment with the coupler
14 of trailer 16. The controller 26 may include the microprocessor
60 and/or other analog and/or digital circuitry for processing one
or more routines. Also, the controller 26 may include the memory 62
for storing one or more routines, including the image processing 64
routine, path derivation routine 66, operating routine 68, hitch
angle routine 130, curvature routine 98, trailer backup assistance
operating routine 132, and park assist routine 134, as discussed
further below. It should be appreciated that the controller 26 may
be a stand-alone dedicated controller or may be a shared controller
integrated with other control functions, such as integrated with a
vehicle sensor system, the power assist steering system 20, and
other conceivable onboard or off-board vehicle control systems. It
should further be appreciated that the image processing routine 64
may be carried out by a dedicated processor, for example, within a
stand-alone imaging system for vehicle 12 that can output the
results of its image processing to other components and systems of
vehicle 12, including microprocessor 60. Further, any system,
computer, processor, or the like that completes image processing
functionality, such as that described herein, may be referred to
herein as an "image processor" regardless of other functionality it
may also implement (including simultaneously with executing image
processing routine 64).
[0045] System 10 can also incorporate an imaging system 18 that
includes one or more exterior cameras, which in the illustrated
examples include rear camera 48, center high-mount stop light
(CMHSL) camera 50, and side-view cameras 52a and 52b, although
other arrangements including additional or alternative cameras are
possible. In one example, imaging system 18 can include rear camera
48 alone or can be configured such that system 10 utilizes only
rear camera 48 in a vehicle with multiple exterior cameras. In
another example, the various cameras 48, 50, 52a, 52b included in
imaging system 18 can be positioned to generally overlap in their
respective fields of view, which in the depicted arrangement
include fields of view 49, 51, 53a, and 53b to correspond with rear
camera 48, center high-mount stop light (CMHSL) camera 50, and
side-view cameras 52a and 52b, respectively. In this manner, image
data 55 from two or more of the cameras can be combined in image
processing routine 64, or in another dedicated image processor
within imaging system 18, into a single image. In an extension of
such an example, the image data 55 can be used to derive
stereoscopic image data that can be used to reconstruct a
three-dimensional scene of the area or areas within overlapped
areas of the various fields of view 49, 51, 53a, 53b, including any
objects (obstacles or coupler 14, for example) therein. In an
embodiment, the use of two images including the same object can be
used to determine a location of the object relative to the two
image sources, given a known spatial relationship between the image
sources. In this respect, the image processing routine 64 can use
known programming and/or functionality to identify an object within
image data 55 from the various cameras 48, 50, 52a, and 52b within
imaging system 18. In either example, the image processing routine
64 can include information related to the positioning of any
cameras 48, 50, 52a, and 52b present on vehicle 12 or utilized by
system 10, including relative to the center 36 (FIG. 1) of vehicle
12, for example such that the positions of cameras 48, 50, 52a, and
52b relative to center 36 and/or to each other can be used for
object positioning calculations and to result in object position
data relative to the center 36 of vehicle 12, for example, or other
features of vehicle 12, such as hitch ball 34 (FIG. 1), with known
positions relative to center 36.
[0046] Referring to FIGS. 5A-5C and 6, in some examples, the rear
camera 48 may be disposed within the tailgate 94, or any other rear
portion of the vehicle 12, and configured to provide image data 55
rearwardly of the vehicle 12. The camera 48 may be capable of
imaging a top view of the hitch ball 34 and can provide the image
data 55 to the controller 26 for use by the image processing
routine 64 to determine the position 38 of hitch ball 34 within the
image data 55, which is then correlated, as discussed above, with
the positioning and configuration of camera 48 to determine the
relative location of hitch ball 34 with respect to vehicle 12
(e.g., relative to center 36). Once the position 38 of the hitch
ball 34 is determined, the system 10 can store the position 38
and/or location of hitch ball 34 in memory 62, including for future
use, as discussed below. As discussed above, in typical systems
executing variations of the vehicle control functions discussed
above, the hitch ball 34 location function is run at the time of
feature activation, for any of such features.
[0047] As can be appreciated, the various driving assistance
features of system 10 (e.g., hitch assist, trailer backup assist,
park assist, etc.) described herein are typically initiated when
vehicle 12 is at a standstill, as this improves the ability of
system 10 to identify, for example, the coupler 14 of trailer 16
and/or to perform a handoff process to allow the vehicle 12 to
assume control of various driving functions. At standstill,
however, the image data 55 from rear camera 48 includes a static
background B behind the hitch ball 34, as shown in FIGS. 5A-5C,
which may be disadvantageous to the image processing routine 64 in
attempting to identify hitch ball 34. In some situations,
attempting to locate hitch ball 34 at standstill may cause the
hitch ball to be undetected, even though it is present, such as in
the example of FIG. 5A (where the hitch ball 34 is shown as being
obscured by a shadow). In other situations, such as in the example
of FIG. 5B, the hitch position 38' may be detected inaccurately,
such as by confusion of an environmental feature (e.g., a rock or
the like) for the hitch ball on the part of image processing
routine 64. In such a situations a hitch ball 34 may even be
thought to be detected when no hitch is installed. In a further
example, shown in FIG. 5C, various ambient conditions, such as
lighting and the like and/or the ground texture, etc. may interfere
with the accuracy in determining the actual position 38' of a
detected hitch 34. For at least this reason, it may be
disadvantageous to attempt to locate hitch ball 34 using image
processing routine 64 on the activation of driving feature.
[0048] In this respect, the controller 26 described herein operates
attempts to locate hitch ball 34 using image processing routine 64
when vehicle 12 is in a free driving mode (i.e., during normal
driving (in forward or reverse) under the control of the driver,
when none of the driving assistance features that uses the hitch
ball location 38 is running. In this respect, at least some free
driving may be required before activation of such features is
possible. However, when such requirement is met, performance of
such features may be improved by the improvement in the
determination of the hitch ball location 38, which may,
accordingly, be stored in memory 62 for use by any of the routines
(path derivation routine 66, hitch assist operating routine 68,
hitch angle routine 130, curvature routine 98, TBA operating
routine, and park assist routine 134), when needed.
[0049] Accordingly, the present system 10 may improve the
performance of hitch detection using image processing routine 64 by
performing the task during free-driving of the vehicle 12 at low
speeds. In this respect, image processing routine 64 may perform
better during vehicle motion, as the background B behind the hitch
ball 34 changes, allowing image processing routine 64 to
distinguish the hitch ball 34 more easily and/or with improved
accuracy. In this manner, the accuracy of the determination of the
hitch ball 34 position 38 is increased, and the rate of false
negative and false positive detections (such as by the conditions
in the examples discussed above with respect to FIGS. 5A-5C) may be
decreased.
[0050] In implementations of the present system 10, specific
conditions may be selected for which to use image processing
routine 64 for hitch ball 34 detection. In this manner, controller
26 may include logic to dictate when to run and pause or terminate
the function (e.g., so that it does not run during the entire drive
cycle). Additionally, a framework of data storage is described,
with considerations made for data accessibility and flash memory
wear-endurance. In one aspect, the image processing routine 64
executes a feature extraction function to locate the hitch ball 34
only when the signal from the vehicle speed sensor 56 indicates a
vehicle speed above the predetermined minimum speed. Additionally,
the image processing routine 64 can end the feature extraction
function to stop attempting to locate hitch ball 34 when the signal
from the vehicle speed sensor 56 indicates that the vehicle speed
is above a predetermined maximum speed. In this respect, the
background B in the image data 55 can become blurred above certain
speeds, such that the background B appears as a solid object to the
image processing routine 64, which diminishes the effectiveness in
locating hitch ball 34 in the same manner as having vehicle 12 at a
standstill or low speed. Additionally, the use of image processing
routine 64 to locate hitch ball 34 can be considered a low priority
application, so other vehicle 12 functions, including other
functions of controller 26, of the vehicle 12 engine control unit
("ECU"), or the like can override image processing routine 64 in
this respect.
[0051] In this respect, the image controller 26 executes the
feature extraction function by way of image processing routine 64
to locate the hitch ball 34 mounted to the vehicle in the image
data 55 when the signal from the vehicle speed sensor 56 indicates
a vehicle speed above a predetermined minimum speed. The routine 64
continues to operate as long as the speed is above the minimum
speed until the hitch ball 34 has been located. In the additional
example, the controller 26 may stop the feature extraction function
when the signal from the vehicle speed sensor 56 indicates that the
vehicle exceeds a second, higher maximum speed. In such situations,
it is noted that the feature extraction function runs continuously,
analyzing each camera frame included in the stream of image data
55. Each frame is continuously analyzed until the routine 64
obtains an acceptable confidence value corresponding with wither
the position 38 of the hitch ball 34, or a determination that no
hitch ball present. In this manner, the image data 55 includes a
series of still image frames at sequential intervals, and the
feature extraction function of includes a continuous analysis of
the successive still images. For each frame, the image processing
routine 64 derives a preliminary hitch ball location 38, and the
feature extraction routine filters the preliminary hitch ball
location 38 for each of the successive still images to converge on
a final hitch ball location. In this respect, if the feature
extraction process of the image processing routine 64 can pause
when, for example, the speed of the vehicle 12 is detected as being
below the minimum speed or above the maximum speed so that, when
the conditions are appropriate and the process resumes, it does not
have to start over.
[0052] Again, the feature extraction routine starts by deriving a
preliminary hitch ball location in an initial image frame and
converges on a final hitch ball location 38 using an algorithmic
confidence assessment based on the analysis of successive still
images, the final hitch ball location is determined when the
confidence assessment reaches a predetermined threshold. The final
hitch ball location includes one of a distance of a detected hitch
ball from a rear of the vehicle or a null value when no hitch ball
is located when the confidence assessment reaches a predetermined
threshold. The number of captured images and/or the time elapsed in
between capturing images may be predetermined. The predetermined
number of captured images may, as described below, depend on pixel
or intensity values of an averaged or combined image. The
controller 26 may average or combine the captured images into an
averaged or combined image patch through usage of the routine 64.
In general, the averaging process includes averaging the pixels of
the series of captured images after optionally stabilizing the
images (i.e., aligning them to account for slight vibrations by the
camera 48). The controller 26 may find outer edges of objects
within the averaged or combined image. The controller 26 finds the
outer edges by analyzing the averaged or combined image. In
general, the analyzing process involves determining an interface
between items statically affixed to the vehicle 12 and undetectable
background noise (e.g., achieved by movement of the background
image B). The controller 26 associates specific pixels on the
averaged image with a real-world spatial position to locate the
position 38 of hitch ball within the established frame of reference
relative to vehicle 12. In additional aspect, the position data may
also include a known reference length, such as the diameter of the
hitch ball 34, which may also allow the position data to include
the height of hitch ball 34. Thus, the controller 26 may determine
dimensions of objects defined by specific pixels. For example, the
length of the ball mount 35 may be compared to the diameter of the
hitch ball 34 to determine the length of the ball mount 35 by
comparing the number of pixels. It will be appreciated, however,
that the length of the ball mount 35 may also be calculated by
other sensors or modules in the vehicle 12 using any distance
measuring technique.
[0053] When the location 38 of the hitch ball 34 is arrived at with
the required level of confidence, according to the particular
parameters of the image processing routine 64, controller 26
extracts location data (e.g. at least its relationship to center 36
along the longitudinal axis 13 of vehicle 12) for the hitch 34 and
stores the location 38 of the hitch ball 34 in memory 62. As
discussed above, controller 26 can be configured to help avoid wear
on memory 62 by comparing the location 38 of the hitch ball 34 to
at least one previously-stored hitch ball 34 location 38 prior to
actually storing the location of the hitch ball in memory 62.
Controller 26 may only store the location 38 of the hitch ball 34
output by the image processing routine 64 in memory 62 if the
location 38 of the hitch ball 34 is different from the one or more
previously stored hitch ball 34 locations 38. When stored, the
hitch ball location 38 is stored in persistent or semi-persistent
memory 62, to be accessed by all features which request this data
later in time (including, but not limited to the examples discussed
above). It is noted that persistent memory survives key cycles of
the vehicle 12, as some features may be configured to access a last
positive detection/location (for instance, if a feature is
initiated at night, when no detection can be made, depending on the
feature). In these cases, it may be assumed the hitch ball 34 has
not been removed since the last detection, or vice versa if one was
not detected prior. If the input requirements of the particular
features of vehicle 12 using this data do not wish to know data
across key-cycles, then semi-persistent memory may be sufficient.
Since persistent flash memory often can wear with use, the hitch
ball position 38 data is only written once the hitch ball data
changes from a previous measurement.
[0054] In a further aspect, controller 26 may be configured to only
implement the hitch detection function when vehicle 12 shifts or is
shifted out of its park mode/gear before being determined to be
above the minimum speed. In this respect, controller 26 is in
communication with vehicle switchgear (also referred to as a gear
selector) 94, which is configured to output a switchgear state
indication receivable by controller 26. The gear selector 94 is
configurable between the aforementioned park mode and at least one
driving mode. The controller 26, accordingly, receives a state
indication from the switchgear 94 and only looks for when the
signal 55 from the vehicle speed sensor indicates the signal above
the predetermined minimum speed to execute the feature extraction
function to locate the hitch ball 34 after the switchgear 94 state
indication corresponds with the vehicle being shifted from the park
mode into the at least one driving mode (e.g., a basic drive mode
in a vehicle 12 with an automatic transmission). This initial step
results in the hitch detection function not being run continuously
at all low speeds, which prevents, for example, restarting of the
function hundreds of times during a traffic jam or city driving.
The controller 26, thusly configured, only re-runs after the
vehicle shifts into park and back out of park, or is turned off,
started again, and shifted into park. In this respect, it may be
considered highly unlikely that the state of the vehicle hitch ball
34 changes (i.e. being changed, installed, or removed) without the
vehicle 12 being in park.
[0055] In one aspect, the image processing routine 64 can also be
specifically programmed or otherwise configured to locate coupler
14 within image data 55. In one example, the image processing
routine 64 can identify the coupler 14 within the image data 55
based on stored or otherwise known visual characteristics of
coupler 14 or hitch couplers in general. In another embodiment, a
target 91 in the form of a sticker or the like may be affixed with
trailer 16 in a specified position relative to coupler 14 in a
manner similar to that which is described in commonly-assigned U.S.
Pat. No. 9,102,271, the entire disclosure of which is incorporated
by reference herein. In such an embodiment, image processing
routine 64 may be programmed with identifying characteristics of
the target 91 for location in image data 55, as well as the
positioning of coupler 14 relative to such a target 91 so that the
position 28 of coupler 14 can be determined based on the target 91
location. Additionally or alternatively, controller 26 may seek
confirmation of the determined coupler 14, via a prompt on
touchscreen 42. If the coupler 14 determination is not confirmed,
further image processing may be provided, or user-adjustment of the
position 28 of coupler 14 may be facilitated, either using
touchscreen 42 or another input to allow the user to move the
depicted position 28 of coupler 14 on touchscreen 42, which
controller 26 uses to adjust the determination of position 28 of
coupler 14 with respect to vehicle 12 based on the above-described
use of image data 55. Alternatively, the user can visually
determine the position 28 of coupler 14 within an image presented
on HMI 40 and can provide a touch input coupler 14 in a manner
similar to that which is described in co-pending, commonly-assigned
U.S. patent application Ser. No. 15/583,014, the entire disclosure
of which is incorporated by reference herein. The image processing
routine 64 can then correlate the location of the touch input with
the coordinate system 82 applied to image 30.
[0056] As shown in FIGS. 3 and 4, the above-described hitch
assistance functionality of controller 26 can use the position 38
of hitch ball 34 stored in memory, according to the above-described
process. In this aspect, the image processing routine 64 and
operating routine 68 may be used in conjunction with each other to
determine the path 32 along which driver assistance system 10 can
guide vehicle 12 to align hitch ball 34 and coupler 14 of trailer
16. In this manner, upon initiation of driver assistance system 10,
such as by user input on touchscreen 42, for example, image
processing routine 64 can identify coupler 14 within the image data
55 of one or more of the cameras in imaging system 18, such as
camera 48 and estimate the position 28 of coupler 14 relative to
hitch ball 34 using the image data 55 to determine a distance
D.sub.c to coupler 14 and an angle .alpha..sub.c of offset between
coupler 14 and the longitudinal axis 13 of vehicle 12. Once the
positioning D.sub.c,.alpha..sub.c of coupler 14 has been determined
and, optionally, confirmed by the user, controller 26 can take
control of at least the vehicle steering system 20 to control the
movement of vehicle 12 along the desired path 32 to align the
vehicle hitch ball 34 with coupler 14.
[0057] Continuing with reference to FIG. 3 with additional
reference to FIG. 2, controller 26, having estimated the
positioning D.sub.c,.alpha..sub.c of coupler 14, as discussed
above, can, in one example, execute path derivation routine 66 to
determine vehicle path 32 to align the vehicle hitch ball 34 with
coupler 14. In particular, controller 26 can have stored in memory
62 various characteristics of vehicle 12, including the wheelbase
W, the distance from the rear axle to the hitch ball 34, which is
referred to herein as the drawbar length L, as well as the maximum
angle to which the steered wheels 76 can be turned .delta..sub.max.
As shown, the wheelbase W and the current steering angle .delta.
can be used to determine a corresponding turning radius .rho. for
vehicle 12 according to the equation:
.rho. = l W tan .delta. , ( 1 ) ##EQU00001##
in which the wheelbase W is fixed and the steering angle .delta.
can be controlled by controller 26 by communication with steering
system 20, as discussed above. In this manner, when the maximum
steering angle .delta..sub.max is known, the smallest possible
value for the turning radius .rho..sub.min is determined as:
.rho. min = 1 W tan .delta. max . ( 2 ) ##EQU00002##
[0058] Path derivation routine 66 can be programmed to derive
vehicle path 32 to align the location of the vehicle hitch ball 34
stored in memory 62 with the estimated position 28 of coupler 14
that takes into account the determined minimum turning radius
.rho..sub.min to allow path 32 to use the minimum amount of space
and maneuvers. In this manner, path derivation routine 66 can use
the position of vehicle 12, which can be based on the center 36 of
vehicle 12, a location along the rear axle, the location of the
dead reckoning device 24, or another known location on the
coordinate system 82, to determine both a lateral distance to the
coupler 14 and a rearward distance to coupler 14 and derive a path
32 that achieves the needed lateral and backward movement of
vehicle 12 within the limitations of steering system 20. The
derivation of path 32 further takes into account the position of
hitch ball 34 (e.g., as used in determining length L), relative to
the tracked location of vehicle 12 (which may correspond with the
center 36 of mass of vehicle 12, the location of a GPS receiver, or
another specified, known area) to determine the needed positioning
of vehicle 12 to align hitch ball 34 with coupler 14. In further
aspects, system 10 can be further configured to shift vehicle 12
between forward-driving gears and the reverse driving gear such
that the derivation of path 32 can include both forward and
rearward driving of vehicle 12 to achieve the desired lateral
movement, as described further in co-pending, commonly-assigned
U.S. patent application Ser. No. 15/583,014, the entire contents of
which are incorporated by reference herein.
[0059] Continuing with respect to FIG. 4, once the path 32
including the determination of endpoint 33 has been determined,
system 10 controls the reversing of vehicle 12 toward trailer 16 to
bring hitch ball 34 closer to alignment with the coupler 14. In one
implementation, controller 26 can determine path 32 and endpoint
33, as discussed above, and can control the steering and braking of
vehicle 12 (and, further optionally, the powertrain system 72) to
control movement of vehicle 12 along path 32 to bring vehicle 12 to
endpoint 33 of path 32 in the desired orientation of alignment of
hitch ball 34 with coupler 14. In a similar manner, a modified
variation of operating routine 68 can progress through a
predetermined sequence of maneuvers involving steering of vehicle
12 at or below a maximum steering angle .delta..sub.max, while
tracking the position D.sub.c, .alpha..sub.c of coupler 14 to
converge the known relative position of hitch ball 34 to the
desired position thereof relative to the tracked position 28 of
coupler 14, as shown in FIG. 4. Subsequently, system 10 can
indicate to the user that the operation is complete and the user
can exit the vehicle 12 and lower the coupler 14 into the engaged
position over hitch ball 34 and can secure coupler 14 with hitch
ball 34 according the particular characteristics of trailer 16.
[0060] Turning to FIGS. 7 and 8, in at least one implementation,
the capability of system 10 to reverse vehicle 12 to an aligned
position with respect to trailer 16, as described above, can be
useful in connection with further capability to assist the driver
in reversing trailer 16 with vehicle 12 once trailer 16 has been
coupled with vehicle 12 by way of hitch ball 34. In the example
discussed above, system 10 is further configured for controlling a
backing path of a trailer 16 attached to a vehicle 12 by allowing a
driver of the vehicle 12 to specify a desired curvature 126 of the
backing path of the trailer 16. System 10 can include an interface
100 having a rotatable knob 106 in communication with controller
26, as shown in FIG. 2 such that controller 26 can operate in a
trailer backup assistance mode including interpreting a first
instantaneous position of the knob 106 as a trailer control
commanding position and generating a vehicle steering command based
thereon. In this manner, controller 26 can be adapted with a
curvature routine 98, as shown in FIG. 2, and further described in
commonly-assigned U.S. Pat. No. 9,102,271, the entire disclosure of
which is incorporated by reference herein. In general, the
operation of the trailer backup assistance mode within the
operation of system 10 involves an input device 100 that includes
the above-mentioned rotatable knob 106, for a driver to provide the
desired curvature 126 of the combined vehicle 12 and trailer 16. As
such, the steering input device 100 may be operable between a
plurality of selections, such as successive rotated positions of
knob 106, that each provide an incremental change to the desired
curvature 126 of the combined trailer 16 and vehicle 12 during
reversing. Upon inputting the desired curvature 126, the controller
26 may generate a trailer backing steering command for the vehicle
12 to guide the trailer 16 on the desired curvature 126 based on
the estimated hitch angle .gamma. and a kinematic relationship
between the trailer 16 and the vehicle 12.
[0061] As described above, the vehicle 12 may also be equipped with
one embodiment of system 10 adapted with the trailer backup
assistance functionality for controlling the backing path of the
trailer 16 when it is attached to the vehicle 12, such as following
a hitching operation, as discussed above. Referring to FIGS. 7 and
8, the vehicle 12 may be pivotally attached to the illustrated
trailer 16 with a tongue 90 (FIG. 1) longitudinally extending from
the remaining portions of trailer 16 with the above-described
coupler 14 that latches onto the hitch ball 34 to provide a
pivoting ball joint connection that allows for articulation of
trailer 16 at a hitch angle .gamma. relative to the longitudinal
axis 13 of vehicle 12. In this example, the vehicle 12 can include
an input 100 including a rotating element 106. The controller 26
that includes the above-described image processing routine 64 uses
an input from the rotating element 106 to as a trailer backup
control signal and controls the vehicle steering system 20 to
maintain the vehicle 12, when coupled with trailer 16 at the hitch
ball location 38, on a backing path P determined using, for
example, the curvature routine 98 described below, which includes
the hitch ball location 38 as an input.
[0062] Such an implementation of system 10 can use imaging system
18, as discussed above as a vision-based hitch angle sensor for
estimating the hitch angle .gamma. between the vehicle 12 and the
trailer 16. In a particular example, one of the various cameras 48,
50, 52a, 52b can capture one or more images of the trailer 16,
including a region containing one or more desired target placement
zones for at least one target 91 to be secured. Although it is
contemplated that the imaging system 18 may capture images of the
trailer 16 without a target 91 to determine the hitch angle
.gamma., in the illustrated embodiment, trailer 16 includes a
target 91 to allow the system 10 to utilize information acquired
via image acquisition and processing of the target 91. Other means
of determining the hitch angle .gamma. may be possible in various
embodiments of system 10.
[0063] As discussed above, system 10 is in communication with the
power assist steering system 20 of the vehicle 12 to operate (by
way of a steering control signal or the like) the steered wheels 76
(FIG. 1) of the vehicle 12 for moving the vehicle 12 in such a
manner that the trailer 16 reacts in accordance with the desired
curvature 126 of the trailer 16. In this manner, a trailer backing
steering command may be provided by the system 10 for autonomously
steering during a backup maneuver. The power assist steering system
20 provides the controller 26 with information relating to a
rotational position of steered wheels 76 of the vehicle 12,
including a steering angle .delta.. The controller 26 in the
illustrated embodiment processes the current steering angle, in
addition to other vehicle 12 and trailer 16 conditions using a
feedback-based control scheme (i.e. a P-I control scheme using the
equation below) to guide the trailer 16 along the desired curvature
126. It is conceivable that the trailer backup assist system 10, in
additional embodiments, may be an integrated component of the power
assist steering system 20. For example, the power assist steering
system 20 may include a trailer backup assist routine for
generating vehicle steering information and commands as a function
of all or a portion of information received from the steering input
device 100, the imaging system 18, the power assist steering system
20, a vehicle brake control system 72, a powertrain control system
74, and other vehicle sensors and devices.
[0064] More specifically, the steering input device 100 may provide
a selection or positional information that correlates with a
desired curvature 126 of the desired backing path of travel of the
trailer 16. Also, the trailer steering commands provided by the
steering input device 100 can include information relating to a
commanded change in the path of travel, such as an incremental
change in the desired curvature 126, and information relating to an
indication that the trailer 16 is to travel along a path defined by
a longitudinal centerline axis of the trailer 16, such as a desired
curvature value of zero that defines a substantially straight path
of travel for the trailer. As will be discussed below in more
detail, the steering input device 100 according to one embodiment
may include a movable control input device for allowing a driver of
the vehicle 12 to command desired trailer steering actions or
otherwise select and alter a desired curvature. For instance, the
moveable control input device may be a rotatable knob 106, which
can be rotatable about a rotational axis extending through a top
surface or face of the knob 106. In other embodiments, the
rotatable knob 106 may be rotatable about a rotational axis
extending substantially parallel to a top surface or face of the
rotatable knob 106. Furthermore, the steering input device 100,
according to additional embodiments, may include alternative
devices for providing a desired curvature 126 or other information
defining a desired backing path, such as a joystick, a keypad, a
series of depressible buttons or switches, a sliding input device,
various user interfaces on a touch-screen display, a vision based
system for receiving gestures, a control interface on a portable
device, and other conceivable input devices as generally understood
by one having ordinary skill in the art. It is contemplated that
the steering input device 100 may also function as an input device
for other features, such as providing inputs for other vehicle
features or systems.
[0065] For a system defined by a vehicle 12 and a trailer 16, a
kinematic relationship of the vehicle 12 reversing the trailer 16
is based on various parameters associated with the vehicle 12 and
the trailer 16. This relationship can be expressed to provide the
steering angle .delta. as a function of trailer path curvature
.kappa..sub.2 and hitch angle .gamma..
.delta. = tan 1 ( ( W + K V 2 g ) [ .kappa. 2 D cos .gamma. - sin
.gamma. ] DL .kappa. 2 sin .gamma. + L cos .gamma. ) = F ( .gamma.
, .kappa. 2 , K ) , ##EQU00003##
where:
[0066] .delta.: steering angle at steered front wheels of the
vehicle;
[0067] .alpha.: yaw angle of the vehicle;
[0068] .beta.: yaw angle of the trailer;
[0069] .gamma.: hitch angle (.gamma.=.beta.-.alpha.);
[0070] W: wheel base of the vehicle;
[0071] L: drawbar length between hitch point and rear axle of the
vehicle;
[0072] D: distance (trailer length) between hitch point and axle of
the trailer or effective axle for a multiple axle trailer; and
[0073] r.sub.2: curvature radius for the trailer.
For a particular vehicle and trailer combination, certain
parameters (e.g., D, W and L) of the kinematic relationship are
constant and assumed known. V is the vehicle longitudinal speed and
g is the acceleration due to gravity. K is a speed dependent
parameter which when set to zero makes the calculation of steering
angle independent of vehicle speed. For example, vehicle-specific
parameters of the kinematic relationship can be predefined in an
electronic control system of the vehicle 12 and trailer-specific
parameters of the kinematic relationship can be inputted by a
driver of the vehicle 12, determined from sensed trailer behavior
in response to vehicle steering commands, or otherwise determined
from signals provided by the trailer 16. Trailer path curvature
.kappa..sub.2 can be determined from the driver input via the
steering input device 100. Through the use of the equation for
providing steering angle, a corresponding steering command can be
generated by the curvature routine 98 for controlling the power
assist steering system 20 of the vehicle 12. As can be appreciated,
the wheelbase W of vehicle 12 is generally known, but the drawbar
length L varies depending on the position 38 of the particular
hitch ball 34 (including by the dimensions of the ball mount 35
used to attach the hitch ball 34 to the vehicle 12). In this
manner, controller 26 can, upon activation of the curvature routine
98, obtain the hitch ball position 38 from memory 62 to determine
the particular drawbar length L for use in controlling steering
system 20 to maintain the vehicle 12 and trailer 16 along the
desired path, based on the input from the rotating element 106.
[0074] The rotating element in the form of a rotatable knob 106, as
illustrated in FIG. 7, may be biased (e.g., by a spring return) to
a center, or at-rest position P(AR) between opposing rotational
ranges of motion R(R), R(L). In the illustrated embodiment, a first
one of the opposing rotational ranges of motion R(R) is
substantially equal to a second one of the opposing rotational
ranges of motion R(L), R(R). To provide a tactile indication of an
amount of rotation of the rotatable knob 106, a torque that biases
the knob toward the at-rest position P(AR) can increase (e.g.,
non-linearly) as a function of the amount of rotation of the
rotatable knob 106 with respect to the at-rest position P(AR).
Additionally, the rotatable knob 106 can be configured with
position indicating detents such that the driver can positively
feel the at-rest position P(AR) and feel the ends of the opposing
rotational ranges of motion R(L), R(R) approaching (e.g., soft end
stops). The rotatable knob 106 may generate a desired curvature
value as function of an amount of rotation of the rotatable knob
106 with respect to the at-rest position P(AR) and a direction of
movement of the rotatable knob 106 with respect to the at-rest
position P(AR), which itself may correspond to a zero-curvature
command 126. It is also contemplated that the rate of rotation of
the rotatable knob 106 may also be used to determine the desired
curvature 126 output to the controller 26. The at-rest position
P(AR) of the knob corresponds to a signal indicating that the
vehicle 12 should be steered such that the trailer 16 is backed
along a substantially straight backing path 114 (FIG. 7) zero
trailer curvature request from the driver), as defined by the
longitudinal direction of the trailer 16 when the knob was returned
to the at-rest position P(AR). A maximum clockwise and
anti-clockwise position of the knob (i.e., limits of the opposing
rotational ranges of motion R(R), R(L)) may each correspond to a
respective signal indicating a tightest radius of curvature (i.e.,
most acute trajectory or smallest radius of curvature) of a path of
travel of the trailer 16 that is possible without the corresponding
vehicle steering information causing a jackknife condition.
[0075] As shown in FIGS. 7 and 8, a driver can turn the rotatable
knob 106 to provide a desired curvature 126 while the driver of the
vehicle 12 backs the trailer 16. In the illustrated embodiment, the
rotatable knob 106 rotates about a central axis between a center or
middle position 114 corresponding to a substantially straight
backing path 114 of travel, as defined by the longitudinal
direction of the trailer 16, and various rotated positions 116,
118, 120, 122 on opposing sides of the middle position 114,
commanding a desired curvature 126 corresponding to a radius of the
desired backing path of travel for the trailer 16 at the commanded
rotated position. It is contemplated that the rotatable knob 106
may be configured in accordance with embodiments of the disclosed
subject matter and omit a means for being biased to an at-rest
position P(AR) between opposing rotational ranges of motion. Lack
of such biasing may allow a current rotational position of the
rotatable knob 106 to be maintained until the rotational control
input device is manually moved to a different position.
[0076] Additionally referring to FIG. 8, an example of using the
steering input device 100 for dictating a curvature of a desired
backing path of travel (POT) of the trailer 16 while backing up the
trailer 16 with the vehicle 12 is shown. In preparation of backing
the trailer 16, the driver of the vehicle 12 may drive the vehicle
12 forward along a pull-thru path (PTP) to position the vehicle 12
and trailer 16 at a first backup position B1. In the first backup
position B1, the vehicle 12 and trailer 16 are longitudinally
aligned with each other such that a longitudinal centerline axis L1
of the vehicle 12 is aligned with (e.g., parallel with or
coincidental with) a longitudinal centerline axis L2 of the trailer
16. It is disclosed herein that such alignment of the longitudinal
axis 13 L1, L2 at the onset of an instance of trailer backup
functionality is not a requirement for operability of a trailer
backup assist system 10, but may be done for calibration.
[0077] After activating the trailer backup assist system 10 (e.g.,
before, after, or during the pull-thru sequence), the driver begins
to back the trailer 16 by reversing the vehicle 12 from the first
backup position B1. So long as the rotatable knob 106 of the
trailer backup steering input device 100 remains in the at-rest
position P(AR) and no other steering input devices are activated,
the trailer backup assist system 10 will steer the vehicle 12 as
necessary for causing the trailer 16 to be backed along a
substantially straight path of travel, as defined by the
longitudinal direction of the trailer 16, specifically the
centerline axis L2 of the trailer 16, at the time when backing of
the trailer 16 began. When the trailer 16 reaches the second backup
position B2, the driver rotates the rotatable knob 106 to command
the trailer 16 to be steered to the right (i.e., a knob position
R(R) clockwise rotation). Accordingly, the system 10 will steer the
vehicle 12 for causing the trailer 16 to be steered to the right as
a function of an amount of rotation of the rotatable knob 106 with
respect to the at-rest position P(AR), a rate movement of the knob,
and/or a direction of movement of the knob with respect to the
at-rest position P(AR). Similarly, the trailer 16 can be commanded
to steer to the left by rotating the rotatable knob 106 to the
left. When the trailer 16 reaches backup position B3, the driver
allows the rotatable knob 106 to return to the at-rest position
P(AR) thereby causing the system 10 to steer the vehicle 12 as
necessary for causing the trailer 16 to be backed along a
substantially straight path of travel as defined by the
longitudinal centerline axis L2 of the trailer 16 at the time when
the rotatable knob 106 was returned to the at-rest position P(AR).
Thereafter, the system 10 steers the vehicle 12 as necessary for
causing the trailer 16 to be backed along this substantially
straight path to the fourth backup position B4. In this regard,
arcuate portions of a path of travel POT of the trailer 16 are
dictated by rotation of the rotatable knob 106 and straight
portions of the path of travel POT are dictated by an orientation
of the centerline longitudinal axis 13 L2 of the trailer 16 when
the knob 106 is in/returned to the at-rest position P(AR).
[0078] As shown in FIG. 9, system 10 can be further configured with
active park assist ("APA") functionality, as discussed further in
co-pending, commonly-assigned, U.S. patent application Ser. No.
14/859,551, the entire disclosure of which is incorporated by
reference herein. In general, APA may be implemented by a parking
assist routine within memory 62 of system 10 that can make use of
various sensors of vehicle 12, including those included in the
vehicle sensor system, as well as proximity sensor array 54 and
imaging system 18, to control the power assist steering system 20
(and, optionally, powertrain control system 74 and brake control
system 72) to provide autonomous, semi-autonomous, or assisted
parking functionality in at least one of various parking modes. The
parking assist mode may be configured to only operate when no
trailer 12 is coupled with vehicle 12 and may further operate in
both reversing and forward driving.
[0079] As illustrated in FIG. 9, the park-assist system can be
capable of providing parallel-parking assistance. In this example,
a user can, upon positioning vehicle 12 in an appropriate location
with respect to a parallel parking space 270, can enter a
predetermined command to send a park assist initiation signal to
controller 26. The user can then select or confirm the desired
mode, e.g. parallel park, including by way of HMI 40, or the like.
When implementing the parallel park assist mode, controller 26 can
await a further selection of a side of vehicle 12 on which the
parallel parking space 270 is located. When the selection of the
appropriate vehicle 12 side (the driver side in the example
depicted in FIG. 9) is made controller 26 can implement the desired
or available parallel parking assist mode. In one example, such a
mode can be a semi-autonomous parallel parking mode, wherein the
user retains control of the speed of vehicle by the throttle and
brake (in a manner similar to the above-described trailer backup
assist mode) with the vehicle 14 indicating the distance to
adjacent vehicles using proximity alerting by audible signals or by
visual indication on display 44, which can also be used to provide
instructions ("reverse," "pull forward," etc.) to the driver of
vehicle 14. Simultaneously, the park-assist system can control the
steering system 20 such that vehicle 12 follows a parallel park-in
path 272. In another mode, system 10 can implement a
fully-autonomous parallel parking mode in which vehicle 12 can both
control steering system 20 as well as brake system 70 and
powertrain control system 72 to control the speed of vehicle 14
while controlling the steering such that vehicle 14 follows the
parallel park-in path 272. Other modes of parallel park assist are
possible and can be implemented in a similar manner.
[0080] As can be appreciated, when system 10 is controlling the
movement of vehicle 12 along path 272, including under autonomous
or guided movement, it may approach an adjacent vehicle V, or other
object, in a reversing direction. Although system 10 can be
configured to only implement the APA function when no trailer is
present, the vehicle 12 may still have hitch ball 34 installed
therewith. In this manner, it may be advantageous for system 10 to
account for the location 38 of hitch ball 34 to prevent hitch ball
34 from colliding with vehicle V, for example. Accordingly, when
controller 26 executes the desired park assist routine 134
including possible reverse driving, it can access the hitch ball
location 38 stored in memory 62. In additional examples, the
controller 26 may also include the capability to implement other
systems that control braking of vehicle 12 to prevent rear
collisions when driving in reverse, controller 26 can similarly
access the information in memory 62 regarding whether a hitch ball
34 is present and, if so, the position 38 thereof for similar use
in connection with those systems.
[0081] Turning now to FIG. 10, a flowchart showing steps in a
method 210 employed, for example, by controller 26 to determine the
location 38 of hitch ball 34 to store in memory 62 for use by one
or more of the above-mentioned driver assistance functions. In
particular the method 210 includes monitoring 212 the signal from a
vehicle speed detector 56. When the signal from the vehicle speed
detector 56 indicates a vehicle speed above a predetermined minimum
speed 212, the above-described feature extraction function is run
214 using the image data received 55 from the imager (e.g., camera
48) mounted with and directed to a rear of the vehicle 12 to
identify 216 hitch ball 34 mounted to the vehicle 12 in the image
data 55. The location 38 of the hitch ball 34 is then extracted
from an output of the feature extraction function.
[0082] As discussed above, the method can be configured such that
the sequence only proceeds once the vehicle 12 shifts from park 218
to out of park 220. In this particular implementation, only after
the vehicle is shifted out of park 220 does the process wait for
vehicle 12 to accelerate above the minimum speed 212. The minimum
speed may be calibrated to the specific performance of image
processing routine 64. In practice, this number may be a relatively
slow speed, for example around 1 Kph. As discussed above, if the
minimum speed chosen is too slow, the background B (FIG. 5A) behind
the hitch ball may not change enough to lead to significant
performance benefit. If the value is too high, then the background
B becomes too uniform, as it may be a road or highways with a
resulting, unchanging appearance.
[0083] Once the vehicle is moving fast enough 212, the controller
26 executes 214 the hitch detection function using image processing
routine 64. The routine 64, thusly, searches for a hitch ball 34,
which may be done, for example, using a Hough transform or similar
method. To laterally constrain the search within the camera 48
image data 55, the function may only operate along the vehicle
centerline. This prevents the function from identifying a feature
to the side of the actual hitch ball 34 as the hitch ball 34. To
longitudinally constrain the search within the camera 48 image data
55, a maximum drawbar length L may be used and translated to a
vertical position on the rear camera 48 image data 55. This may
prevent the function from falsely detecting a hitch ball at an
unrealistic distance from the vehicle 12 (i.e. at a position
greater than 2 meters from the bumper). As discussed above, the
search is continuous, such that each new frame of image data 55 is
analyzed. Each determination is filtered to provide a convergence
of the detection.
[0084] As also discussed above, if the vehicle speed exceeds a
higher maximum speed 222, the controller 26 may stop 224 running
the hitch detection function, as above a certain speed, there is no
longer any benefit to continue running the function, since the
background blurs to the point of uniformity. The function is not
designed to operate during the entire drive time. Once the position
38 of hitch ball 34 is identified 224, the function ceases, and
controller 26 awaits the next opportunity when the vehicle is
shifted into 218 and out of Park 220.
[0085] The controller 26 may be further configured to treat the
hitch detection function as a low priority task. In this respect,
if the ECU resources are in demand 226, the hitch detection
function is stopped 224, to make further processing resources
available to the higher priority functions. Again, once the
function ceases 224, it awaits the next opportunity when the
vehicle is shifted into 218 and out of Park 220.
[0086] When the hitch detection function reaches a confidence in
its detection. If the function can confidently assert it has found
the hitch or determined 216 that no hitch is present, with little
uncertainty, the function ceases 224. If there is not enough
confidence in this determination, then the function continues
searching 214 and evaluating new incoming camera frames in image
data 55. With a positive detection, or the detection of no hitch
present 216, controller 26 compares 228 the output of the hitch
detection function to any previous hitch ball position data already
stored in memory 62. Again, this step limits the number of times
the data is written to memory 62 to prevent wear. If the data has
not changed 230, then the system 10 does not overwrite the data. If
the data differs 232 from the last (or previous) time the hitch
detection function was run, it is saved 234 to memory 62,
overwriting the previous data. The saved data is accessible to the
controller when subsequently executing the hitch detection function
using image processing routine 64. It is also available to other
features that use this data, as discussed above. Again, before the
controller 26 restarts the hitch detection function, it waits until
the vehicle is placed back into park 218, to take into account that
the condition of the hitch 34 most likely does not change without
the vehicle being in Park.
[0087] In a further aspect, shown in FIG. 11, the system may save
all previously detected hitch positions 38 in a database within
memory 62. This functionality compensates for the fact that drivers
may own several hitches 34 and may switch between using those
various hitches 34. In this implementation, all the detected hitch
positions 38 are stored together in the database, along with a
pointer (database address) to indicate the position 38 of the hitch
34 that is currently installed with the vehicle 12 per the last
hitch detection. In particular, the hitch detection function is
first run 214, as discussed with respect to FIG. 10. If a hitch is
not detected, the function continues searching for a hitch 34. If a
hitch is detected, the system 10 prepares to save 236 the data in
memory 62. The system 10, according to the present process,
evaluates 238 if the detected hitch position 38 matches a
previously detected hitch position 38. If so, there is no need to
overwrite the same data, as this may create memory wear on the
flash memory 62. If the hitch position 38 is a new detection 242,
then this data is added 244 to the database of hitch positions.
[0088] If the hitch position 38 is detected as something that has
previously been saved 242, then the system 10 indicates which of
the database entries is the currently-detected hitch position 38.
Because that there are multiple database entries, this pointer
indicates which entry is the hitch position 38 that is currently
installed on the vehicle. This is achieved by a pointer that
indicates 242 the memory address of the entry. A newly discovered
hitch position 38 is added 244 to the database of all known hitch
positions. The hitch data database saves all previously detected
hitch positions, available for retrieval by the system 10 at any
time, across vehicle power cycles. This can be achieved using flash
memory, as discussed above.
[0089] It is to be understood that variations and modifications can
be made on the aforementioned structure without departing from the
concepts of the present disclosure, and further it is to be
understood that such concepts are intended to be covered by the
following claims unless these claims by their language expressly
state otherwise.
[0090] For purposes of this disclosure, the term "coupled" (in all
of its forms, couple, coupling, coupled, etc.) generally means the
joining of two components (electrical or mechanical) directly or
indirectly to one another. Such joining may be stationary in nature
or movable in nature. Such joining may be achieved with the two
components (electrical or mechanical) and any additional
intermediate members being integrally formed as a single unitary
body with one another or with the two components. Such joining may
be permanent in nature or may be removable or releasable in nature
unless otherwise stated.
[0091] It is also important to note that the construction and
arrangement of the elements of the disclosure as shown in the
exemplary embodiments is illustrative only. Although only a few
embodiments of the present innovations have been described in
detail in this disclosure, those skilled in the art who review this
disclosure will readily appreciate that many modifications are
possible (e.g., variations in sizes, dimensions, structures, shapes
and proportions of the various elements, values of parameters,
mounting arrangements, use of materials, colors, orientations,
etc.) without materially departing from the novel teachings and
advantages of the subject matter recited. For example, elements
shown as integrally formed may be constructed of multiple parts or
elements shown as multiple parts may be integrally formed, the
operation of the interfaces may be reversed or otherwise varied,
the length or width of the structures and/or members or connector
or other elements of the system may be varied, the nature or number
of adjustment positions provided between the elements may be
varied. It should be noted that the elements and/or assemblies of
the system may be constructed from any of a wide variety of
materials that provide sufficient strength or durability, in any of
a wide variety of colors, textures, and combinations. Accordingly,
all such modifications are intended to be included within the scope
of the present innovations. Other substitutions, modifications,
changes, and omissions may be made in the design, operating
conditions, and arrangement of the desired and other exemplary
embodiments without departing from the spirit of the present
innovations.
[0092] It will be understood that any described processes or steps
within described processes may be combined with other disclosed
processes or steps to form structures within the scope of the
present disclosure. The exemplary structures and processes
disclosed herein are for illustrative purposes and are not to be
construed as limiting.
* * * * *