CPC B60W 30/18036 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 50/14 (2013.01); B60D 1/06 (2013.01); B60D 1/36 (2013.01); B60W 2050/146 (2013.01); B60W 2300/14 (2013.01); B60W 2420/42 (2013.01); B60W 2520/10 (2013.01); B60W 2520/28 (2013.01); B60W 2540/12 (2013.01); B60W 2552/15 (2020.02); B60W 2552/20 (2020.02); B60W 2710/18 (2013.01)] | 20 Claims |
1. A system for assisting in aligning a vehicle for hitching with a trailer, comprising:
an imaging system outputting image data;
a vehicle control system including a vehicle brake system and at least one vehicle sensor outputting a signal including information related to a vehicle movement state; and
a controller:
controlling the vehicle using the vehicle control system to move the vehicle into an aligned position, where a hitch ball mounted on the vehicle is aligned with a coupler of the trailer, including monitoring the signal from the at least one vehicle sensor and tracking a position of the coupler relative to the hitch ball in the image data; and
when the information related to the vehicle movement state indicates an unintended stopped vehicle state by way of the vehicle being stopped without the controller having controlled a vehicle brake system to stop the vehicle, determining a distance from the hitch ball to the coupler, if the distance is above a predetermined threshold, controlling the vehicle control system to cause the vehicle to move, and, if the distance is below the predetermined threshold, indicating the unintended stopped vehicle state to a driver of the vehicle.
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