| CPC B60D 1/36 (2013.01) [B60D 1/015 (2013.01); B60D 1/62 (2013.01); B60W 30/06 (2013.01); B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2754/10 (2020.02)] | 20 Claims |
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1. A method of backing a vehicle to a trailer comprising a trailer-mounted coupling device, the method comprising:
determining, by an autonomous backing module of the vehicle, a target corresponding to the trailer-mounted coupling device, wherein determining the target corresponding to the trailer-mounted coupling device includes:
calculating coordinate data based on information received from at least one rear facing environment sensor mounted on the vehicle, the coordinate data corresponding to distance data between the vehicle and the trailer-mounted coupling device; and
based on the coordinate data, determining a location of the trailer-mounted coupling device in a coordinate space, including:
detecting a lower edge of a front surface of the trailer, a bottom surface of the trailer, and a protrusion from the bottom surface of the trailer; and
identifying the protrusion as corresponding to the trailer-mounted coupling device based on a comparison to a model of the trailer-mounted coupling device;
determining, by the autonomous backing module, a path to maneuver the vehicle to the target and align a vehicle-mounted coupling device with the trailer-mounted coupling device;
determining, by the autonomous backing module, commands to components of the vehicle to autonomously control the vehicle to maneuver along the determined path to the target; and
transmitting, by the autonomous backing module, the commands to the components of the vehicle.
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