Abstract: An automated vehicle parking system for a motor vehicle is disclosed and includes at least one camera obtaining images proximate a vehicle, at least one sensor array detecting objects proximate the vehicle, and a controller configured to generate a mask of an area proximate the vehicle from the images obtained by the at least one camera including labeled features identified within the obtained images and project the generated mask onto an occupancy grid generated with information from the at least one sensor array, wherein the controller is configured to locate a parking space responsive to open spaces defined within the generated mask.

Abstract: A method of determining a tow hitch position. The method includes obtaining a two-dimensional image of a tow hitch in a three-dimensional scene. A model tow hitch is obtained in three dimensions. A three-dimensional rendering of a scene is generated that includes the model tow hitch. The model tow hitch in the three-dimensional rendering is positioned in an orientation corresponding with an orientation of the tow hitch in the three-dimensional scene.

Abstract: A method for determining a position of a tow ball in an image. The method includes obtaining at least one real-time image from a vehicle. The at least one real-time image is processed with a controller on the vehicle to obtain a feature patch (f) describing at least one real-time image. A convolution is performed of the feature patch (f) and each filter (h) from a set of filters (H) with the filter (h) being based on data representative of known tow hitches fixed to the vehicle. A location of a tow ball on the tow hitch is identified in the at least one real-time image is based on the convolution between the feature patch (f) and each filter (h) from the set of filters (H).

Abstract: A method for autonomously parking a vehicle-trailer system is provided. The method includes receiving sensor system data from a sensor system supported by the vehicle. The sensor system data includes images of surroundings along a driving path of the vehicle-trailer system. The method includes determining a local map based on the sensor system data. The local map includes surroundings along the driving path. The method includes receiving a user selection of an image location within the images. The image location representing a position in the local map associated with a selected location within the surroundings. The method includes determining a parking path from a current location of the vehicle-trailer system to the position based on the local map and instructing a drive system to execute an autonomous parking behavior causing the vehicle-trailer system to autonomously drive along the parking path and autonomously park in the selected location.

Abstract: A method of detecting and localizing a coupler of a trailer hitch associated with a trailer positioned behind a tow vehicle is provided. The method includes determining a region of interest within images from a rear camera. The region of interest includes a representation of the trailer hitch. The method includes determining a three-dimensional (3D) point cloud representing objects inside the region of interest. The method includes determining a camera plane based on the images. The method includes projecting the cloud points onto the camera plane and determining a coupler location based on the projected cloud points onto the camera plane. The method includes determining a path based on the coupler location. The path ending when the tow vehicle is attached to the trailer. The method also includes sending instructions to a drive system causing the tow vehicle to autonomously drive in a rearward direction along the path.

Abstract: A method for autonomously maneuvering a tow vehicle. The method includes receiving images from one or more cameras positioned on a back portion of the tow vehicle and receiving sensor data from an inertial measurement unit supported by the tow vehicle. The method also includes determining a pixel-wise intensity difference between a current received image and a previous received image. The method includes determining a camera pose and a trailer pose with respect to a world coordinate system. The camera pose and the trailer pose are based on the images, the sensor data, and the pixel-wise intensity difference. The method includes determining a tow vehicle path based on the camera pose and the trailer pose. The method also includes instructing a drive system supported by the tow vehicle to autonomously maneuver along the tow vehicle path in a reverse direction causing the tow vehicle to hitch with the trailer.

Abstract: A method of aligning a tow vehicle with a trailer positioned behind the tow vehicle is provided. The method includes determining a point cloud map of a rear environment of the tow vehicle. The rear environment includes the trailer. The method also includes determining a front face plane of the trailer based on the point cloud map. The method also includes determining a normal line of the front face plane. The method also includes determining a path from the tow vehicle to the trailer such that a fore-aft axis of the tow vehicle is aligned with the normal line of the front face plane.

Abstract: A method for evaluating a collision condition for a vehicle includes providing a first polygon representative of the vehicle, determining the existence of an object near the vehicle, providing a second polygon representative of the object, calculating the Minkowski Difference between the first polygon and the second polygon to create a convex hull, determining the minimum distance between the convex hull and an origin of a coordinate system in which the first polygon and the second polygon are overlayed, determining whether there is a collision condition based on whether the minimum distance is below a threshold value, and initiating a vehicle response if a collision condition is detected.

Abstract: A method for detecting and localizing a trailer coupler of a trailer is provided. The method includes receiving images from a camera positioned on a back portion of a tow vehicle and determining a region of interest within the images. The region of interest includes a representation of the trailer coupler. The method includes determining a camera plane and a road plane. In addition, the method includes determining a three-dimensional point cloud representing objects inside the region of interest and within the camera plane and the road plane. The method also includes receiving sensor data from a sensor system and determining a coupler location of the trailer coupler based on the 3D point cloud and the sensor data. The method also includes sending instructions to a drive system causing the tow vehicle to autonomously drive along a path in a rearward direction towards the coupler location.

Abstract: A method of aligning a tow vehicle with a trailer positioned behind the tow vehicle is provided. The method includes determining a point cloud map of a rear environment of the tow vehicle. The rear environment includes the trailer. The method also includes determining a front face plane of the trailer based on the point cloud map. The method also includes determining a normal line of the front face plane. The method also includes determining a path from the tow vehicle to the trailer such that a fore-aft axis of the tow vehicle is aligned with the normal line of the front face plane.

Abstract: A method for detecting and localizing a trailer coupler of a trailer is provided. The method includes receiving images from a camera positioned on a back portion of a tow vehicle and determining a region of interest within the images. The region of interest includes a representation of the trailer coupler. The method includes determining a camera plane and a road plane. In addition, the method includes determining a three-dimensional point cloud representing objects inside the region of interest and within the camera plane and the road plane. The method also includes receiving sensor data from a sensor system and determining a coupler location of the trailer coupler based on the 3D point cloud and the sensor data. The method also includes sending instructions to a drive system causing the tow vehicle to autonomously drive along a path in a rearward direction towards the coupler location.

Abstract: A method for autonomously maneuvering a tow vehicle. The method includes receiving images from one or more cameras positioned on a back portion of the tow vehicle and receiving sensor data from an inertial measurement unit supported by the tow vehicle. The method also includes determining a pixel-wise intensity difference between a current received image and a previous received image. The method includes determining a camera pose and a trailer pose with respect to a world coordinate system. The camera pose and the trailer pose are based on the images, the sensor data, and the pixel-wise intensity difference. The method includes determining a tow vehicle path based on the camera pose and the trailer pose. The method also includes instructing a drive system supported by the tow vehicle to autonomously maneuver along the tow vehicle path in a reverse direction causing the tow vehicle to hitch with the trailer.

Abstract: A method for autonomously maneuvering a tow vehicle towards a trailer positioned behind the tow vehicle is provided. The method includes receiving one or more images from one or more cameras positioned on a back portion of the tow vehicle. The method also includes identifying a trailer representation within the one or more images. The trailer representation being indicative of the trailer positioned behind the tow vehicle. The method also includes setting a vertical center of the trailer representation as a target. The method also includes determining a first steering wheel angle to turn the tow vehicle such that the vehicle autonomously maneuvers in a direction towards the target. The method also includes transmitting instructions to a drive system causing the tow vehicle to maneuver based on the first steering wheel angle.

Abstract: A method of detecting and localizing a coupler of a trailer hitch associated with a trailer positioned behind a tow vehicle is provided. The method includes determining a region of interest within images from a rear camera. The region of interest includes a representation of the trailer hitch. The method includes determining a three-dimensional (3D) point cloud representing objects inside the region of interest. The method includes determining a camera plane based on the images. The method includes projecting the cloud points onto the camera plane and determining a coupler location based on the projected cloud points onto the camera plane. The method includes determining a path based on the coupler location. The path ending when the tow vehicle is attached to the trailer. The method also includes sending instructions to a drive system causing the tow vehicle to autonomously drive in a rearward direction along the path.