Abstract: A method and system for locating and tracking a trailer coupler for autonomous vehicle operation is disclosed. The system converts an image from a vehicle camera to a depth map that includes a plurality of points indicative of a distance between an object within the image and a reference point. The system used the depth map to identify and track a coupler of a trailer.

Abstract: A trailer assist system includes a controller configured to determine whether a trailer is in a jackknife condition based on an angle of the trailer relative to a vehicle. Determination is made whether the jackknife condition can be corrected by utilizing vehicle brakes, trailer brakes, or vehicle steering.

Abstract: A vehicle localization method, system and program code product for a vehicle is disclosed. The method includes capturing image data from at least one camera disposed on a vehicle. A representation of a second vehicle in the image data is identified. Location information corresponding to the second vehicle is received from the second vehicle. Location information for the vehicle is determined or updated location based on the representation of the second vehicle in the image data and the location information for the second vehicle.

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 and system are disclosed for identifying a trailer or trailer coupler in an image. The method includes obtaining a database of descriptor clusters. Each descriptor cluster has at least one label assigned thereto. Each at least one label is a label for a trailer or trailer coupler, or for a background. Image data pertaining to an image is received. Features and descriptors are determined in the received image data. For each determined descriptor, the method includes matching the determined descriptor with a descriptor cluster in the database and assigning the label corresponding to the matched descriptor cluster to the determined descriptor. Based upon the determined descriptors having the assigned label corresponding to one of a trailer or a trailer coupler, the method includes determining a convex hull of a representation of the one of the trailer or trailer coupler in the image.

Abstract: A localization and mapping system and method for a motor vehicle is disclosed and includes at least one camera configured to obtain images of an environment surrounding the motor vehicle, at least one sensor configured to obtain location information for objects surrounding the motor vehicle and a controller configured to receive the images captured by the at least one camera and the location information obtained by the at least one sensor. The controller enhances the captured images utilizing a neural network and combines the enhanced images with the location information to localize the vehicle within the mapped environment.

Abstract: An automated parking system for a vehicle includes a camera configured to obtain images of objects proximate the vehicle, and a controller configured to review the obtained images of objects proximate the vehicle to classify an environment proximate the vehicle, determine a type of parking lot associated with the classified location and initiate an automated parking function of the vehicle corresponding to the determined type of parking lot.

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 determining an angle of a trailer relative to a vehicle. The method includes generating a projection on a trailer with a projector. An image is obtained of the projection on the trailer with a camera. An angle of the trailer relative to a vehicle is determined by comparing the image of the projection with a known pattern of the projection.

Abstract: A method for determining a trailer angle between a tow vehicle and a trailer attached to the tow vehicle includes receiving images from a camera positioned on a rear portion of the tow vehicle with a data processing hardware device, determining visual features from the images, tracking the visual features while the tow vehicle and trailer are moving and calculating, at the data processing hardware, the trailer angle based on the visual features. The trailer angle is then transmitted from the data processing hardware to one or more vehicle systems.

Abstract: A method for visual trailer tracking of vehicle-trailer angle estimation, including: (a) camera receiving images, each most recently received image being identified as a current image, replacing a previously identified current image; (b) during a driving maneuver, extracting visual features from the current image, calculating a trailer angle from the current image, and storing the current image as a reference image, the trailer angle as a trailer angle reference and the extracted visual features as visual reference features; and (c) matching the visual features from the current image with the visual reference features. When a number of matches is below a threshold, repeating operation (c) to update the reference image, the trailer angle reference and the visual reference features. The method includes calculating a trailer angle between a trailer representation in the current image and a trailer representation in the reference image based in part upon the trailer angle reference.

Abstract: A method and system for locating and tracking a trailer coupler for autonomous vehicle operation is disclosed. The system converts an image from a vehicle camera to a depth map that includes a plurality of points indicative of a distance between an object within the image and a reference point. The system used the depth map to identify and track a coupler of a trailer.

Abstract: A method and system for creating a map of an environment surrounding a vehicle includes a camera for obtaining images including objects within an environment from at least one camera mounted on the vehicle and a controller configured to create a depth map of the environment based on the images and vehicle odometry information. A laser scan of the depth map is created and used to create a two-dimensional map utilized for operating the vehicle.

Abstract: A method and system for a vehicle control system generates maps utilized for charting a path of a vehicle through an environment. The method performed by the system obtains information indicative of vehicle movement from at least one vehicle system and images including objects within an environment from a camera mounted on the vehicle. The system uses the gathered information and images to create a depth map of the environment. The system also generates an image point cloud map from images taken with a vehicle camera and a radar point cloud map with velocity information from a radar sensor mounted on the vehicle. The depth map and the point cloud maps are fused together and any dynamic objects filtered out from the final map used for operation of the vehicle.

Abstract: A method for autonomously maneuvering a vehicle in a rearward direction towards a point of interest is provided. The method includes receiving one or more images from a camera positioned on a back portion of the vehicle. The method includes overlaying a path on the one or more images. In addition, the method includes receiving a command by way of a user interface. The command includes instructions to adjust the path. The method includes adjusting the path based on the received command. The method also includes transmitting a drive command to a drive system supported by the vehicle. The drive command causes the vehicle to autonomously maneuver along the adjusted path in a rearward direction.

Abstract: A trailer assist system includes a controller configured to determine whether a trailer is in a jackknife condition based on an angle of the trailer relative to a vehicle. Determination is made whether the jackknife condition can be corrected by utilizing vehicle brakes, trailer brakes, or vehicle steering.

Abstract: A method includes receiving one or more images from a camera positioned on a back portion of the vehicle and receiving a driver planned path from a user interface. The driver planned path includes a plurality of waypoints. The method also includes transmitting one or more commands to a drive system causing the vehicle to autonomously maneuver along the driver planned path. The method also includes determining a current vehicle position and an estimated subsequent vehicle position. The method also includes determining a path adjustment from the current vehicle position to the estimated subsequent vehicle position. The method also includes transmitting instructions to the drive system causing the vehicle to autonomously maneuver towards the estimated subsequent vehicle position based on the path adjustment.

Abstract: A localization and mapping system and method for a motor vehicle is disclosed and includes at least one camera configured to obtain images of an environment surrounding the motor vehicle, at least one sensor configured to obtain location information for objects surrounding the motor vehicle and a controller configured to receive the images captured by the at least one camera and the location information obtained by the at least one sensor. The controller enhances the captured images utilizing a neural network and combines the enhanced images with the location information to localize the vehicle within the mapped environment.

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 and system are disclosed for estimating and using a trailer angle of a trailer relative to a vehicle connected to thereto. The method includes receiving image data from at least one first camera disposed on a vehicle and from at least one second camera disposed on a trailer coupled to the vehicle, and identifying matched point pairs by matching points in the image data from the at least one first camera with points in the image data from the at least one second camera, the points matched not being points of a representation of the vehicle or a representations of the trailer in the image data. The trailer angle of the trailer relative to the vehicle is estimated based upon the matched point pairs.