Turn recovery human machine interface for trailer backup assist

• US 10,112,646 B2
• Filed: 05/05/2016
• Issued: 10/30/2018
• Est. Priority Date: 05/05/2016
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lavoie, Erick Michael
• Primary Examiner(s): Heinle, Courtney D
• Assistant Examiner(s): Martinez Borrero, Luis A
• Application Number:
  US15/146,933
• Publication Number:
  US 20170320518A1
• Time in Patent Office: 908 Days
• Field of Search: 1 1, 701117, 348148
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/8086 for vehicle path indication
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/029 Steering assistants using warnings or proposing actions to the driver without influencing the steering system

Abstract

A backup assist system for a vehicle reversing a trailer includes an input receiving a backing command and outputting a control signal based thereon. A controller receives the control signal, generates a vehicle steering command based on the control signal, and determines a length of a recovery period based on the control signal. The system also includes an interface outputting an indication of the length of the recovery period.

Claims

1. A backup assist system for a vehicle reversing a trailer coupled therewith, comprising:

an input receiving a backing command corresponding with a desired non-zero vehicle-trailer curvature and outputting a control signal based on the desired vehicle-trailer curvature;

a controller;

receiving the control signal; and

generating a vehicle steering command for achieving the desired vehicle-trailer curvature and calculating a zero-angle recovery distance from the desired vehicle-trailer curvature based on the control signal in parallel with generating the vehicle steering command; and

an interface outputting an indication of the zero-angle recovery distance.

2. The system of claim 1, wherein:

the controller further determines a backing path of the vehicle reversing the trailer based on the control signal; and

the interface;

includes a video screen displaying a trailer image and a backing path image; and

outputs the indication of the zero-angle recovery distance as a recovery path image overlaid on the trailer image and the backing path image.

3. The system of claim 2, further including a camera capturing a video image of an area to a rear of the vehicle and including the trailer, wherein:

the video screen presents the video image captured by the camera to display the image of the trailer, the backing path image and the recovery path image being digitally added to video image in an aligned manner therewith.

4. The system of claim 2, wherein the trailer image, the backing path image, and the recovery path image are presented by the interface as an overhead schematic view.

5. The system of claim 1, wherein:

the control signal includes a direction and an amplitude; and

the controller interprets the amplitude as a curvature command in the direction indicated by the control signal.

6. The system of claim 5, wherein:

the controller determines a backing path for the vehicle in reversing the trailer to and along the curvature command in the direction indicated by control signal; and

the zero-angle recovery distance is calculated based on an instantaneous theoretical divergence from the backing path in a direction opposite the direction indicated by the control signal and at a maximum controllable curvature.

7. The system of claim 6, wherein:

the system is in communication with a speed sensor of the vehicle;

the controller further determines a zero-angle recovery interval as a time period corresponding with the zero-angle recovery distance based on a detected vehicle speed received from the speed sensor; and

the zero-angle recovery interval is a time determined to be required for the vehicle in moving along a corresponding recovery path to a point at which the angle between the vehicle and the trailer is zero.

8. A vehicle, comprising:

a steering system;

an input receiving a backing command for reversing a trailer coupled with a vehicle, the backing command including both a direction and a non-zero amplitude;

a controller calculating a zero-angle recovery distance based on the amplitude of the backing command in-parallel with generating a steering command, and outputting the steering command to the steering system to cause an angle between the vehicle and the trailer to deviate from zero; and

an interface outputting an indication of the zero-angle recovery distance.

9. The vehicle of claim 8, wherein:

the controller further determines a backing path of the vehicle reversing the trailer based on the direction and amplitude of the backing command; and

the interface;

includes a video screen displaying a trailer image and a backing path image; and

outputs the indication of the zero-angle recovery distance as a recovery path image on the trailer image and the backing path image.

10. The vehicle of claim 9, further including a camera capturing a video image of an area to a rear of the vehicle and including the trailer, wherein:

the video screen presents the video image captured by the camera to display the trailer image, the backing path image and the recovery path image being digitally added to video image in an aligned manner therewith.

11. The vehicle of claim 9, wherein the trailer image, the backing path image, and the recovery path image are presented by the interface as an overhead schematic view.

12. The vehicle of claim 8, wherein the controller interprets the amplitude as a curvature command in the direction of the backing command.

13. The vehicle of claim 12, wherein:

the controller determines the backing path for the vehicle in reversing the trailer to and along the curvature command in the direction of indicated by the backing command; and

the zero-angle recovery distance is calculated based on an instantaneous theoretical divergence from the backing path in a direction opposite the direction of the backing command and at a maximum controllable curvature.

14. The vehicle of claim 13, wherein:

the system is in communication with a speed sensor of the vehicle;

the controller further determines a zero-angle recovery interval as a time period corresponding with the zero-angle recovery distance based on a detected vehicle speed received from the speed sensor; and

the zero-angle recovery interval is a time determined to be required for the vehicle in moving along a corresponding recovery path to a point at which the angle between the vehicle and the trailer is zero.

15. A method for assisting in reversing a vehicle-trailer combination, comprising:

receiving a control signal from an input corresponding to a directional backing command;

generating a steering command based on the directional backing command;

outputting the steering command to a vehicle steering system to cause an angle between the vehicle and the trailer at a coupling point therebetween to deviate from zero;

in parallel with outputting the steering command, calculating a length of a zero-angle recovery distance based on the amplitude of the directional backing command; and

outputting an indication of the zero-angle recovery distance via a vehicle interface.

16. The method of claim 15, further comprising determining a backing path of the vehicle-trailer combination based on the control signal, wherein:

outputting the length of the recovery period includes, on a video screen of the interface, displaying an image of at least a portion of the vehicle-trailer combination, a backing path image, and a recovery path image based on the zero-angle recovery distance on the image of the vehicle-trailer combination.

17. The method of claim 16, further including capturing a video image including at least a portion of the vehicle-trailer combination, wherein:

the image of at least the portion of the vehicle-trailer combination is the video image, and the backing path image and the recovery path image are digitally added to video image in an aligned manner therewith.

18. The method of claim 16, wherein the image of at least the portion of vehicle-trailer combination, the backing path image, and the recovery path image are presented on the video screen as an overhead schematic view.

19. The method of claim 15, further including determining a backing path for the vehicle-trailer combination to and along a curvature command corresponding with the control signal in a direction of control signal, wherein:

the recovery period is calculated based on an instantaneous theoretical divergence from the backing path in a direction opposite the direction indicated by the control signal and at a maximum controllable curvature.

20. The method of claim 19, further including determining a zero-angle recovery interval as a time period corresponding with the zero-angle recovery distance based on a detected vehicle speed;

wherein the zero-angle recovery interval is a time determined to be required for the vehicle in moving along the recovery path to a point at which the angle between the vehicle and the trailer is zero.