Trailer backup assist input with two-stage spring rate

• US 10,150,506 B2
• Filed: 04/28/2016
• Issued: 12/11/2018
• Est. Priority Date: 04/28/2016
• 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): Antonucci, Anne M
• Assistant Examiner(s): Stroud, James E
• Application Number:
  US15/141,309
• Publication Number:
  US 20170313351A1
• Time in Patent Office: 957 Days
• Field of Search: 701 41
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer

Abstract

A steering input apparatus for a trailer backup assist system includes a control element moveable away from a center position sequentially through a first range and a second range of directional positions and biased toward the center position at a first rate through the first range and at a second, greater rate through the second range. The apparatus further includes a control module generating a vehicle steering command based on an instantaneous position of the control element.

Claims

1. A steering input apparatus for a trailer backup assist system, comprising:

a user-input control element;

moveable away from a center position sequentially through a first range and a second range of directional positions; and

biased toward the center position at a first rate through the first range and at a second, greater rate through the second range; and

a controller generating a vehicle steering command based on an instantaneous position of the control element.

2. The steering input apparatus of claim 1, wherein the vehicle steering command is based on a curvature command corresponding to the instantaneous position of the control element, the curvature command increasing from a zero curvature to a calculated maximum curvature with movement of the control element from the center position through the first and second ranges of directional positions to an endpoint.

3. The steering input apparatus of claim 2, wherein the first range of directional positions corresponds to a first range of curvature commands below a predetermined threshold and the second range of directional positions corresponds to a second range of curvature commands above the predetermined threshold.

4. The steering input apparatus of claim 3, wherein the predetermined threshold is based on a calculated relationship between the first and second ranges of curvature commands and a turn recovery distance.

5. The steering input apparatus of claim 3, wherein the first and second ranges of directional positions are mapped to the first and second ranges of directional positions based on at least one known parameter of a vehicle-trailer combination associated with the steering input apparatus.

6. The steering input apparatus of claim 5, wherein the known parameter is at least one of a vehicle length and a drawbar length.

7. The steering input apparatus of claim 1, wherein the control module generates the vehicle steering command based on a curvature command corresponding to the instantaneous position of the control element and further calculates a curvature threshold corresponding to an end of the first range of directional positions based on a threshold recovery distance.

8. The steering input apparatus of claim 1, wherein the first rate and the second rate at which the control element is biased toward the center position are generally linear rates of increase in a biasing force applied to the control element.

9. The steering input apparatus of claim 1, wherein the control element is a rotatable knob, the first and second ranges of directional positions corresponding to rotation of the rotatable knob away from the center position.

10. The steering input apparatus of claim 1, wherein the first and second ranges of directional positions are on a first side of the center position, the control element being further moveable away from the center position sequentially through a third range and a fourth range of directional positions on a second side of the center position and biased toward the center position at the first rate through the third range and at the second rate through the fourth range.

11. A backup assist system for a vehicle reversing a trailer, comprising:

a user-input control knob;

rotatable away from a center position sequentially through a first range and a second range of directional positions; and

biased toward the center position at a first rate through the first range and at a second, greater rate through the second range; and

a controller generating a vehicle steering command based on an instantaneous position of the control knob.

12. The backup assist system of claim 11, wherein the control module generates the vehicle steering command based on a curvature command corresponding to the instantaneous position of the control knob and further calculates a curvature threshold corresponding to an end of the first range of directional positions based on a calculated threshold recovery distance.

13. The backup assist system of claim 11, wherein the first rate and the second rate at which the control knob is biased toward the center position are generally linear rates of increase in a biasing force applied to the control knob.

14. The backup assist system of claim 11, wherein the first and second ranges of directional positions are on a first side of the center position, the control knob being further rotatable away from the center position sequentially through a third range and a fourth range of directional positions on a second side of the center position and biased toward the center position at the first rate through the third range and at the second rate through the fourth range.

15. The backup assist system of claim 11, wherein the second rate is twice the first rate.

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

determining a range of steerable curvature commands for the vehicle-trailer combination;

estimating a range of recovery distances corresponding with the range of steerable curvature commands;

separating the range of recovery distances respectively into first and second sub-ranges below and above a recovery period threshold; and

respectively allocating the first and second sub-ranges to first and second ranges of sequential movement of a user-input control element, wherein the control element is moveable away from a center position sequentially through the first range and the second range of sequential movement and is biased toward the center position at a first rate through the first range and at a second, greater rate through the second range.

17. The method of claim 16, wherein the recovery period threshold is a distance of about three vehicle lengths.

18. The method of claim 16, further including:

generating a vehicle steering command based on a curvature command corresponding to an instantaneous position of the control element.

19. The method of claim 16, wherein respectively allocating the first and second sub-ranges to first and second ranges of sequential movement of the control element is such that:

when the instantaneous position of the control element is within the first range, the curvature command corresponds to an instantaneous recovery distance below the recovery threshold; and

when the instantaneous position of the control element is within the second range, the curvature command corresponds to an instantaneous recovery distance above the recovery period threshold.

20. The method of claim 16, wherein the first range of sequential movement is through about 75% of a total range of motion of the control element through both the first range and the second range.