Inertial reference for TBA speed limiting

• US 10,222,804 B2
• Filed: 10/21/2016
• Issued: 03/05/2019
• Est. Priority Date: 10/21/2016
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Buss, Brian George, Hafner, Michael
• Primary Examiner(s): Dunn, Alex C
• Application Number:
  US15/331,492
• Publication Number:
  US 20180113465A1
• Time in Patent Office: 865 Days
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/22 Articulation angle, e.g. between tractor and trailer
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/146 Speed limiting
• CPC Class Codes: B60W 30/18036 Reversing
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/02 Steering position indicators ; Steering position determination; Steering aids
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G08G 1/0962 having an indicator mounted inside the vehicle, e.g. giving voice messages
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A method of controlling a vehicle while the vehicle is backing up with a trailer attached thereto. The vehicle may include a brake system and a power train system. The method includes determining a trailer yaw rate, and estimating a modified trailer curvature. The modified trailer curvature comprises a ratio of the trailer yaw rate to the vehicle speed. The method further includes determining a maximum allowable vehicle speed as a function of modified trailer curvature utilizing predefined criteria that defines a maximum allowable vehicle speed for a given modified trailer curvature. The method further includes limiting the vehicle speed such that the maximum allowable vehicle speed is not exceeded.

Claims

1. A method of controlling a vehicle while the vehicle is backing up with a trailer attached to the vehicle, the method comprising:

utilizing a sensor to determine a trailer yaw rate;

utilizing a sensor to determine a vehicle speed;

determining a ratio of the trailer yaw rate and the vehicle speed;

utilizing a controller to determine a maximum allowable vehicle speed as a function of the ratio of the trailer yaw rate and the vehicle speed utilizing predefined criteria that defines a maximum allowable vehicle speed based on the ratio of the trailer yaw rate and the vehicle speed; and

utilizing a controller to prevent the vehicle from exceeding the maximum allowable vehicle speed.

2. The method of claim 1, wherein:

limiting the vehicle speed includes controlling at least one of a brake system and powertrain system of the vehicle.

3. The method of claim 1, wherein:

the predefined criteria for determining maximum allowable vehicle speed comprises a jackknife angle.

4. The method of claim 2, wherein:

the vehicle defines a front wheel angle;

the jackknife angle comprises the hitch angle at which no front wheel angle will reverse the sign of the modified trailer curvature.

5. The method of claim 2, wherein:

the jackknife angle comprises hitch angles at which the vehicle collides with the trailer.

6. The method of claim 5, wherein:

a value of the ratio of the trailer yaw rate and the vehicle speed is recalculated at small intervals of time to provide a current ratio of the trailer yaw rate and the vehicle speed.

7. The method of claim 6, wherein:

a value of the ratio of the trailer yaw rate and the vehicle speed from a previous time interval is stored if the vehicle speed is below a predefined threshold vehicle speed, and wherein a value of the ratio of the trailer yaw rate and the vehicle speed from the previous time interval is replaced with a value of the current ratio of the trailer yaw rate and the vehicle speed if the vehicle speed is above the predefined threshold vehicle speed.

8. The method of claim 5, including:

utilizing a value of the last stored ratio of the trailer yaw rate and the vehicle speed if the vehicle begins to move after stopping.

9. The method of claim 5, including:

utilizing a low-pass filter to attenuate current ratio of the trailer yaw rate and the vehicle speed values that are greater than a predefined limit if vehicle speed is above a predefined minimum threshold speed.

10. A method of controlling a vehicle utilizing a trailer backup assist control system comprising:

utilizing a controller to calculate a current value of a control parameter by dividing sensor-measured trailer yaw rate by a sensor-measured vehicle speed;

utilizing a controller to cause the vehicle to reduce speed if the current value of the control parameter exceeds an allowable limit that is a function of the measured vehicle speed.

11. The method of claim 10, wherein:

the vehicle includes at least one wheel defining a wheel angle that can be varied to steer the vehicle;

the allowable limit comprises the maximum value the control parameter can take beyond which no wheel angle will reverse the sign of the control parameter.

12. The method of claim 10, wherein:

the allowable limit comprises a collision jackknife condition.

13. The method of claim 10, wherein:

measured trailer yaw rate is estimated by determining a time derivative of a measured trailer yaw angle or hitch angle.

14. A trailer backup assist control system, comprising:

a sensor configured to provide data concerning vehicle speed in a reverse direction;

a sensor configured to provide data concerning at least one of a trailer yaw angle and a trailer yaw rate;

a controller that is configured to limit vehicle speed in a reverse direction by controlling at least one of a vehicle brake system and a vehicle powertrain system;

wherein the control system determines a ratio of trailer yaw rate to vehicle speed as a control parameter, and limits vehicle speed in a reverse direction when the value of the control parameter exceeds the maximum allowable value for the vehicle speed.

15. The trailer backup assist control system of claim 14, wherein:

the maximum allowable value of the control parameter comprises a jackknife condition or an impending jackknife condition.

16. The trailer back up assist control system of claim 15, wherein:

the jackknife condition comprises a physical collision of a vehicle and a trailer connected to the vehicle.

17. The trailer back up assist control system of claim 15, wherein:

the maximum allowable value of the control parameter comprises a control jackknife condition wherein no vehicle wheel angle of a steered wheel will reverse the sign of the control parameter.

18. The trailer back up assist control system of claim 14, including:

a steering angle control that controls steering angle based, at least in part, on the control parameter.