Control system for steering a tractor vehicle with a trailer

• US 10,549,777 B2
• Filed: 09/11/2018
• Issued: 02/04/2020
• Est. Priority Date: 09/12/2017
• Status: Active Grant

• Current Assignee: Bayerische Motoren Werke AG
• Original Assignee: Bayerische Motoren Werke AG
• Inventors: Stroebel, Michael
• Primary Examiner(s): La, Anh V
• Application Number:
  US16/127,391
• Publication Number:
  US 20190077454A1
• Time in Patent Office: 511 Days
• Field of Search: 340431, 340671, 701 41, 701 42, 701 70
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2300/14 Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
• 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 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means

Abstract

A control system that steers a tractor vehicle with a trailer has at least one electronic control unit which has interfaces to a first sensor device for sensing the current bend angle, a second sensor device for sensing the required driving space of the tractor-trailer combination, and a third sensor device for sensing the driving space which is present. The control unit also has a collision prediction unit for comparing the required driving space with the driving space which is present while taking into account the current bend angle, and a collision prevention unit which determines, through interaction with the collision prediction unit, a bend angle which is the maximum permissible one for preventing a collision. The collision prevention unit indicates a setting of a bend angle which exceeds the maximum permissible bend angle as critical in terms of a collision and prevents the setting or permits it only after a predefined delay.

Claims

1. A control system for steering a tractor vehicle with a trailer, comprising:

at least one electronic control unit which has interfaces to;

a first sensor device for sensing the current bend angle of the tractor-trailer combination,

a second sensor device for sensing a required driving space of the tractor-trailer combination, and

a third sensor device for sensing the driving space which is present,

wherein the control unit further comprises;

a collision prediction unit for comparing the required driving space with the driving space which is present while taking into account the current bend angle, and

a collision prevention unit which determines, through interaction with the collision prediction unit, a bend angle which is the maximum permissible one for preventing a collision, and which collision prevention unit indicates a setting of a bend angle which exceeds the maximum permissible bend angle as critical in terms of a collision and prevents said setting or permits it only after a predefined delay.

2. The control system as claimed in claim 1, wherein

when the maximum permissible bend angle is exceeded, the tractor vehicle is braked automatically or is operated only with a maximum permissible speed.

3. The control system as claimed in claim 1, wherein

as the current bend angle increasingly approaches the maximum permissible bend angle, the tractor vehicle is operated with a decreasing speed.

4. The control system as claimed in claim 1, wherein

when the driving space which is present is sensed, a differentiation is made between mobile and immobile obstacles, and wherein the predefined delay is determined as a function of the presence of mobile obstacles.

5. The control system as claimed in claim 1, wherein

when the driving space which is present is sensed, a person detection system is activated, and wherein when persons are detected either the exceeding of the maximum permissible bend angle is prohibited or the tractor vehicle is automatically braked hard.

6. A method of steering a tractor vehicle with a trailer forming a tractor-trailer combination, the method comprising the acts of:

sensing, using a first sensor, a current bend angle of the tractor-trailer combination;

sensing, using a second sensor, a required driving space of the tractor-trailer combination;

sensing, using a third sensor, a driving space that is presently available;

comparing, using a collision prediction unit, the required driving space with the driving space presently available while factoring into account the current bend angle;

determining, using a collision prevention unit, a bend angle which is a maximum permissible bend angle to prevent a collision; and

indicating, using the collision prevention unit, a setting of the bend angle which exceeds the maximum permissible bend angle as critical and preventing said setting of the bend angle which exceeds the maximum permissible bend angle or permitting said setting only after a predefined delay.

7. The method as claimed in claim 6, wherein

when the maximum permissible bend angle is exceeded, the tractor vehicle is braked automatically or is operated only with a maximum permissible speed.

8. The method as claimed in claim 6, wherein

as the current bend angle increasingly approaches the maximum permissible bend angle, the tractor vehicle is operated with a decreasing speed.

9. The method as claimed in claim 6, wherein

when the driving space which is present is sensed, a differentiation is made between mobile and immobile obstacles, and wherein the predefined delay is determined as a function of the presence of mobile obstacles.

10. The method as claimed in claim 6, wherein

when the driving space which is present is sensed, a person detection system is activated, and wherein when persons are detected either the exceeding of the maximum permissible bend angle is prohibited or the tractor vehicle is automatically braked hard.