METHOD OF CONTROLLING AN AUTOMOTIVE VEHICLE HAVING A TRAILER USING REAR AXLE SLIP ANGLE

• US 20050206229A1
• Filed: 03/18/2004
• Published: 09/22/2005
• Est. Priority Date: 03/18/2004
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lu, Jianbo, Offerle, Timothy G.
• Granted Patent: US 7,401,871 B2
• Time in Patent Office: Days
• US Class Current: 303/123
• CPC Class Codes: B60T 2230/08 Driving in reverse
• CPC Class Codes: B60T 7/20 specially for trailers, e.g. in case of uncoupling of or overrunning by trailer inertia-actuated overrun brakes B60T13/08
• CPC Class Codes: B60T 8/1708 for lorries or tractor-trailer combinations
• CPC Class Codes: B60T 8/17552 responsive to the tire sideslip angle or the vehicle body slip angle

Abstract

A system and method of controlling a vehicle with a trailer comprises determining the presence of a trailer, determining a vehicle velocity, determining a steering wheel angle, and determining a rear axle side slip angle. When the rear axle side slip angle is above a predetermined value, the vehicle velocity is above a velocity threshold, and the steering wheel is about zero, brake-steer is applied to the vehicle.

Claims

1. A method of controlling a vehicle with a trailer comprising:

determining a presence of the trailer;

determining a vehicle velocity;

determining a steering wheel angle;

determining a rear axle side slip angle of the vehicle; and

applying brake-steer to the vehicle when the rear axle slip angle is above a predetermined rear axle slip angle, the vehicle velocity is above a velocity threshold, and the steering wheel angle is about zero.

2. A method as recited in claim 1 wherein determining the presence of a trailer comprises determining the presence of a trailer with a hitch sensor.

3. method as recited in claim 1 wherein determining the presence of a trailer comprises determining the presence of a trailer with a reverse aid sensor.

4. A method as recited in claim 1 wherein determining the presence of a trailer comprises determining the presence of a trailer with an ultrasonic sensor.

5. A method as recited in claim 1 wherein determining the presence of a trailer comprises determining the presence of a trailer with a camera.

6. A method as recited in claim 1 wherein determining the presence of a trailer comprises detecting a locating plate behind the vehicle.

7. A method as recited in claim 6 wherein the locating plate comprises a locating hole positioned along the trailer tongue.

8. A method as recited in claim 1 wherein applying brake-steer comprises applying at least one brake at a first wheel to reduce a vehicle turning radius.

9. A control system for an automotive vehicle and a trailer comprising:

means to determine the presence of the trailer;

a vehicle velocity sensor generating a vehicle velocity signal;

a steering wheel angle sensor generating a steering wheel angle signal; and

a controller coupled to the means, the velocity sensor and the steering angle sensor, said controller determining a rear axle side slip angle of the vehicle, and when the rear axle slip is above a predetermined rear axle slip, vehicle velocity is above a velocity threshold and the steering wheel angle is about zero, said controller programmed to apply brake-steer to the vehicle.

10. A system as recited in claim 9 wherein said means to determine the presence of a trailer comprises a hitch sensor.

11. A system as recited in claim 9 wherein said means to determine the presence of a trailer comprises a reverse aid sensor.

12. A system as recited in claim 9 wherein said means to determine the presence of a trailer comprises an ultrasonic sensor.

13. A system as recited in claim 9 wherein said means to determine the presence of a trailer comprises a camera.

14. A system as recited in claim 9 wherein said controller is programmed to brake-steer by applying a first brake and a second brake to reduce the turning radius of the vehicle.

15. A system as recited in claim 9 wherein said controller is programmed to brake-steer by applying at least one brake at a first wheel to reduce a vehicle turning radius.

16. A system as recited in claim 9 wherein said controller is programmed to brake-steer by applying an increased drive torque to a second wheel relative to the first wheel.

17. A control system as recited in claim 9 further comprising a steering wheel angle sensor generating a steering wheel angle signal, said controller programmed to apply brake-steer in response to a reverse direction signal and the steering wheel angle signal.

18. A control system as recited in claim 9 further comprising a yaw rate sensor generating a yaw rate signal, said controller programmed to apply brake-steer in response to a reverse direction signal and yaw rate signal.

19. A control system as recited in claim 9 further comprising a steering wheel torque sensor generating a steering torque signal, said controller programmed to apply brake-steer in response to a reverse direction signal and steering torque signal.

20. A control system as recited in claim 9 further comprising a steering wheel angle sensor generating a steering wheel angle signal and a vehicle velocity sensor generating a vehicle velocity signal, said controller programmed to apply brake-steer in response to the reverse direction signal and steering wheel angle and vehicle velocity signal.

21. A method of controlling a vehicle with a trailer comprising:

determining a presence of the trailer;

determining a vehicle velocity;

determining a hand wheel angle position signal corresponding to an angle of the hand wheel angle position;

determining a sensor yaw rate from a yaw rate sensor;

calculating a yaw rate based upon the hand wheel signal;

determining a rear axle side slip angle; and

applying brake-steer to the vehicle when the rear axle slip angle is above a predetermined rear axle slip angle, the vehicle velocity is above a velocity threshold, and the sensor yaw rate is diverging from the hand wheel yaw rate.

22. A method as recited in claim 21 wherein determining the presence of a trailer comprises determining the presence of a trailer with a hitch sensor.

23. A method as recited in claim 21 wherein determining the presence of a trailer comprises determining the presence of a trailer with a reverse aid sensor.

24. A method as recited in claim 21 wherein determining the presence of a trailer comprises determining the presence of a trailer with an ultrasonic sensor.

25. A method as recited in claim 21 wherein determining the presence of a trailer comprises determining the presence of a trailer with a camera.

26. A method as recited in claim 21 wherein applying brake-steer comprises applying at least one brake at a first wheel to reduce a vehicle turning radius.