Vehicle-trailer backing up system using active front steer
First Claim
1. A method for providing active front steering for a vehicle and trailer combination during a back-up maneuver, said method comprising:
- determining a steering wheel angle signal indicative of a steering hand-wheel of the vehicle;
determining a vehicle speed signal indicative of the speed of the vehicle;
using the steering wheel angle signal and the vehicle speed signal to calculate a hitch angle command signal;
measuring an actual hitch angle between the vehicle and the trailer and providing a measured hitch angle signal;
comparing the hitch angle command signal to the measured hitch angle signal to provide an error signal;
determining a corrected front road wheel angle signal based on the error signal and the vehicle speed signal;
using the corrected road wheel angle signal to generate an actuator angle signal; and
using the actuator angle signal and the steering wheel angle signal to control an active front wheel steering actuator to steer the vehicle-trailer combination during the back-up maneuver.
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Accused Products
Abstract
A vehicle-trailer back-up control system that employs an active front steer sub-system. The system includes a smart hitch controller that receives a vehicle speed signal and a hand-wheel angle signal, and calculates a hitch angle command signal. The system further includes a hitch angle sensor that measures the hitch angle between the vehicle and the trailer that is compared to the hitch angle command signal to generate a hitch angle error signal. A PID control unit receives the hitch angle error signal, and generates a corrected road wheel angle signal based on proportional and derivative gains. The corrected road wheel angle signal is used to generate a motor angle signal that is applied to a steering actuator to be combined with the steering angle signal to generate the front wheel steering signal during a back-up maneuver.
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Citations
19 Claims
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1. A method for providing active front steering for a vehicle and trailer combination during a back-up maneuver, said method comprising:
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determining a steering wheel angle signal indicative of a steering hand-wheel of the vehicle;
determining a vehicle speed signal indicative of the speed of the vehicle;
using the steering wheel angle signal and the vehicle speed signal to calculate a hitch angle command signal;
measuring an actual hitch angle between the vehicle and the trailer and providing a measured hitch angle signal;
comparing the hitch angle command signal to the measured hitch angle signal to provide an error signal;
determining a corrected front road wheel angle signal based on the error signal and the vehicle speed signal;
using the corrected road wheel angle signal to generate an actuator angle signal; and
using the actuator angle signal and the steering wheel angle signal to control an active front wheel steering actuator to steer the vehicle-trailer combination during the back-up maneuver. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for providing active front steering for a vehicle and trailer combination during a back-up maneuver, said system comprising:
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a steering hand-wheel sensor for providing a steering wheel angle signal indicative of the angle of a steering hand-wheel of the vehicle;
a vehicle speed sensor for providing a vehicle speed signal indicative of the speed of the vehicle;
a hitch angle sensor for providing a measured hitch angle signal of the hitch angle between the vehicle and the trailer;
a command interpreter responsive to the steering wheel angle signal and the vehicle speed signal, said command interpreter calculating a hitch angle command signal;
a comparator responsive to the hitch angle command signal and the measured hitch angle signal, said comparator providing an error signal;
a control unit responsive to the error signal and the vehicle speed signal, said control unit determining a corrected front road wheel angle signal;
a generator responsive to the corrected road wheel angle signal, said generator generating an actuator angle signal; and
an active front steering actuator responsive to the actuator angle signal and the steering wheel angle signal, said active front steering actuator providing a steering signal for steering the vehicle-trailer combination during the back-up maneuver. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A system for providing active front steering for a vehicle and trailer combination during a back-up maneuver, said system comprising:
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a steering hand-wheel sensor for providing a steering wheel angle signal indicative of the angle of a steering hand-wheel of the vehicle;
a hitch angle sensor for providing a measured hitch angle signal of the hitch angle between the vehicle and the trailer; and
an active front steering sub-system that uses the steering wheel angle signal and the measured hitch angle signal for providing an active steering signal for steering the vehicle-trailer combination during the back-up maneuver. - View Dependent Claims (16, 17, 18, 19)
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Specification