Closed-loop control for trailer sway mitigation
First Claim
1. A method of controlling a towing vehicle connected to a vehicle trailer, the method comprising:
- sensing a set of vehicle targets for the towing vehicle;
sensing a set of vehicle conditions indicative of movements exhibited by the towing vehicle in response to the set of vehicle targets;
determining a plurality of differences between the set of vehicle targets and the set of vehicle conditions;
determining a trend of the plurality of differences;
generating at least one of a symmetric signal and an asymmetric signal based on the trend; and
actuating a vehicle system with the at least one of a symmetric signal and an asymmetric signal to decrease the trend.
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Accused Products
Abstract
A method, and a system using the method, of controlling a towing vehicle that is connected to a vehicle trailer. The method includes sensing a set of vehicle targets and a set of vehicle conditions in response to the set of vehicle targets. The method also includes determining a plurality of differences between the set of vehicle targets and the set of vehicle conditions, determining a trend of the plurality of differences, generating at least one of a symmetric signal and an asymmetric signal based on the trend, and actuating a vehicle system with the at least one of a symmetric signal and an asymmetric signal.
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Citations
28 Claims
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1. A method of controlling a towing vehicle connected to a vehicle trailer, the method comprising:
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sensing a set of vehicle targets for the towing vehicle; sensing a set of vehicle conditions indicative of movements exhibited by the towing vehicle in response to the set of vehicle targets; determining a plurality of differences between the set of vehicle targets and the set of vehicle conditions; determining a trend of the plurality of differences; generating at least one of a symmetric signal and an asymmetric signal based on the trend; and actuating a vehicle system with the at least one of a symmetric signal and an asymmetric signal to decrease the trend. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for controlling a towing vehicle connected to a vehicle trailer, the system comprising:
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a first sensor configured to sense a set of vehicle targets for the towing vehicle; a second sensor configured to sense a set of vehicle conditions indicative of movements exhibited by the towing vehicle in response to the set of vehicle targets; a comparator configured to determine a plurality of differences between the set of vehicle targets and the set of vehicle conditions; a trend module configured to determine a trend of the plurality of differences; a controller configured to generate at least one of a symmetric signal and an asymmetric signal based on the trend; and a vehicle system configured to be actuated based on the at least one of a symmetric signal and an asymmetric signal to decrease the trend. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A method of controlling a towing vehicle connected to a vehicle trailer, the method comprising:
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determining a model of the towing vehicle based on a plurality of dynamics; sensing a set of vehicle targets for the towing vehicle; sensing a set of vehicle conditions indicative of movements exhibited by the towing vehicle in response to the set of vehicle targets; determining a plurality of differences between the set of vehicle targets and the set of vehicle conditions; determining a switching signal with the model based on the difference; and selectively applying at least one of a symmetric braking and an asymmetric braking based on the switching signal to decrease the plurality of differences. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28)
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Specification