Trailer Oscillation Detection and Compensation Method For A Vehicle And Trailer Combination

• US 20090093928A1
• Filed: 10/05/2007
• Published: 04/09/2009
• Est. Priority Date: 10/05/2007
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Macneille, Perry Robinson, Getman, Anya Lynn, Shaffer, Aric David
• Granted Patent: US 8,010,252 B2
• Time in Patent Office: Days
• US Class Current: 701/37
• CPC Class Codes: B60T 2230/06 Tractor-trailer swaying
• CPC Class Codes: B60T 8/1708 for lorries or tractor-trailer combinations
• CPC Class Codes: B60T 8/174 characterised by using special control logic, e.g. fuzzy logic , neural computing
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: G01S 13/862 Combination of radar systems with sonar systems
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/87 Combinations of sonar systems
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 2013/9317 Driving backwards
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2013/93275 in the bumper area
• CPC Class Codes: G01S 2015/938 in the bumper area radar in bumper area G01S2013/93275; bumper with obstacle sensor of electric or electronic type B60R19/483

Abstract

A system and method of controlling a vehicle with a trailer comprises determining the presence of a trailer, generating an oscillation signal indicative of trailer swaying relative to the vehicle, generating an initial weighted dynamic control signal for a vehicle dynamic control system in response to the oscillation signal, operating at least one vehicle dynamic system according to the dynamic control signal, and thereafter, iteratively generating a penalty function for the weighted dynamic control signal as a function of the oscillation signal response. A neural network with an associated trainer modifies the dynamic control signal as a function of trailer sway response.

Claims

1. A control system for a vehicle pulling a trailer comprising:

an oscillation detector generating an oscillation signal;

a vehicle dynamic control system operating at least one vehicle dynamic system by way of a dynamic control signal;

a controller coupled to the oscillation detector, and the dynamic control system, the controller comprising a neural network and an associated trainer, the neural network programmed to output a weighted dynamic control signal to the vehicle dynamic control system in response to the oscillation signal and a weight function of the trainer;

wherein a tow point of the trailer is located rearward of all vehicle axles; and

wherein the dynamic control system comprises at least one of a vehicle brake controller, wheel torque controller, engine torque controller, or suspension controller.

2. A system as in claim 1 wherein the brake controller brakes at least one vehicle brake in collaboration with at least one trailer brake.

3. A system as in claim 1 wherein the trainer modifies the weight function communicated to the neural network in response to a penalty function.

4. A system as in claim 3 wherein the penalty function retains a weight function for a dynamic control signal which mitigates detected trailer oscillation, and reduces a weight function for a dynamic control signal which does not mitigate detected trailer oscillation.

5. A system as in claim 2 wherein the dynamic controller actively brakes at least one of the trailer brake and at least one vehicle brake at an onset of oscillation detection.

6. A system as in claim 1 wherein the oscillation detector comprises an inertial measurement unit on the vehicle or the trailer.

7. A system as in claim 6 wherein the inertial measurement unit comprises at least one of a yaw rate sensor and a lateral acceleration sensor.

8. A system as in claim 1 comprising a human-machine interface for receiving trailer data and communicating same to the controller.

9. A system as in claim 8 wherein the trailer data comprises at least one of trailer weight, length, height, type, number of axles, and hitch-to-axle distance.

10. A system as in claim 1 comprising a display in communication with the controller, the display informing a vehicle operator of detected trailer oscillation.

11. A system as in claim 1 wherein the oscillation signal comprises yaw rate information or acceleration information.

12. A system as in claim 1 wherein the trailer comprises trailer brakes and the dynamic control system includes a trailer brake controller in communication with the trailer brakes.

13. A system as in claim 1 comprising a trailer sensor comprising at least one of a hitch sensor or reverse aid sensor, the oscillation detector determining an oscillation signal as a function of an output of the trailer sensor.

14. A system as in claim 2 wherein the controller only applies braking force via at least one trailer brake.

15. A system as in claim 2 wherein the controller applies braking force via both at least one vehicle brake and at least one trailer brake.

16. A method of controlling a vehicle that is pulling a trailer, wherein the tow point of the trailer is rearward of all vehicle axles, the method comprising:

determining an angular position of the trailer relative to the vehicle using a trailer sensor during forward motion of the vehicle;

generating an oscillation signal indicative of trailer swaying relative to the vehicle said oscillation signal being generated as a function of the angular position;

generating an initial weighted dynamic control signal for a vehicle dynamic control system in response to the oscillation signal;

operating at least one vehicle dynamic system according to the dynamic control signal;

thereafter, iteratively generating a penalty function for the weighted dynamic control signal as a function of the oscillation signal response.

17. A method as recited in claim 16 wherein the dynamic control system comprises at least one of a vehicle brake controller, wheel torque controller, engine torque controller, or suspension controller.

18. A method as recited in claim 16 wherein the penalty function retains a weight function for a dynamic control signal which mitigates detected trailer oscillation, and reduces a weight function for a dynamic control signal which does not mitigate detected trailer oscillation.

19. A method as recited in claim 16 comprising receiving trailer data, and wherein generating an initial weighted dynamic control signal is in response to the trailer data.

20. A method as in claim 19 wherein the trailer data comprises at least one of trailer weight, length, height, type, number of axles, and hitch-to-axle distance.

21. A method as recited in claim 16 wherein the trailer sensor comprises a hitch sensor, a reverse aid sensor, a camera, or a locating plate coupled to a trailer tongue.

22. A method as recited in claim 17 comprising actively braking at least one trailer brake or at least one vehicle brake at an onset of oscillation detection.

23. A control system for a vehicle pulling a trailer comprising:

an oscillation detector generating an oscillation signal as a function of an angular position of the trailer relative to the vehicle using a trailer sensor during forward motion of the vehicle;

a vehicle dynamic control system operating at least one vehicle dynamic system by way of a dynamic control signal;

a controller coupled to the oscillation detector, and the dynamic control system, the controller comprising a neural network and an associated trainer, the neural network programmed to output a weighted dynamic control signal to the vehicle dynamic control system in response to the oscillation signal and a weight function of the trainer, wherein the trainer modifies the weight function communicated to the neural network in response to a penalty function;

wherein a tow point of the trailer is located rearward of all vehicle axles; and

wherein the dynamic control system comprises at least one of a vehicle brake controller, wheel torque controller, engine torque controller, or suspension controller.

25. A system as in claim 23 wherein the penalty function retains a weight function for a dynamic control signal which mitigates detected trailer oscillation, and reduces a weight function for a dynamic control signal which does not mitigate detected trailer oscillation

24. A system as recited in claim 24 wherein the trailer sensor comprises a hitch sensor, a reverse aid sensor, a camera, or a locating plate coupled to a trailer tongue, the oscillation detector determining an oscillation signal as a function of an output of the trailer sensor.