Trailer Oscillation Detection and Compensation Method for a Vehicle and Trailer Combination

• US 20110257860A1
• Filed: 06/28/2011
• Published: 10/20/2011
• Est. Priority Date: 10/05/2007
• Status: Active Grant

• Current Assignee: Anya Lynn Getman, Aric David Shaffer, Perry Robinson Macneille
• Original Assignee: Anya Lynn Getman, Aric David Shaffer, Perry Robinson Macneille
• Inventors: Macneille, Perry Robinson, Getman, Anya Lynn, Shaffer, Aric David
• Granted Patent: US 8,165,770 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• 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 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 wherein the penalty function retains the weighted dynamic control signal for a signal which mitigates trailer sway and reduces the weighted dynamic control signal for a signal which does not mitigate trailer sway.

2. A method as recited in claim 1 wherein the dynamic control system comprises at least one of a vehicle brake controller, wheel torque controller, engine torque controller, or suspension controller.

3. A method as recited in claim 1 comprising receiving trailer data, and wherein generating an initial weighted dynamic control signal is in response to the trailer data.

4. A method as in claim 3 wherein the trailer data comprises at least one signal indicative of trailer weight, length, height, type, number of axles, and hitch-to-axle distance.

5. A method as recited in claim 1 wherein the trailer sensor comprises a hitch sensor, a reverse aid sensor, a camera, or a locating plate coupled to a trailer tongue.

6. A method as recited in claim 2 comprising actively braking at least one trailer brake or at least one vehicle brake upon generating an oscillation signal indicative of trailer swaying relative to the vehicle.

7. 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 the trailer swaying relative to the vehicle, said oscillation signal being generated as a function of the angular position;

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

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

thereafter, the neural network iteratively generating a penalty function and applying the penalty function to the weighted dynamic control signal, wherein the penalty function retains the weighted dynamic control signal for a signal that mitigates trailer sway and reduces the weighted dynamic control signal for a signal which does not mitigate trailer sway.

8. The method as recited in claim 7 wherein the dynamic control system comprises at least one of a vehicle brake controller, wheel torque controller, engine torque controller, or suspension controller.

9. A method as recited in claim 7 comprising receiving trailer data, and wherein generating an initial weighted dynamic control signal is in response to the trailer data.

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

11. A method as recited in claim 7 wherein the trailer sensor comprises a hitch sensor, a reverse aid sensor, a camera, or a locating plate coupled to a trailer tongue.

12. A method as recited in claim 8 comprising actively braking at least one trailer brake or at least one vehicle brake upon generating an oscillation signal indicative of trailer swaying relative to the vehicle.