TRAILER BACKUP ASSIST SYSTEM WITH NORMALIZED STEERING INPUT DEVICE FOR DIFFERENT TRAILERS

• US 20140343793A1
• Filed: 07/30/2014
• Published: 11/20/2014
• Est. Priority Date: 04/19/2011
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lavoie, Erick Michael, Hochrein, Bradley G.
• Granted Patent: US 9,505,434 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B60K 2360/126 Rotatable input devices for instruments
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2300/14 Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
• CPC Class Codes: B60W 2520/22 Articulation angle, e.g. between tractor and trailer
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• CPC Class Codes: B60W 2720/22 Articulation angle, e.g. between tractor and trailer
• CPC Class Codes: B60W 30/18036 Reversing
• CPC Class Codes: B62D 13/00 Steering specially adapted for trailers combined traction and steering hitches B60D
• CPC Class Codes: B62D 13/005 operated from tractor steering system
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means

Abstract

A trailer backup assist system for a vehicle reversing a trailer, according to one embodiment, includes a sensor that senses a hitch angle between the vehicle and the trailer. The trailer backup assist system also includes a steering input device movable between a plurality of successive positions that each provide an incremental change to a desired curvature of the trailer. In addition, the trailer backup assist system includes a controller that generates a steering command for the vehicle to guide the trailer on the desired curvature based on the sensed hitch angle and a kinematic relationship with the trailer. The incremental change is substantially equal for a population of trailers to normalize control of the desired curvature.

Claims

1. A trailer backup assist system for a vehicle reversing a trailer, comprising:

a knob rotatable to a plurality of positions that each define a desired curvature; and

a controller generating a steering command for the vehicle to guide the trailer on the desired curvature based on a kinematic relationship between the vehicle and the trailer, wherein the desired curvature for each of the plurality of positions is defined based on normalized trailer dimensions.

2. The trailer backup assist system of claim 1, further comprising:

a hitch angle sensor for sensing a hitch angle between the trailer and the vehicle, wherein the steering command is generated based on the sensed hitch angle.

3. The trailer backup assist system of claim 1, wherein the kinematic relationship is determined based on a length of the trailer, a wheel base of the vehicle, and a distance between a hitch point and a rear axle of the vehicle.

4. The trailer backup assist system of claim 1, wherein the normalized trailer dimensions include dimensions of additional trailers capable of being towed by the vehicle.

5. The trailer backup assist system of claim 1, wherein the normalized trailer dimensions include lengths of additional trailers previously attached to the vehicle and reversed with guidance by the trailer backup assist system.

6. The trailer backup assist system of claim 1, wherein the knob is rotatable in opposing directions from a center position to opposing rotational end positions, whereby the center position defines the desired curvature as zero.

7. The trailer backup assist system of claim 6, wherein the opposing rotational end positions are defined by the smallest radius of curvature controllable across a population of additional trailers.

8. A trailer backup assist system for a vehicle reversing a trailer, comprising:

a hitch sensor sensing a hitch angle between the vehicle and the trailer;

a steering input device operable between a plurality of selections that each provide an incremental change to a desired curvature of the trailer; and

a controller generating a steering command for the vehicle to guide the trailer on the desired curvature based on the sensed hitch angle and a kinematic relationship with the trailer, wherein the incremental change is substantially equal for a population of trailers to normalize control of the desired curvature.

9. The trailer backup assist system of claim 8, wherein the population of trailers includes a set of additional trailers capable of being towed by the vehicle.

10. The trailer backup assist system of claim 8, wherein the population of trailers includes trailers previously attached to the vehicle and reversed with guidance by the trailer backup assist system.

11. The trailer backup assist system of claim 10, wherein the incremental change of the desired curvature is determined based on an average length of the population of trailers.

12. The trailer backup assist system of claim 10, wherein the steering input device includes a knob rotatable between a first position and a second position, such that the incremental change to the desired curvature is defined as a function of degrees of rotation of the knob between the first and second positions.

13. The trailer backup assist system of claim 8, wherein the steering input device is moveable between a plurality of successive positions that each provide the incremental change to the desired curvature.

14. The trailer backup assist system of claim 8, wherein the steering input device includes a knob rotatable in opposing directions from a center position to opposing rotational end positions, whereby the center position defines the desired curvature as zero.

15. The trailer backup assist system of claim 14, wherein the opposing rotational end positions are defined by the smallest radius of curvature controllable across the population of trailers.

16. A method for steering a vehicle reversing a trailer, comprising:

providing dimensions for a population of trailers reversible by the vehicle;

providing a rotatable knob; and

determining a desired curvature for the trailer based on a position of the rotatable knob, wherein change to the desired curvature is a function of a normalized ratio based on degrees of change in the position and the dimensions of the population of trailers.

17. The method of claim 16, further comprising:

sensing a hitch angle between the vehicle and the trailer attached to the vehicle; and

generating a steering command for the vehicle to guide the trailer on the desired curvature based on the hitch angle.

18. The method of claim 17, wherein the population of trailers includes a set of trailers previously attached to the vehicle and reversed with guidance by the desired curvature.

19. The method of claim 17, wherein the rotatable knob is rotatable in opposing directions from a center position to opposing rotational end positions, whereby the center position defines the desired curvature as zero and the opposing rotational end positions are defined by the smallest radius of curvature controllable across the population of trailers.

20. The method of claim 16, wherein the desired curvature is determined based on a kinematic relationship between the vehicle and the trailer, and wherein the normalized ratio for changes to the desired curvature is determined based on an average length of the population of trailers.