TRAILER BACKUP ASSIST CURVATURE CONTROL

• US 20140379219A1
• Filed: 09/10/2014
• Published: 12/25/2014
• Est. Priority Date: 04/19/2011
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company), University of Michigan
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company), Board of Regents of the University of Michigan (University of Michigan)
• Inventors: Rhode, Douglas Scott, Smit, David Dean, Lavoie, Erick Michael, Frey, Martin Fitzpatrick, Pilutti, Thomas Edward, Shim, Taehyun, Rupp, Matt Y., Trombley, Roger Arnold
• Granted Patent: US 10,370,030 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• 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 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 30/18036 Reversing
• CPC Class Codes: B60Y 2200/147 Trailers, e.g. full trailers or caravans
• CPC Class Codes: B62D 1/22 Alternative steering-control elements, e.g. for teaching purposes
• 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 vehicle has a trailer backup steering input apparatus, a trailer backup assist control module coupled to the a trailer backup steering input apparatus, and an electric power assist steering system coupled to the trailer backup assist control module and. The trailer backup steering input apparatus is configured for outputting a trailer path curvature signal approximating a desired curvature for a path of travel of a trailer towably coupled to the vehicle. The trailer backup assist control module is configured for determining vehicle steering information as a function of the trailer path curvature signal. The electric power assist steering system is configured for controlling steering of steered wheels of the vehicle as a function of the vehicle steering information.

Claims

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

a steering input apparatus providing a desired curvature for the trailer; and

a control module generating a steering command for the vehicle to guide the trailer on the desired curvature based on a hitch angle and a kinematic relationship determined between the vehicle and the trailer.

2. The trailer backup assist system of claim 1, wherein the steering input apparatus includes a knob rotatable in opposing directions from an intermediate position to end positions, defining a plurality of rotated positions therebetween that correspond with ascending desired curvatures.

3. The trailer backup assist system of claim 2, wherein the control module defines the end positions of the knob with a maximum curvature for the trailer to prevent the hitch angle from exceeding a critical hitch angle.

4. The trailer backup assist system of claim 3, wherein the knob includes limits of rotational movement at the end positions.

5. The trailer backup assist system of claim 2, wherein the knob is spring biased in the intermediate position, which corresponds with a desired curvature of zero for backing the trailer along a substantially straight path of travel.

6. The trailer backup assist system of claim 1, wherein the steering input apparatus includes a control element movable between at least a first position having a first desired curvature for backing the trailer along a substantially straight trajectory and a second position having a second desired curvature for backing the trailer along an arcuate trajectory.

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

a hitch angle detecting apparatus determining the hitch angle between the vehicle and the trailer.

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

a power-steering system that controls forward steered wheels of the vehicle based on the steering command generated from the control module.

9. A trailer backup assist system, comprising:

a camera-based apparatus determining a hitch angle between a vehicle and a trailer;

a steering input apparatus commanding a path of the trailer;

a control module generating a steering command for guiding the trailer on the path based on the hitch angle and a kinematic relationship between the vehicle and the trailer; and

a power-steering system controlling steered wheels of the vehicle based on the steering command.

10. The trailer backup assist system of claim 9, wherein the steering input apparatus is coupled with an interior surface of the vehicle for a driver of the vehicle to provide the path of the trailer.

11. The trailer backup assist system of claim 9, wherein the steering input apparatus includes a control element movable between a first position for backing the trailer along a substantially straight trajectory and a second position for backing the trailer along an arcuate trajectory.

12. The trailer backup assist system of claim 9, wherein the path commanded by the steering input apparatus includes a desired curvature relative to a longitudinal centerline axis of the trailer.

13. The trailer backup assist system of claim 12, wherein the steering input apparatus includes a control element movable between at least a first position with the desired curvature of zero and a second position with the desired curvature greater than zero.

14. The trailer backup assist system of claim 12, wherein the steering input apparatus includes a knob rotatable in opposing directions from an intermediate position to end positions, defining a plurality of rotated positions therebetween that correspond with desired curvatures increasing as the knob is rotated away from the intermediate position.

15. The trailer backup assist system of claim 14, wherein the knob is prevented from rotating beyond the end positions and is spring biased in the intermediate position, which corresponds with a desired curvature of zero for backing the trailer along a substantially straight trajectory.

16. The trailer backup assist system of claim 15, wherein the control module defines the end positions of the knob with a maximum curvature for the trailer based on the kinematic relationship to prevent the hitch angle from approaching a jackknife angle.

17. A method of reversing a trailer, comprising:

determining a kinematic relationship between a vehicle and the trailer;

determining a hitch angle between the vehicle and the trailer;

commanding a path of the trailer;

generating a steering command for guiding the trailer on the path based on the hitch angle and the kinematic relationship; and

controlling steered wheels of the vehicle with a power-steering system based on the steering command.

18. The method of claim 17, wherein the kinematic relationship is determined based on a length of the trailer and a wheel base of the vehicle.

19. The method of claim 17, wherein commanding the path includes providing a desired curvature for the trailer relative to a longitudinal centerline axis of the trailer.

20. The method of claim 19, wherein the desired curvature is provided by a position of a rotatable knob.