DIFFERENTIAL CONTROL USER INTERFACE FOR REVERSING VEHICLE AND TRAILER SYSTEM

• US 20160059889A1
• Filed: 08/26/2015
• Published: 03/03/2016
• Est. Priority Date: 08/29/2014
• Status: Active Grant

• Current Assignee: Continental Autonomous Mobility US LLC (Continental AG)
• Original Assignee: Continental Automotive Systems, Inc. (Continental AG)
• Inventors: Agnew, David Leslie, Herzog, Brandon, Payant, Andre
• Granted Patent: US 9,610,974 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means

Abstract

A disclosed method of maneuvering a vehicle-trailer unit in reverse travel with a backing system includes, among other things, determining that the vehicle-trailer unit is backing up with an electronic control unit for the backing system. A current hitch angle is determined, which represents the relative angle between the vehicle and the trailer with the electronic control unit. A requested hitch angle rate of change versus distance traveled is calculated with the electronic control unit, wherein the requested hitch angle rate of change is based upon a input from a joystick control which provides a requested hitch angle rate of change signal value in proportion to the joystick position. A steering angle is calculated with the electronic control unit based upon the requested hitch angle rate of change, wherein the steering angle will allow movement of the vehicle-trailer unit in the reverse direction to obtain the requested hitch angle rate of change; and a request is sent to a steering system to provide the steering angle.

Claims

1. A method of maneuvering a vehicle-trailer unit in reverse travel with a backing system, wherein the trailer has a front with a trailer tongue and the vehicle has a rear with a trailer hitch, the trailer tongue being connected to the trailer hitch allowing a horizontal swivel movement of the trailer around the hitch the method comprising:

determining that the vehicle-trailer unit is backing up with an electronic control unit for the backing system;

determining a current hitch angle, which represents the relative angle between the vehicle and the trailer with the electronic control unit;

calculating a requested hitch angle rate of change versus distance traveled with the electronic control unit, wherein the requested hitch angle rate of change is based upon a input from a joystick control which provides a requested hitch angle rate of change signal value in proportion to the joystick position

calculating a steering angle with the electronic control unit based upon the requested hitch angle rate of change, wherein the steering angle will allow movement of the vehicle-trailer unit in the reverse direction to obtain the requested hitch angle rate of change; and

sending a request to a steering system to provide the steering angle.

2. The method of claim 1, further comprising continuing calculating the steering angle to provide the requested hitch angle rate of change while the vehicle-trailer unit is moving in the reverse direction, and continuing to send the request to the steering system.

3. The method of claim 2, wherein once the requested hitch angle rate of change is obtained the backing system continues to request the steering angle required to move the vehicle-trailer unit at the requested hitch angle rate of change.

4. The method of claim 1, wherein calculating a requested hitch angle further comprises;

determining a position of the joystick relative to the range of motion of the joystick;

requesting a change in the current hitch angle rate of change of change of a first value when the joystick is moved a partial distance of the range of motion from a center of motion, wherein the direction of the requested change is based on the position of the joystick relative to the center of the range of motion;

requesting a change in the current hitch angle rate of changehitch angle rate of change of change of a second value when the joystick is moved a full distance of the range of motion from the center of motion, wherein the direction of the requested change is based on the position of the joystick relative to the center of the range of motion; and

requesting that the current hitch angle rate of change be continued when the joystick is in the center of the range of motion.

5. The method of claim 4, wherein the first value and the second value are preset incremental degrees of change to the current hitch angle rate of change.

6. The method of claim 4, wherein the first value and the second value are proportional degrees of change based upon the position of the joystick to the range of motion.

7. The method of claim 1, wherein the vehicle-trailer unit has a first and a second distance sensor laterally spaced from each other and generating output information representative of the distance between the front of the trailer and the rear of the vehicle, and wherein the electronic control unit calculates the current hitch angle rate of change based upon a difference between the distances measured by the first distance sensor and the second distance sensor.

8. The method of claim 1, wherein the vehicle has a driver-operable back-up assistance switch activating an automatic back-up, the method including the step of detecting that the switch has been set to activate the method.

9. A backing system for a vehicle-trailer unit, wherein the trailer has a front with a trailer tongue and the vehicle has a rear with a trailer hitch, the trailer tongue being connected to the trailer hitch allowing a horizontal swivel movement of the trailer around the hitch the system comprising:

a sensor for sensing a current hitch angle, which represents the relative angle between the vehicle and the trailer;

a joystick control for providing a differential input used to determine a requested hitch angle rate of change; and

an electronic control unit for the backing system, wherein the electronic control device includes instructions for;

determining that the vehicle-trailer unit is backing up;

determining the current hitch angle, based upon information from the sensor;

calculating the requested hitch angle rate of change based upon the differential input from the joystick control;

calculating a steering angle based upon the requested hitch angle rate of change, wherein the steering angle will allow movement of the vehicle-trailer unit in the reverse direction to obtain the requested hitch angle rate of change; and

sending a request to a steering system to provide the steering angle.

10. The backing system of claim 9, wherein the electronic control device contains further instructions to continuing calculating the steering angle to provide the requested hitch angle rate of change while the vehicle-trailer unit is moving in the reverse direction, and continuing to send the request to the steering system.

11. The backing system of claim 10, wherein once the request steering angle is obtained the electronic control device contains further instructions to continue to request the steering angle required to move the vehicle-trailer unit at the requested hitch angle rate of change.

12. The backing system of claim 9, wherein the electronic control device contains further instructions for:

determining a position of the joystick relative to the range of motion of the joystick;

requesting a change in the current hitch angle rate of change of a first value when the joystick is moved a partial distance of the range of motion from a center of motion, wherein the direction of the requested change is based on the position of the joystick relative to the center of the range of motion;

requesting a change in the current hitch angle rate of change of a second value when the joystick is moved a full distance of the range of motion from the center of motion, wherein the direction of the requested change is based on the position of the joystick relative to the center of the range of motion; and

requesting that the current hitch angle rate of change be continued when the joystick is in the center of the range of motion.

13. The backing system of claim 12, wherein the first value and the second value are preset incremental degrees of change to the current hitch angle rate of change.

14. The method of claim 12, wherein the first value and the second value are proportional degrees of change based upon the position of the joystick to the range of motion.

15. The backing system of claim 12, wherein the vehicle-trailer unit has a first and a second distance sensor laterally spaced from each other and generating output information representative of the distance between the front of the trailer and the rear of the vehicle, and wherein the electronic control unit has instructions for calculating the current hitch angle rate of change based upon a difference between the distances measured by the first distance sensor and the second distance sensor.

16. The backing system of claim 12, wherein the vehicle has a driver-operable back-up assistance switch activating an automatic back-up, and wherein the electronic control unit has instructions for detecting that the switch has been set to activate the backing system.