Method and apparatus for maintaining a trailer in a straight position relative to the vehicle

• US 7,950,751 B2
• Filed: 03/18/2004
• Issued: 05/31/2011
• Est. Priority Date: 03/18/2004
• Status: Expired due to Fees

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Offerle, Timothy G., Stephan, Craig H., Rhode, Douglas S.
• Primary Examiner(s): Schwartz; Christopher P
• Application Number:
  US10/708,676
• Publication Number:
  US 20050206233A1
• Time in Patent Office: 2,630 Days
• Field of Search: 188/3.R, 188/112, 303/7, 303/193, 303/191, 340/431, 348/118, 701/70
• US Class Current: 303/193
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: B60T 8/1708 for lorries or tractor-trailer combinations
• 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: B60T 8/248 Trailer sway, e.g. for preventing jackknifing
• 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 10/22 including control of suspension systems
• CPC Class Codes: B60W 30/045 Improving turning performance

Abstract

A system and method of controlling a vehicle with a trailer comprises determining the presence of a trailer, determining a vehicle velocity, determining a steering wheel angle, and determining a rear axle side slip angle. When the rear axle side slip angle is above a predetermined value, the vehicle velocity is above a velocity threshold, and the steering wheel is about zero, brake-steer is applied to the vehicle.

Claims

1. A system for controlling an automotive vehicle having a trailer and a primary steering actuator comprising:

a secondary steering actuator generating a signal indicative of a desired trailer turn direction;

reverse signal means generating a reverse signal corresponding to a reverse direction of the vehicle;

a trailer position sensor generating a trailer position signal;

a controller coupled to the secondary steering actuator, the reverse signal means and the trailer position sensor, said controller programmed to brake-steer the vehicle to maintain the vehicle in the desired trailer turn direction.

2. A system as recited in claim 1 wherein the secondary steering actuator comprises a turn signal actuator.

3. A system as recited in claim 1 wherein the secondary steering actuator comprises a stalk.

4. A system as recited in claim 1 wherein the secondary steering actuator comprises a push button.

5. A system as recited in claim 1 further comprising a trailer brake system, said controller programmed to brake-steer the trailer brake system and vehicle.

6. A system as recited in claim 5 further comprising a vehicle brake system, said controller programmed to brake-steer the vehicle brake system.

7. A system as recited in claim 1 further comprising a vehicle brake system, said controller programmed to brake-steer the vehicle brake system.

8. A system as recited in claim 1 wherein the trailer position sensor comprises determining the presence of a trailer with a hitch sensor.

9. A method as recited in claim 1 wherein determining the presence of a trailer comprises determining the presence of a trailer with a reverse aid sensor.

10. A method as recited in claim 1 wherein determining the presence of a trailer comprises determining the presence of a trailer with an ultrasonic sensor.

11. A method as recited in claim 1 wherein determining the presence of a trailer comprises determining the presence of a trailer with a camera.

12. A system as recited in claim 1 wherein said means comprises a shift lever.

13. A system as recited in claim 1 wherein said means comprises a push button.

14. A system as recited in claim 1 wherein said means comprises a transmission controller.

15. A system as recited in claim 1 wherein said means comprises a wheel speed sensor.

16. A method of aligning a trailer and a vehicle comprising:

determining a position of the trailer using a trailer sensor positioned on the vehicle and a locating plate having a locating hole located on the trailer;

determining the position of the locating hole relative to the vehicle when the vehicle is reversing toward the trailer; and

displaying an indication of the position of the locating hole relative to the vehicle.

17. A method as recited in claim 16 wherein determining a position comprises determining a position relative to a hitch of the vehicle.

18. A method as recited in claim 16 wherein the trailer sensor comprises a hitch sensor.

19. A method as recited in claim 16 wherein the trailer sensor comprises a reverse aid sensor.