Trailer sway mitigation using measured distance between a trailer and a tow vehicle

• US 8,838,353 B2
• Filed: 07/24/2009
• Issued: 09/16/2014
• Est. Priority Date: 07/24/2009
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Wu, Hsien-cheng, Hoetzer, Dieter
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Nolan, Peter D
• Application Number:
  US12/508,878
• Publication Number:
  US 20110022282A1
• Time in Patent Office: 1,880 Days
• Field of Search: 701/69, 701/70, 180/14.1, 180/14.6, 188/112.A, 188/112.R, 280/446.1, 280/455.1, 303/20, 340/431
• US Class Current: 701/70
• CPC Class Codes: B60D 1/245 for facilitating push back or parking of trailers
• CPC Class Codes: B60D 1/30 for sway control , e.g. stabilising or anti-fishtail devices; Sway alarm means
• CPC Class Codes: B60D 1/58 Auxiliary devices
• CPC Class Codes: B60T 2230/06 Tractor-trailer swaying
• CPC Class Codes: B60T 7/20 specially for trailers, e.g. in case of uncoupling of or overrunning by trailer inertia-actuated overrun brakes B60T13/08
• CPC Class Codes: B60T 8/1708 for lorries or tractor-trailer combinations
• CPC Class Codes: B60T 8/246 Change of direction
• CPC Class Codes: B60T 8/248 Trailer sway, e.g. for preventing jackknifing

Abstract

A method of controlling a vehicle and a trailer. The vehicle has a front and a rear end, and the trailer is coupled to the rear end. The method includes sensing a plurality of vehicle characteristics, sensing a distance between the vehicle and the trailer with at least one sensor positioned on the rear end of the vehicle, determining an oscillatory action of the trailer based on the sensed distance, and applying a braking force on at least one wheel of the vehicle in response to the oscillatory action.

Claims

1. A method of controlling a vehicle and a trailer, the vehicle having a front end and a rear end and the trailer coupled to the rear end, the method comprising:

sensing a steering angle of the vehicle;

sensing, during vehicle operation, a distance between the vehicle and the trailer with a sensor positioned on the rear end of the vehicle;

calculating, during vehicle operation, a target distance between the rear end of the vehicle and the trailer based on the sensed steering angle of the vehicle;

determining an error signal based on the sensed distance and the target distance; and

during a vehicle turn, applying a braking force on at least one wheel of the vehicle in response to the error signal.

2. The method of claim 1, wherein the sensor includes an ultrasonic sensor.

3. The method of claim 2, wherein sensing the distance between the vehicle and the trailer further comprises emitting an ultrasonic pulse from the ultrasonic sensor coupled to the rear end of the vehicle, receiving a reflection of the ultrasonic pulse with the ultrasonic sensor, calculating an amount of time to receive the reflection, and determining the distance based on the amount of time.

4. The method of claim 1, wherein the sensor includes a radar sensor.

5. The method of claim 1, wherein calculating the target distance includes calculating the target distance based on the steering angle, a vehicle speed, and a vehicle yaw rate.

6. The method of claim 1, further comprising determining a sway angle of the trailer.

7. The method of claim 1, further comprising:

sensing a second distance between the vehicle and the trailer,

calculating a second target distance between the rear end of the vehicle and the trailer;

determining a second error signal based on the sensed second distance and the second target distance; and

applying the braking force in response to the second error signal.

8. The method of claim 1, wherein applying the braking force further comprises applying one of a symmetric braking force and an asymmetric braking force.

9. The method of claim 8, further comprising applying the asymmetric braking force if a change in a measured sway angle of the trailer is greater than zero.

10. A system for controlling a vehicle and a trailer, the vehicle having a front end and a rear end and the trailer coupled to the rear end, the system comprising:

a sensor configured to output a steering angle of the vehicle;

at least one distance sensor coupled to the rear end of the vehicle, the at least one distance sensor configured to sense a distance between the rear end and the trailer and to output a distance signal indicative of the sensed distance;

an electronic control unit coupled to the vehicle and configured to receive the steering angle of the vehicle and the distance signal, the electronic control unit configured to calculate, during vehicle operation, a target trailer distance based on the steering angle of the vehicle, to determine an error signal based on the sensed distance and the target trailer distance, and to apply, during a vehicle turn, a braking force to at least one wheel of the vehicle in response to the error signal.

11. The system of claim 10, wherein the distance sensor is an ultrasonic sensor.

12. The system of claim 10, wherein the distance sensor is a radar sensor.

13. The system of claim 10, further comprising a second distance sensor coupled to the rear end, the second distance sensor spaced from the first distance sensor, wherein the electronic control unit is configured to receive the first distance signal from the first distance sensor and a second distance signal from the second distance sensor, to calculate a second target trailer distance based on the steering angle of the vehicle, to determine a second error signal based on the second sensed distance and the second target trailer, and to apply the braking force in response to the second error signal.

14. The system of claim 10, wherein the electronic control unit is configured to calculate the target trailer based on the steering angle, a vehicle speed, and a vehicle yaw rate.

15. The system of claim 10, wherein applying the braking force includes one of applying a symmetric braking force and applying an asymmetric braking force to the wheels of the vehicle.

16. The system of claim 15, wherein the electronic control unit applies the symmetric braking force when the error signal is above a first threshold value and applies the asymmetric braking force when the error signal is equal to or below the first threshold value and above a second threshold value.