System and method for maneuvering a vehicle-trailer unit in reverse travel

• US 9,108,598 B2
• Filed: 01/13/2011
• Issued: 08/18/2015
• Est. Priority Date: 01/13/2011
• Status: Active Grant

• Current Assignee: Continental Autonomous Mobility US LLC (Continental AG)
• Original Assignee: Continental Automotive Systems, Inc. (Continental AG)
• Inventors: Headley, Philip Mark
• Primary Examiner(s): Keith, Jack W
• Assistant Examiner(s): Nguyen, Chuong P
• Application Number:
  US13/005,644
• Publication Number:
  US 20120185131A1
• Time in Patent Office: 1,678 Days
• Field of Search: 701/1, 701/41, 701/36, 180/9.4, 180/14.9, 280/412, 280/416.2, 280/423.1, 280/446.1, 280/447, 280/448
• US Class Current: 1/1
• CPC Class Codes: B60D 1/245 for facilitating push back or parking of trailers
• CPC Class Codes: B60D 1/62 involving supply lines, electric circuits, or the like
• CPC Class Codes: B60T 2230/08 Driving in reverse
• CPC Class Codes: B60T 8/1708 for lorries or tractor-trailer combinations
• 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 system and method of maneuvering a vehicle-trailer unit in reverse travel uses at least one sensor generating output information representative of the a relative position between the vehicle rear and the trailer front. An electronic processing unit compares the measured quantity with a reference value and determines from the comparison whether the trailer deviates from a straight alignment with the vehicle. If the trailer is not aligned with the vehicle, the system can interfere with the vehicle'"'"'s steering system, the trailer'"'"'s brake system, or both.

The sensor can be a distance sensor or a camera, and the quantity can be a distance or a marker position. As a reference value for comparison, the method can use a stored value or previously or simultaneously measured values. The method can be activated automatically or by a switch operated by the vehicle driver.

Claims

1. A method of maneuvering a vehicle-trailer unit in reverse travel comprising the steps of:

providing a trailer having a front with a trailer tongue and a vehicle having 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;

providing an electronic processing unit having a back-up assistant module and power steering control feature integrated into the electronic processing unit;

providing at least one distance sensor connected to the vehicle and configured to send information to the at least one electronic processing unit;

providing an active power steering system in the vehicle;

determining that the vehicle-trailer unit is backing up;

measuring with said at least one distance sensor a quantity representing a relative position between the vehicle rear and the trailer front;

generating output information from said at least one distance sensor to the electronic processing unit, wherein said output information is representative of the distance between the front of the trailer and the rear of the vehicle at least at a location that is laterally offset from the location of the trailer hitch, by establishing at least one distance value in determining the difference between the distance value and a reference value;

comparing the measured quantity with a reference value using the electronic processing unit;

determining in the electronic processing unit an intended path of the trailer with respect to the vehicle based upon an input that is independent of a steering wheel for the vehicle;

using the electronic processing unit to determine whether the trailer deviates from the intended path with respect to the vehicle and calculating the deviation;

determining with the electronic processing unit whether the deviation exceeds a predetermined threshold and using the electronic processing unit to control; and

implementing a path-correcting measure using the electronic processing unit to command a steering system to correct the course of at least one of the vehicle and the trailer while the vehicle-trailer unit is in reverse travel when the deviation exceeds the predetermined threshold.

2. The method of claim 1, wherein the vehicle has the steering system with active steering intervention and the path-correcting measure adds a corrective steering angle to an existing steering angle.

3. The method of claim 1, wherein the measured quantity is representative of the distance between the front of the trailer and the rear of the vehicle at a location laterally offset from the location of the trailer hitch.

4. The method of claim 3, wherein the reference value represents the distance between the rear of the vehicle and the front of the trailer when the vehicle and the trailer are in straight alignment at the location where the quantity is measured.

5. The method of claim 3, wherein the the at least one distance sensor is 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 measured quantity is a distance value established from the output information of the first sensor and the reference value is a distance value established from the output information of the second distance sensor.

6. 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.

7. The method of claim 1, wherein the vehicle includes a manual interface generating input information representative of the intended path, the method comprising the step of determining the intended path from the generated input information.

8. The method of claim 1, wherein the measured quantity is the lateral position of a marker fixed on the front of the trailer and the reference value is the location of the marker when trailer and vehicle are in straight alignment.

9. The method of claim 1, wherein the measured quantity is an angle representing a deviation of the trailer from a straight alignment with the vehicle and the reference value is an angle representing a deviation of the trailer from the straight alignment with the vehicle when the trailer is on the intended path.

10. A system for maneuvering a vehicle-trailer unit in reverse travel comprising:

a trailer having a front and a vehicle having a rear, the front and the rear being connected with a trailer hitch allowing a horizontal swivel movement of the trailer around the hitch,

at least one first distance sensor configured to measure a quantity representing a relative position between the rear of the vehicle and the front of the trailer; and

a back-up assistance module that receives information sent from the at least one distance sensor compares the measured quantity with a reference value, determines from the comparison that the trailer deviates from the intended path and calculate the deviation, the back-up assistance modules then inputs an intended path of the trailer with respect to the vehicle that is independent of a steering wheel for the vehicle by sending intended path information to an electronic processing unit;

the electronic processing unit having a power steering control feature integrated into the electronic processing unit, the electronic processing unit is programmed to control a power steering system of the vehicle and implement a path-correcting measure correcting the course of at least one of the vehicle and the trailer while the vehicle-trailer unit is in reverse travel when the deviation exceeds the predetermined threshold.

11. The system of claim 10, further comprising a second distance sensor configured to generate output information representative of the distance between the front of the trailer and the rear of the vehicle.

12. The system of claim 10, wherein the first sensor is a camera configured to be mounted on the vehicle.

13. The system of claim 10, further comprising a back-up assistance activation switch communicating with the electronic processing unit to start to perform the program.

14. The system of claim 10, further comprising a manual interface generating input information representative of the intended path.

15. The electronic processing device of claim 14, wherein the measured quantity represents a distance.

16. The electronic processing device of claim 14, wherein the measured quantity represents a location of a marker.

17. The electronic processing device of claim 14, wherein the measured quantity represents an angle.

18. An electronic processing unit comprising:

a back-up assistant module and a power steering control feature both integrated into the electronic processing unit;

the back-up assistant module is programmed to receive information of a measured quantity representative of the position of a trailer relative to a position of a vehicle, compares the measured quantity with a reference value and determines from the comparison that the trailer deviates from an intended path, wherein the intended path of the trailer with respect to the vehicle is input from the backup assistant module to the electronic processing unit and the power steering control feature then controls power steering system to calculate a path-correcting measure correcting the course of at least one of a vehicle and a trailer independent of a steering wheel for the vehicle.