Trailer active back-up assist with object avoidance

• US 9,164,955 B2
• Filed: 02/04/2013
• Issued: 10/20/2015
• Est. Priority Date: 02/04/2013
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lavoie, Erick Michael, Rhode, Douglas Scott, Recker, Darrel Alan
• Primary Examiner(s): Cheung, Mary
• Application Number:
  US13/759,022
• Publication Number:
  US 20140222288A1
• Time in Patent Office: 988 Days
• Field of Search: 701/41, 701/44, 701/300, 701/301, 340/903, 340/436, 340/3.41
• US Class Current: 1/1
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00

Abstract

A trailer back-up assist apparatus comprises an obstacle sensing system operable to output information characterizing proximity of a object adjacent to a vehicle-trailer combination while the vehicle-trailer combination is being backed toward a targeted location and a trailer back-up assist system correction apparatus coupled to the obstacle sensing system. The trailer back-up assist system uses the information characterizing proximity of the object to determine if a path of the vehicle-trailer combination needs to be altered to limit a potential of the vehicle-trailer combination colliding with the object and implements a path correction action to alter the path of travel of the vehicle-trailer combination to reduce the potential for the vehicle-trailer combination colliding with the object.

Claims

1. A method for assisting a driver to back-up a vehicle-trailer combination, the vehicle having a data processing device associated with a trailer backup assist system, the method comprising the steps of:

assessing, in the data processing device, a proximity of an object adjacent to the vehicle-trailer combination during backing-up of the trailer toward a targeted location;

determining, in the data processing device, whether a path of travel of the vehicle-trailer combination needs to be altered to avoid colliding with the adjacent object; and

implementing a path correction action from the trailer backup assist system to alter the path of travel.

2. The method of claim 1 wherein the step of assessing further comprises assessing at least one of:

information characterizing engine torque requests of the vehicle;

information characterizing longitudinal acceleration of the vehicle;

information characterizing steering wheel angle of the vehicle;

information characterizing path of travel curvature for the trailer; and

information characterizing a hitch angle between the vehicle and the trailer.

3. The method of claim 1 wherein the step of assessing further comprises assessing information from at least one of a proximity information capturing device mounted on the trailer and a proximity information capturing device mounted on the vehicle.

4. The method of claim 3 wherein assessing information further comprises assessing information from a proximity information capturing device mounted on the trailer and from a proximity information capturing device mounted on the vehicle.

5. The method of claim 4 wherein the step of assessing further comprises assessing at least one of:

information characterizing engine torque requests of the vehicle;

information characterizing longitudinal acceleration of the vehicle;

information characterizing steering wheel angle of the vehicle;

information characterizing path of travel curvature for the trailer; and

information characterizing a hitch angle between the vehicle and the trailer.

6. The method of claim 1 wherein the step of assessing further comprises assessing information from at least one of an ultrasonic sensor and a camera.

7. The method of claim 1 wherein the step of implementing a path correction action further comprises issuing at least one of:

a command to alter a speed control condition of the vehicle-trailer combination;

a command to alter a steering control condition of the vehicle-trailer combination; and

a command to alter a trailer curvature control condition of the vehicle-trailer combination.

8. The method of claim 7 wherein the step of assessing further comprises assessing at least one of:

information characterizing engine torque requests of the vehicle;

information characterizing longitudinal acceleration of the vehicle;

information characterizing steering wheel angle of the vehicle;

information characterizing path of travel curvature for the trailer; and

information characterizing a hitch angle between the vehicle and the trailer.

9. The method of claim 8 wherein the step of assessing further comprises assessing information from at least one of a proximity information capturing device mounted on the trailer and a proximity information capturing device mounted on the vehicle.

10. The method of claim 9 wherein assessing information further comprises assessing information from a proximity information capturing device mounted on the trailer and from a proximity information capturing device mounted on the vehicle.

11. A trailer back-up assist apparatus, comprising:

an obstacle sensing system outputting proximity information of an object adjacent to a vehicle-trailer combination while the vehicle-trailer combination is being backed toward a targeted location; and

a trailer back-up assist system coupled to the obstacle sensing system, wherein the trailer back-up assist system uses the proximity information to determine if a path of the vehicle-trailer combination needs to be altered to avoid a collision with the object and alters the path of travel of the vehicle-trailer combination to avoid the collision with the object.

12. The trailer back-up assist apparatus of claim 11 wherein the obstacle sensing system includes at least one of a proximity information capturing device mounted on the trailer and a proximity information capturing device mounted on the vehicle.

13. The trailer back-up assist apparatus of claim 11 wherein the obstacle sensing system includes at least one of a camera mounted on the vehicle and an ultrasonic sensor mounted on the vehicle.

14. The trailer back-up assist apparatus of claim 11 wherein the trailer back-up assist system uses at least one of:

information characterizing engine torque requests of the vehicle;

information characterizing longitudinal acceleration of the vehicle;

information characterizing steering wheel angle of the vehicle;

information characterizing path of travel curvature for the trailer; and

information characterizing a hitch angle between the vehicle and the trailer.

15. The trailer back-up assist apparatus of claim 11 wherein the trailer back-up assist system implements a path correction action by issuing at least one of:

a command to alter a speed control condition of the vehicle-trailer combination;

a command to alter a steering control condition of the vehicle-trailer combination; and

a command to alter a trailer curvature control condition of the vehicle-trailer combination.

16. The trailer back-up assist apparatus of claim 15 wherein the obstacle sensing system includes at least one of a proximity information capturing device mounted on the trailer and a proximity information capturing device mounted on the vehicle.

17. The trailer back-up assist apparatus of claim 16 wherein the trailer back-up assist system uses at least one of:

information characterizing engine torque requests of the vehicle;

information characterizing longitudinal acceleration of the vehicle;

information characterizing steering wheel angle of the vehicle;

information characterizing path of travel curvature for the trailer; and

information characterizing a hitch angle between the vehicle and the trailer.

18. A method for avoiding a collision between an object and a vehicle-trailer combination during backing of the trailer along a path of travel toward a target location by a trailer backup assist system, comprising the steps of:

assessing, in the trailer backup assist system, proximity of the object to the vehicle-trailer combination during backing-up of the trailer; and

altering the path of travel of the vehicle-trailer combination through commands issued from the trailer backup assist system based on the proximity of the object to avoid the collision with the object.

19. The method of claim 18, wherein the step of altering the path of travel further comprises the step of implementing a path correction action to the vehicle-trailer combination.

20. The method of claim 19, wherein the step of implementing a path correction action further comprise issuing at least one of:

a command to alter a speed control condition of the vehicle-trailer combination;

a command to alter a steering control condition of the vehicle-trailer combination; and

a command to alter a trailer curvature control condition of a vehicle-trailer combination.

21. The method of claim 18, wherein the step of assessing further comprises assessing at least one of:

a signal representative of engine torque requests of the vehicle;

a signal representative of a longitudinal acceleration of the vehicle;

information representative of a path of travel curvature of the trailer; and

a signal representative of a hitch angle between the vehicle and the trailer.

22. The method of claim 18, wherein the step of assessing further comprises assessing information received from at least one of a proximity information capturing device mounted on the trailer and a proximity information capturing device mounted on the vehicle.

23. The method of claim 22, further comprises assessing information received from a proximity information capturing device mounted on the vehicle and a proximity information capturing device mounted on the vehicle.

24. The method of claim 23, wherein the step of assessing further comprises assessing at least one of

a signal representative of engine torque requests of the vehicle;

a signal representative of a longitudinal acceleration of the vehicle;

information representative of a path of travel curvature of the trailer; and

a signal representative of a hitch angle between the vehicle and the trailer.

25. The method of claim 18, wherein the step of assessing further comprises assessing information from at least one of an ultrasonic sensor and a camera.