Trailer backup assist system
First Claim
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1. A trailer backup assist system for use on a vehicle having an attached trailer comprising:
- a human machine interface device in communication with a controller;
a setup module receiving trailer measurements at the controller;
a calibration module applying the trailer measurements to calibrate a curvature control algorithm associated with the trailer backup assist system and to calibrate a hitch angle sensor associated with the trailer backup assist system;
an activation module for activating a steering system on the vehicle during reverse movement of the vehicle-trailer combination;
a trailer backup steering input apparatus having a rotatable control element positionable at a zero curvature command position defined by backward movement of the trailer along a substantially straight path defined by a centerline longitudinal axis of the trailer and positionable at positions within opposing rotational ranges of motion relative to the zero curvature commanding position and generating driver request for a trailer path curvature command that is a function of at least one of an amount of rotation of the rotatable control element with respect to the zero curvature commanding position, a rate movement of the rotatable control element, and a direction of movement of the rotatable control element with respect to the zero curvature commanding position; and
a control module to receive the driver request, implement the curvature control algorithm, provide steering commands to the steering system to control the reverse movement of the vehicle-trailer combination in a manner consistent with the driver request, and implement a jackknife counter-measure by altering at least one vehicle operating parameter that increases a radius of a curvature path of the trailer and inhibits a decrease in the radius of the curvature path of the trailer, the steering commands during reverse movement of the vehicle-trailer combination are limited to those provided by the control module.
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Abstract
The trailer backup assist system has a human machine interface coupled to a controller having a setup module, a calibration module, an activation module and a control module configured to receive trailer measurements, apply trailer measurements, activate and control vehicle systems to calibrate and implement a curvature control algorithm that controls the reverse movement of the vehicle-trailer combination in a manner consistent with a driver request.
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Citations
25 Claims
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1. A trailer backup assist system for use on a vehicle having an attached trailer comprising:
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a human machine interface device in communication with a controller; a setup module receiving trailer measurements at the controller; a calibration module applying the trailer measurements to calibrate a curvature control algorithm associated with the trailer backup assist system and to calibrate a hitch angle sensor associated with the trailer backup assist system; an activation module for activating a steering system on the vehicle during reverse movement of the vehicle-trailer combination; a trailer backup steering input apparatus having a rotatable control element positionable at a zero curvature command position defined by backward movement of the trailer along a substantially straight path defined by a centerline longitudinal axis of the trailer and positionable at positions within opposing rotational ranges of motion relative to the zero curvature commanding position and generating driver request for a trailer path curvature command that is a function of at least one of an amount of rotation of the rotatable control element with respect to the zero curvature commanding position, a rate movement of the rotatable control element, and a direction of movement of the rotatable control element with respect to the zero curvature commanding position; and a control module to receive the driver request, implement the curvature control algorithm, provide steering commands to the steering system to control the reverse movement of the vehicle-trailer combination in a manner consistent with the driver request, and implement a jackknife counter-measure by altering at least one vehicle operating parameter that increases a radius of a curvature path of the trailer and inhibits a decrease in the radius of the curvature path of the trailer, the steering commands during reverse movement of the vehicle-trailer combination are limited to those provided by the control module. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for implementing a trailer backup assist system on a vehicle having an attached trailer, the method carried out in a controller associated with the trailer backup assist system and comprising the steps of:
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receiving trailer measurements representative of distances on the trailer, on the vehicle and between the trailer and the vehicle; calibrating a curvature control algorithm and a hitch angle sensor associated with the trailer backup assist system in accordance with the received trailer measurements; activating a steering system on the vehicle after calibrating the curvature control algorithm and the hitch angle sensor; receiving a driver request to control reverse movement of the vehicle-trailer combination according to a desired trailer path curvature, the driver request being a function of an amount of rotation of a rotatable control element with respect to a zero curvature commanding position defined by backward movement of the trailer along a substantially straight path defined by a centerline longitudinal axis of the trailer, a rate of movement of the rotatable control element, and a direction of movement of the rotatable control element; and implementing the curvature control algorithm to provide steering commands to the steering system in response to the driver request, the steering commands during reverse movement of the vehicle-trailer combination are limited to those provided by the curvature control algorithm. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A trailer backup assist system on a vehicle having an attached trailer comprising:
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a human machine interface device in communication with a controller; a setup module for receiving trailer measurements at the controller, a calibration module applying the trailer measurements to calibrate a curvature control algorithm and a hitch angle sensor associated with the trailer backup assist system; an activation module for activating a steering system on the vehicle during reverse movement of the vehicle-trailer combination; a rotatable control element positionable at a zero curvature command position defined by backward movement of the trailer along a substantially straight path defined by a centerline longitudinal axis of the trailer and at positions within opposing rotational ranges of motion relative to the zero curvature commanding position, the rotatable control element generates a driver request as a function of at least one amount of rotation of the rotational control element, a rate of movement of the rotatable control element and a direction of movement of the rotatable control element; and a control module to receive the driver request for a trailer path curvature command, implement the curvature control algorithm and provide steering commands to the steering system in response to the driver request to control the reverse movement of the vehicle-trailer combination in a manner consistent with the driver request, the steering commands during reverse movement of the vehicle-trailer combination being limited by those provided by the control module. - View Dependent Claims (24, 25)
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Specification