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

• US 9,321,483 B2
• Filed: 07/10/2015
• Issued: 04/26/2016
• 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:
  US14/796,004
• Publication Number:
  US 20150307129A1
• Time in Patent Office: 291 Days
• Field of Search: 701/36, 701/41, 180/9.4, 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 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 controlling the steering and path of a motor vehicle and a trailer connected thereto in a reverse direction of travel, the vehicle having at least one axle with steerable wheels, the vehicle and trailer being connected at a hitch point allowing rotational movement of the trailer relative to the vehicle, the method comprising the steps of:

providing an electronic processing unit configured to provide signals for controlling the steerable wheels via a powered steering system operatively coupled to the steerable wheels;

providing a driver interface for receiving a directional input from a driver related to an intended direction of travel of the trailer relative to the vehicle;

receiving, at the electronic processing unit, the directional input from the driver comprising the intended direction of travel of the trailer relative to the vehicle;

receiving, at the electronic processing unit, information regarding a measure of orientation of the trailer relative to the vehicle;

determining, at the electronic processing unit, whether the measure of orientation deviates from the intended direction of travel of the trailer relative to the vehicle and determining a deviation; and

implementing a path-correcting measure, via the electronic processing unit, to command the powered steering system to steer the wheels to correct the deviation by correcting the orientation of the trailer relative to the vehicle to correspond to the intended direction of travel of the trailer relative to the vehicle.

2. The method of claim 1, wherein the measure of orientation is an angle.

3. The method of claim 1, wherein the driver interface is independent from a steering wheel of the vehicle.

4. The method of claim 1, wherein the intended direction of travel of the trailer relative to the vehicle is different than a straight direction of the trailer relative to the vehicle.

5. The method of claim 4, wherein the intended direction of the trailer relative to the vehicle defines an intended path, the intended path being a curved path.

6. The method of claim 1, wherein the measure of orientation is received from a sensor.

7. The method of claim 6, wherein the sensor comprises a camera.

8. The method of claim 7, wherein the camera detects a rotational position of the trailer relative to the vehicle.

9. The method of claim 7, wherein the camera detects an angle between a trailer tongue and a longitudinal axis of the vehicle.

10. The method of claim 7, wherein the camera detects a position of a portion of the trailer.

11. The method of claim 1, wherein the method is performed in a closed-feedback loop.

12. The method of claim 11, wherein the method being performed in the closed-feedback loop is performed by receiving additional directional input from the driver and the path correcting measure is further implemented in response to the additional driver input.

13. A method of maneuvering a vehicle-trailer unit in reverse travel, the vehicle-trailer unit having a trailer, a vehicle, and a trailer hitch, the trailer being connected to the trailer hitch allowing a swivel movement of the trailer relative to the trailer hitch, the method comprising the steps of:

providing an electronic processing unit configured to provide signals for controlling a powered steering system;

providing at least one sensor connected to the vehicle and configured to send information regarding a position of the trailer relative to the vehicle to the electronic processing unit;

determining an intended position of the trailer relative to the vehicle based upon a driver input that is independent of a vehicle steering wheel;

determining that the vehicle-trailer unit is backing up;

measuring with the at least one sensor a quantity representing the position of the trailer relative to the vehicle;

generating output information from the at least one sensor to the electronic processing unit, wherein the output information is representative of the position of the trailer relative to the vehicle;

comparing the position of the trailer relative to the vehicle with a reference value corresponding to the intended position of the trailer relative to the vehicle using the electronic processing unit;

determining in the electronic processing unit whether the position of the trailer relative to the vehicle deviates from the intended position of the trailer relative to the vehicle and determining a deviation;

implementing a position-correcting measure using the electronic processing unit to command the steering system to correct the deviation by correcting the position of at least one of the vehicle and the trailer while the vehicle-trailer unit is in reverse travel.

14. The method of claim 13, wherein the quantity representing the position of the trailer relative to the vehicle comprises an angle.

15. The method of claim 14, wherein the angle is determined based on a distance between a front of the trailer and a rear of the vehicle at least at a location that is laterally offset from the location of the trailer hitch, by determining the difference between the distance value and a reference distance value.

16. The method of claim 14, wherein the angle represents 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 a straight alignment with the vehicle when the trailer is in the intended position relative to the vehicle.

17. The method of claim 13, wherein the intended position of the trailer relative to the vehicle defines an intended path of the vehicle-trailer unit in reverse travel.

18. The method of claim 17, wherein the intended path is a curved path.

19. The method of claim 13, wherein the position-correcting measure adds a corrective steering angle to an existing steering angle.

20. The method of claim 13, wherein the vehicle has a driver-operable back-up assistance switch, the method including the step of detecting that the switch has been set to activate the method.

21. The method of claim 13, wherein the at least one sensor is a camera.

22. A system for correcting a relative position of a vehicle trailer relative to a vehicle, the system comprising:

a driver input device separate from a vehicle steering wheel, the driver input device configured to be actuated by a vehicle driver to provide information regarding an intended position of the trailer relative to the vehicle;

a sensor configured to provide information regarding an actual position of the trailer relative to the vehicle

an electronic processing unit programmed to receive the information regarding the actual position of the trailer relative to the vehicle and to receive the information regarding the intended position of the trailer relative to the vehicle and further configured to provide signals for controlling a powered steering system to correct the actual position of trailer relative to the vehicle to correspond to the intended position of the trailer relative to the vehicle;

wherein the electronic processing unit is further programmed to compare the information regarding the actual position of the trailer relative to the vehicle with a reference value and determine from the comparison that the trailer deviates from the intended position and, in response thereto, to command the powered steering system to correct the position of at least one of the vehicle and the trailer.

23. The system of claim 22, wherein the information regarding the actual position of the trailer is an angle.

24. The system of claim 23, wherein the angle is determined from a location of a marker.

25. The system of claim 23, wherein the angle is determined from a changing position of a geometric marker.

26. The system of claim 22, wherein the sensor is a camera.

27. The system of claim 22, wherein the intended position of the trailer relative to the vehicle is a rotated position of the trailer relative to the vehicle.

28. The system of claim 27, wherein the rotated position of the trailer relative to the vehicle defines an intended path when the vehicle is traveling in reverse.

29. The system of claim 28, wherein the intended path is a curved path.

30. The system of claim 22 further comprising a switch for activating the system.

31. The system of claim 22, wherein the sensor is a distance sensor.

32. The system of claim 22, wherein the electronic processing unit includes information stored thereon representing geometric information of the vehicle and the trailer, and the electronic processing unit is programmed to calculate a desired vehicle steer angle to achieve the intended position of the trailer relative to the vehicle.

33. The system of claim 22, wherein the electronic processing unit receives the information regarding the intended position of the trailer and commands the powered steering system to achieve the intended position in a closed loop fashion.