Offset compensation for trailer backup assist steering input device

• US 9,517,794 B2
• Filed: 07/30/2014
• Issued: 12/13/2016
• Est. Priority Date: 04/19/2011
• 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
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): ODEH, NADEEM N
• Application Number:
  US14/447,184
• Publication Number:
  US 20140343795A1
• Time in Patent Office: 867 Days
• Field of Search: 701/41, 701/42
• US Class Current: 1/1
• CPC Class Codes: B60K 2360/126 Rotatable input devices for instruments
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2300/14 Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/22 Articulation angle, e.g. between tractor and trailer
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• CPC Class Codes: B60W 2720/22 Articulation angle, e.g. between tractor and trailer
• CPC Class Codes: B60W 30/18036 Reversing
• 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 trailer backup assist system for a vehicle reversing a trailer, according to one embodiment, includes a sensor that senses a hitch angle between the vehicle and the trailer. The trailer backup assist system may also include a steering input device, such as a rotatable knob, that is movable between a plurality of positions that each provide a desired curvature of the trailer. In addition, the trailer backup assist system may include a controller that determines an offset of the desired curvature when the knob is stationary in a central position. The control then generates a steering command for the vehicle to guide the trailer on the desired curvature, taking into consideration the offset.

Claims

1. A trailer backup assist system for a vehicle reversing a trailer, comprising:

a knob disposed in the vehicle and having a position indicator, the knob rotatable from a biased position to a number of positions, each position of the knob outputting a signal aligned with the position indicator and indicative of a desired curvature for a backup path of the vehicle and the trailer; and

a controller configured to;

determine a signal offset when the knob is returned to the biased position and the signal outputted from the knob is out of alignment with the position indicator;

apply the signal offset to the outputted signal such that the outputted signal is realigned with the position indicator; and

generate a steering command for the vehicle to guide the trailer on the desired curvature according to the outputted signal to which the signal offset was applied.

2. The trailer backup assist system of claim 1, wherein the knob is spring biased to the biased position and rotatable therefrom in a clockwise direction or a counterclockwise direction.

3. The trailer backup assist system of claim 1, wherein the knob is spring biased to the biased position and wherein when the signal outputted from the biased position is in alignment with the position indicator, the signal provides a zero curvature value for backing the vehicle and the trailer along a straight trajectory.

4. The trailer backup assist system of claim 1, further comprising:

a torque sensor coupled with the knob, wherein the controller determines the knob is in the biased position when the torque sensor fails to sense external torque on the knob and the controller determines that a rate of rotation of the knob is within a threshold range including.

5. The trailer backup assist system of claim 4, wherein the threshold range is between and inclusive of positive 0.5 degrees per second and negative 0.5 degrees per second.

6. A trailer backup assist system for a vehicle reversing a trailer, comprising:

a steering input device disposed in the vehicle and having a position indicator, the steering input device movable from a biased position to a number of positions, each position of the steering input device outputting a signal aligned with the position indicator and indicative of a desired curvature for a backup path of the vehicle and the trailer; and

a controller configured to;

determine a signal offset when the steering input device is returned to the biased position and the signal outputted from the knob is out of alignment with the position indicator;

apply the signal offset to the signal such that the signal is realigned with the position indicator; and

generate a steering command for the vehicle to guide the trailer on the desired curvature according to the signal to which the signal offset was applied.

7. The trailer backup assist system of claim 6, wherein the steering input device includes a knob that is spring biased to the biased position and is rotatable therefrom in a clockwise direction or a counterclockwise direction.

8. The trailer backup assist system of claim 6, wherein the steering input device includes a knob that is spring biased to the biased position and wherein when the signal outputted from the biased position is in alignment with the position indicator, the signal provides a zero curvature value for backing the vehicle and the trailer along a straight trajectory.

9. The trailer backup assist system of claim 6, further comprising:

a torque sensor coupled with the knob, wherein the controller determines the knob is in the biased position when the torque sensor fails to sense external torque on the knob and the controller determines that a rate of rotation of the knob is within a threshold range including zero.

10. The trailer backup assist system of claim 9, wherein the threshold range is between and inclusive of positive 0.5 degrees per second and negative 0.5 degrees per second.

11. A method for reversing a vehicle attached to a trailer, comprising:

providing a knob inside the vehicle and having a position indicator, the knob rotatable from a biased position to a number of positions, each position of the knob outputting a signal aligned with the position indicator and indicative of a desired curvature for a backup path of the vehicle and the trailer; and

providing a controller configured to;

determine a signal offset when the knob is returned to the biased position and the signal outputted from the knob is out of alignment with the position indicator;

apply the signal offset to the outputted signal such that the outputted signal is realigned with the position indicator; and

generate a steering command for the vehicle to guide the trailer on the desired curvature according to the outputted signal to which the signal offset was applied.

12. The method of claim 11, wherein the knob is spring biased to the biased position and rotatable therefrom in a clockwise direction or a counterclockwise direction.

13. The method of claim 11, wherein the knob is spring biased to the biased position, and wherein when the signal outputted from the biased position is in alignment with the position indicator, the signal provides a zero curvature value for backing the vehicle and the trailer along a straight trajectory.

14. The method of claim 11, further comprising:

a torque sensor coupled with the knob, wherein the controller determines the knob is in the biased position when the torque sensor fails to sense external torque on the knob and the controller determines that a rate of rotation of the knob is within a threshold range including zero.

15. The method of claim 14, wherein the rate, of rotation is within a threshold range is between and inclusive of positive 0.5 degrees per second and negative 0.5 degrees per second.