Mitigation of input device failure and mode management

• US 9,522,677 B2
• Filed: 12/05/2014
• Issued: 12/20/2016
• Est. Priority Date: 12/05/2014
• 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): Beaulieu, Yonel
• Application Number:
  US14/562,101
• Publication Number:
  US 20160159348A1
• Time in Patent Office: 746 Days
• US Class Current: 1/1
• 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 2520/22 Articulation angle, e.g. between tractor and trailer
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/22 Articulation angle, e.g. between tractor and trailer
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 30/18036 Reversing
• CPC Class Codes: B60W 50/0205 Diagnosing or detecting failures; Failure detection models
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer

Abstract

A trailer backup assist system includes a sensor that senses a hitch angle between a vehicle and a trailer. The trailer backup assist system also includes a steering input device that provides a backing path of the trailer. Further, the trailer backup assist system includes a controller that generates a steering command for the vehicle based on the hitch angle and the backing path. The controller generates a countermeasure for operating the vehicle when the steering input device fails to provide the desired backing path fails or the controller otherwise fails to sense the input signal from the steering input device.

Claims

1. A trailer backup assist system, comprising:

a sensor measuring a hitch angle between a vehicle and a trailer;

a steering input device providing a desired backing path of the trailer; and

a controller generating a steering command for the vehicle based on the desired backing path and the hitch angle and generating a countermeasure for operating the vehicle when the steering input device fails to operate.

2. The trailer backup assist system of claim 1, wherein the steering input device is operable between a plurality of selections that each define the desired backing path of the trailer, wherein the desired backing path is defined by a curvature of the trailer.

3. The trailer backup assist system of claim 1, wherein the countermeasure includes at least one of a braking command, a powertrain command, and a steering command.

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

a steering wheel of the vehicle for commanding a steering angle of the vehicle, wherein the controller disengages the countermeasure when an external torque is applied to the steering wheel.

5. The trailer backup assist system of claim 3, wherein a steering wheel includes a torque sensor for sensing an internal torque applied by a power assist steering system and an external torque applied by a driver of the vehicle.

6. The trailer backup assist system of claim 1, wherein the countermeasure is configured to prevent a jackknife condition.

7. The trailer backup assist system of claim 1, wherein the steering input device includes a rotatable knob having a first position providing a substantially straight backing path as defined by the trailer, and a plurality of rotated positions on opposing sides of the first position providing curved backing paths with varying degrees of curvature.

8. An input failure mitigation system for a vehicle reversing a trailer, comprising:

a steering input module providing a desired backing path of the trailer; and

a controller detecting failure of the steering input module to provide the desired backing path, engaging a countermeasure when the steering input module fails to operate, and disengaging the countermeasure upon a driver intervention to operate the vehicle.

9. The input failure mitigation system of claim 8, wherein the controller generates a steering command for the vehicle to guide the trailer along the backing path based on a sensed hitch angle and a kinematic relationship between the vehicle and the trailer.

10. The input failure mitigation system of claim 8, further comprising:

a steering wheel for directly controlling a steering angle of the vehicle, wherein the controller disengages the countermeasure when an external torque is sensed on the steering wheel.

11. The input failure mitigation system of claim 10, wherein the steering wheel includes a torque sensor for sensing an internal torque applied by a steering system of the vehicle and the external torque applied by a driver of the vehicle for manually steering the vehicle.

12. The input failure mitigation system of claim 8, wherein the steering input module includes a rotatable knob configured to provide a curvature of the trailer, defining the desired backing path.

13. The input failure mitigation system of claim 8, wherein the countermeasure includes at least one of a braking command, a powertrain command, and a steering command, and wherein the countermeasure is configured to prevent a jackknife condition.

14. The input failure mitigation system of claim 8, wherein the driver intervention includes at least one of sensing an external steering torque on a steering wheel and sensing a braking command.

15. The input failure mitigation system of claim 14, further comprising:

a brake control system of the vehicle that senses when a brake pedal is depressed to define the braking command.

16. A method for mitigating input failure of a trailer backup assist system, comprising;

providing a desired backing path of a trailer reversed by a vehicle;

generating a steering command for the vehicle based on the desired backing path;

generating a countermeasure command for the vehicle when the desired backing path fails to operate; and

disengaging the countermeasure command upon a driver intervention.

17. The method of claim 16, wherein the driver intervention includes at least one of sensing an external steering torque on a steering wheel and sensing a braking command on a brake pedal.

18. The method of claim 16, further comprising:

sensing a hitch angle between the vehicle and the trailer, wherein the steering command is generated based on the desired backing path, the hitch angle, and a kinematic relationship between the vehicle and the trailer.

19. The method of claim 16, wherein the desired backing path is provided using a steering input device that includes a rotatable knob configured to provide a curvature of the trailer.

20. The method of claim 16, wherein the countermeasure includes at least one of a braking command, a powertrain command, and a steering command.