Control modes for a trailer backup assist system

• US 9,592,851 B2
• Filed: 06/23/2014
• Issued: 03/14/2017
• 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
• Primary Examiner(s): Cheung, Mary
• Application Number:
  US14/312,021
• Publication Number:
  US 20150367886A1
• Time in Patent Office: 995 Days
• US Class Current: 1/1
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/0275 by overlaying a vehicle path based on present steering angle over an image without processing that image

Abstract

A trailer backup assist system, according to one embodiment, provides a sensor that senses a hitch angle between a trailer and a vehicle. The trailer backup assist system also provides a selection device for selecting a longitudinal direction of the trailer or the vehicle in a static orientation. Further, the trailer backup assist system provides a controller that generates a steering command to the vehicle when reversing based on the hitch angle to guide the trailer in the selected longitudinal direction. The controller determines a kinematic relationship of the trailer and the vehicle based on a length of the trailer and a wheelbase of the vehicle, whereby the steering command is generated based on the kinematic relationship.

Claims

1. A method for reversing a trailer with a vehicle, comprising:

placing the vehicle and trailer in a static orientation;

providing a mode selection device for selecting between a trailer straight routine and a vehicle straight routine;

based on the selection, generating a reference path in line with longitudinal direction of the trailer or vehicle in the static orientation; and

autonomously steering the vehicle to guide the trailer on the reference path.

2. The method of claim 1, wherein if the trailer straight routine is selected, the reference path is in line with the longitudinal direction of the trailer in the static orientation, and wherein if the vehicle straight routine is selected, the reference path is in line with the longitudinal direction of the vehicle in the static orientation.

3. The method of claim 2, further comprising generating steering commands to place the longitudinal direction of the vehicle and trailer on the reference path if the trailer straight routine is selected and the longitudinal direction of the vehicle is misaligned with the generated reference path.

4. The method of claim 2, further comprising generating steering commands to place the longitudinal direction of the vehicle and trailer on the reference path if the vehicle straight routine is selected and the longitudinal direction of the trailer is misaligned with the generated reference path.

5. The method of claim 1, further comprising providing a steering input device for adjusting the reference path.

6. The method of claim 1, wherein the vehicle is steered based on a sensed hitch angle and a kinematic relationship between the vehicle and trailer, wherein the kinematic relationship includes a length of the trailer, a wheelbase of the vehicle, and a distance from a hitch connection to a rear axle of the vehicle.

7. A method for reversing a trailer with a vehicle, comprising:

providing a mode selection device for selecting between a trailer straight routine, a vehicle straight routine, and a curvature routine;

based on the selection, generating a reference path in line with a longitudinal direction of the trailer or vehicle in a static orientation, or based on a hitch angle between the trailer and vehicle in the static orientation; and

steering the vehicle to guide the trailer on the reference path.

8. The method of claim 7, wherein a backup maneuver is defined by reversing movement of the vehicle from the static orientation, and wherein the vehicle is steered in the backup maneuver to guide the trailer on the reference path.

9. The method of claim 8, further comprising:

determining an orientation of the trailer relative to the reference path in the backup maneuver based on the hitch angle, a steering angle of the vehicle, and a wheel speed of the vehicle.

10. The method of claim 9, wherein the orientation of the trailer relative to the reference path is used to generate a steering angle command for the vehicle to guide the trailer on the reference path.

11. The method of claim 7, wherein if the trailer straight routine is selected, the reference path is in line with the longitudinal direction of the trailer in the static orientation, wherein if the vehicle straight routine is selected, the reference path is in line with the longitudinal direction of the vehicle in the static orientation, and wherein if the curvature routine is selected, the reference path is based on the hitch angle.

12. The method of claim 11, further comprising generating steering commands to place the longitudinal direction of the vehicle and trailer on the reference path if the trailer straight routine is selected and the longitudinal direction of the vehicle is misaligned with the generated reference path.

13. The method of claim 11, further comprising generating steering commands to place the longitudinal direction of the vehicle and trailer on the reference path if the vehicle straight routine is selected and the longitudinal direction of the trailer is misaligned with the generated reference path.

14. The method of claim 11, further comprising generating steering commands to place the vehicle and trailer on the reference path if the curvature routine is selected, wherein the reference path is a circulatory path defined by the hitch angle.

15. The method of claim 7, further comprising providing a steering input device for adjusting the reference path.

16. A trailer backup assist system, comprising:

a mode selection device for selecting between a trailer straight routine and a vehicle straight routine; and

a controller generating a reference path based on the selection and in line with a longitudinal direction of the trailer or vehicle in a static orientation, the controller further generating a steering command to the vehicle when reversing to guide the trailer on the reference path.

17. The trailer backup assist system of claim 16, further comprising:

a positioning device determining a position of the trailer relative to the reference path for generating the steering angle command to guide the trailer on the reference path.

18. The trailer backup assist system of claim 17, wherein the position of the trailer relative to the reference path is determined based on a hitch angle between the trailer and vehicle, a steering angle of the vehicle, and a wheel speed of the vehicle.

19. The trailer backup assist system of claim 16, wherein the controller determines a kinematic relationship of the trailer and the vehicle based on a length of the trailer and a wheelbase of the vehicle, whereby the steering command is generated based on the kinematic relationship.

20. The trailer backup system of claim 16, wherein a curvature routine is selectable using the mode selection device, wherein if the trailer straight routine is selected, the reference path is in line with the longitudinal direction of the trailer in the static orientation, wherein if the vehicle straight routine is selected, the reference path is in line with the longitudinal direction of the vehicle in the static orientation, and wherein if the curvature routine is selected, the reference path is based on a hitch angle between the trailer and vehicle.