Method for determining a maximum speed limit for a reversing vehicle combination

• US 9,849,910 B2
• Filed: 12/10/2012
• Issued: 12/26/2017
• Est. Priority Date: 12/10/2012
• Status: Active Grant

• Current Assignee: Volvo Truck Corporation (Volvo AB)
• Original Assignee: Volvo Truck Corporation (Volvo AB)
• Inventors: Hoel, Carl-Johan, Tagesson, Kristoffer
• Primary Examiner(s): Mawari, Redhwan K
• Assistant Examiner(s): King, Rodney P
• Application Number:
  US14/648,749
• Publication Number:
  US 20150298738A1
• Time in Patent Office: 1,842 Days
• Field of Search: 701 41, 701 42
• CPC Class Codes: B60T 2230/06 Tractor-trailer swaying
• CPC Class Codes: B60T 8/1708 for lorries or tractor-trailer combinations
• 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 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 30/146 Speed limiting
• CPC Class Codes: B60W 30/18036 Reversing
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/0295 by overlaying a vehicle path based on present steering angle over an image without processing that image

Abstract

A method is provided for determining a maximum speed limit for a reversing vehicle combination that includes a towing vehicle and at least one towed trailer. The method includes determining a maneuver that is to be performed by the vehicle combination, simulating the complete maneuver in advance by using a control algorithm and a state space model, thereby obtaining the steering behavior of the vehicle combination during the maneuver, and calculating the maximum speed limit for the vehicle combination during the maneuver by using at least one predefined limiting condition. A maximum speed limit for a reverse assistance function can be estimated in advance, which allows for a faster and more efficient reversing of the vehicle combination, and at the same time allows for an improved comfort for the driver.

Claims

1. A method for determining a maximum speed limit for a reversing vehicle combination comprising a towing vehicle and at least one towed trailer, where the towing vehicle is provided with an automatic reverse assistance function, comprising:

determining a manoeuvre that is to be performed by the vehicle combination, where the manoeuvre consists of a predefined path determined in advance prior to initiating the manoeuvre such that the vehicle will avoid obstacles when reversing,

simulating the complete manoeuvre in advance prior to initiating the manoeuvre by using a control algorithm and a state space model, thereby obtaining the steering behaviour of the vehicle combination during the manoeuvre,

calculating the maximum speed limit for the vehicle combination during the manoeuvre by using at least one predefined limiting condition, using the simulation of the complete manoeuvre, and

controlling a vehicle speed with a non-transitory controller in accordance with the calculated maximum speed during the manoeuvre.

2. Method according to claim 1, wherein the manoeuvre is divided into sub-paths, and that a maximum speed limit is calculated for each sub-path, such that a maximum speed profile is obtained for the complete manoeuvre.

3. Method according to claim 2, wherein each sub-path is defined as a path segment in which the steering angle has the same sign.

4. Method according to claim 2, wherein each sub-path is defined by a predefined time interval.

5. Method according to claim 2, wherein each sub-path is defined by a predefined distance.

6. Method according to claim 1, wherein the each simulation point is assigned a maximum speed value, such that a continuous maximum speed profile is obtained for the complete manoeuvre.

7. Method according to claim 1, wherein the limiting condition is the properties of the steering actuator of the towing vehicle.

8. Method according to claim 1, wherein the limiting condition is the braking capacity of the vehicle combination.

9. Method according to claim 1, wherein the limiting condition is a measure corresponding to a comfort level of the driver.

10. Method according to claim 9, wherein the limiting condition is the lateral acceleration of the cab of the towing vehicle.

11. Method according to claim 1, wherein the maximum allowed speed during the manoeuvre is limited by a predefined set speed limit.

12. Method according to claim 1, wherein the manoeuvre that is to be performed is selected from a number of stored manoeuvres.

13. Method according to claim 1, wherein the calculated speed limit is used as an upper limit speed value for a reverse assistance function in which the driver controls the speed.

14. A method for determining a maximum speed limit for a reversing vehicle combination comprising a towing vehicle and at least one towed trailer, where the towing vehicle is provided with an automatic reverse assistance function, comprising:

determining a manoeuvre that is to be performed by the vehicle combination, where the manoeuvre consists of a predefined path determined in advance prior to initiating the manoeuvre such that the vehicle will avoid obstacles when reversing,

simulating the complete manoeuvre in advance prior to initiating the manoeuvre by using a control algorithm and a state space model, thereby obtaining the steering behaviour of the vehicle combination during the manoeuvre,

calculating the maximum speed limit for the vehicle combination during the manoeuvre by using at least one predefined limiting condition, using the simulation of the complete manoeuvre, and

informing a vehicle operator of the calculated maximum speed during the manoeuvre.