Maximum trailer angle determination and control for a trailer backup assist system

• US 9,296,423 B2
• Filed: 07/06/2014
• Issued: 03/29/2016
• 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: Rupp, Matt Y., Smit, David Dean, Trombley, Roger Arnold, Pilutti, Thomas Edward, Lavoie, Erick Michael, Nave, Christopher Scott, Shutko, John, Mayer, Kenneth Michael, Frey, Martin Fitzpatrick, Rhode, Douglas Scott
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): SMITH-STEWART, DEMETRA R
• Application Number:
  US14/324,219
• Publication Number:
  US 20140379217A1
• Time in Patent Office: 632 Days
• US Class Current: 1/1
• 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

The trailer backup assist system has a human machine interface coupled to a controller having a setup module, a calibration module, an activation module and a control module configured to receive trailer measurements, apply trailer measurements, activate and control vehicle systems to calibrate and implement a curvature control algorithm that controls the reverse movement of the vehicle-trailer combination in a manner consistent with a driver request. When incorrect trailer measurements have been entered, the trailer backup assist system recognizes the error, initiates a warning and requests corrective action to correct the trailer measurements. Default values for a maximum controllable curvature limit and a maximum controllable angle replace the limits calculated and applied by the calibration model that used incorrect trailer measurements, until corrected trailer measurements may be entered by the driver.

Claims

1. A trailer backup assist system on a vehicle having an attached trailer, the system comprising:

a human machine interface device in communication with a controller of the trailer backup assist system;

a setup module receiving trailer measurements entered at the human machine interface by a driver;

a calibration module applying the trailer measurements received by the setup module to calculate a maximum controllable curvature limit, a critical hitch angle and calibrate a curvature control algorithm associated with the trailer backup assist system;

an activation module for activating a steering system on the vehicle during reverse movement of the vehicle-trailer combination;

a trailer backup steering input apparatus having a rotatable control element positionable at a zero curvature command position and at positions within opposing rotational ranges of motion relative to the zero curvature commanding position and generating driver request for a trailer path curvature command that is less than the calculated maximum controllable curvature limit and is a function of at least one of an amount of rotation of the rotatable control element with respect to the zero curvature commanding position, a rate movement of the rotatable control element, and a direction of movement of the rotatable control element with respect to the zero curvature commanding position; and

a control module to receive the driver request, implement the curvature control algorithm, provide steering commands to the steering system to control the reverse movement of the vehicle-trailer combination in a manner consistent with the driver request, and implement a jackknife counter-measure by altering at least one vehicle operating parameter that increases a radius of a curvature path of the trailer and inhibits a decrease in the radius of the curvature path of the trailer, the steering commands during reverse movement of the vehicle-trailer combination are limited to those provided by the control module;

the control module to monitor an output of a steering angle sensor and detect a maximum vehicle steering angle, the control module to monitor an output of the hitch angle sensor and upon detection of an increasing output of the hitch angle sensor while the vehicle steering angle is at the maximum vehicle steering angle, the control module to reset the calculated maximum controllable curvature limit for the curvature control algorithm with a default maximum controllable curvature limit.

2. The system as claimed in claim 1 further comprising the control module to reset the critical hitch angle to a default maximum controllable angle.

3. The system as claimed in claim 1 further comprising the control module to implement a warning to the driver when the calculated maximum controllable curvature limit is reset.

4. The system as claimed in claim 3 further comprising the warning to the driver being displayed at the human machine interface.

5. The system as claimed in claim 4 wherein the setup module further comprises a menu displayed by the human machine interface device that provides an opportunity to revise the trailer measurements received by the setup module.

6. The system as claimed in claim 3 further comprising the warning to the driver being wirelessly transmitted to a portable device.

7. The system as claimed in claim 3 wherein the warning further comprises instructions to enter corrected trailer measurements, the corrected trailer measurements being entered by the driver, received by the setup module, and applied by the calibration module.

8. The system as claimed in claim 3 further comprising instructions to the driver to apply a corrective action.

9. The system as claimed in claim 8 wherein the corrective action is to pull the vehicle forward and prompt the driver to enter corrected trailer measurements.

10. A method for implementing a trailer backup assist system on a vehicle having an attached trailer, the method carried out in a controller associated with the trailer backup assist system and comprising the steps of:

receiving trailer measurements representative of representative of dimensions on the trailer, on the vehicle and between the trailer and the vehicle;

calculating a maximum controllable curvature and a critical hitch angle using the received trailer measurements;

calibrating a curvature control algorithm and a hitch angle sensor associated with the trailer backup assist system in accordance with the received trailer measurements, the calculated maximum controllable curvature limit, the calculated critical hitch angle, and a maximum vehicle steering angle;

activating a steering system on the vehicle after calibrating the curvature control algorithm and the hitch angle sensor;

receiving a driver request to control reverse movement of the vehicle-trailer combination according to a desired trailer path curvature;

implementing the curvature control algorithm to provide steering commands to the steering system in response to the driver request, the steering commands during reverse movement of the vehicle-trailer combination are limited to those provided by the curvature control algorithm;

monitoring a vehicle steering angle sensor to detect when the vehicle has reached the maximum vehicle steering angle;

monitoring the hitch angle sensor to determine when a hitch angle is increasing while the vehicle is being steered at the maximum vehicle steering angle; and

replacing the calculated maximum controllable curvature with a default maximum controllable curvature limit;

re-calibrating the curvature control algorithm using the default maximum controllable curvature limit; and

initiating a warning to the driver that the received trailer measurements used in calibrating the curvature control algorithm are incorrect.

11. The method as claimed in claim 10 further comprising the step of replacing the critical hitch angle with a default maximum controllable angle and the step of re-calibrating the curvature control algorithm further comprises re-calibrating the curvature control algorithm with the default maximum controllable angle.

12. The method as claimed in claim 10 wherein the step of initiating a warning to the driver further comprises displaying the warning on a human machine interface on the vehicle.

13. The method as claimed in claim 10 wherein the step of initiating a warning to the driver further comprises wirelessly communicating the warning to a portable device.

14. The method as claimed in claim 10 wherein the step of initiating a warning further comprises a instructing the driver that a corrective action is required.

15. The method as claimed in claim 14 wherein the step of instructing the driver further comprises instructing the driver to pull the vehicle forward and enter corrected trailer measurements.

16. The method as claimed in claim 15 further comprising the step of re-calibrating the curvature control algorithm using corrected trailer measurements.

17. A trailer backup assist system on a vehicle having an attached trailer comprising:

a human machine interface device in communication with a controller;

a setup module to receive trailer measurements at the controller;

a calibration module to apply the trailer measurements to calibrate a curvature control algorithm according to a calculated maximum controllable curvature limit and a calculated critical hitch angle calculated using the received trailer measurements;

an activation module to activate a steering system on the vehicle during reverse movement of the vehicle-trailer combination;

a control module to receive a driver request for a trailer path curvature command, to implement the curvature control algorithm and to provide steering commands to the steering system in response to the driver request to control the reverse movement of the vehicle-trailer combination in a manner consistent with the driver request, the steering commands during reverse movement of the vehicle-trailer combination being limited by those provided by the calculated maximum controllable curvature;

the control module to monitor an output of the steering angle sensor to detect when the vehicle is being steered at a maximum vehicle steering angle;

the control module to monitor an output of the hitch angle sensor to detect when the hitch angle continues to increase despite the vehicle being steered at the maximum vehicle steering angle; and

the control module to initiate a warning to the driver in response to detecting the hitch angle continues to increase while the vehicle is being steered at the maximum vehicle steering angle.

18. The system as claimed in claim 17 further comprising the control module to replace the calculated maximum controllable curvature with a default maximum controllable curvature.

19. The system as claimed in claim 18 further comprising the control module to replace the calculated critical hitch angle with a default maximum controllable angle.

20. The system as claimed in claim 17 further comprising the control module to instruct the driver to apply corrective measures.

21. The system as claimed in claim 20 wherein the corrective measures further comprise pulling the vehicle forward and entering corrected trailer measurements to be received at the setup module.

22. The system as claimed in claim 20 wherein the control module instructs the driver by way of a display at a human machine interface on the vehicle.

23. The system as claimed in claim 20 wherein the control module instructs the driver by way of wirelessly communicating with a portable device.