Object avoidance for a trailer backup assist system

• US 9,511,799 B2
• Filed: 06/20/2014
• Issued: 12/06/2016
• 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
• Primary Examiner(s): Cheung, Mary
• Application Number:
  US14/310,039
• Publication Number:
  US 20140303847A1
• Time in Patent Office: 900 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, includes a steering input device for inputting a desired backing path of a trailer. The trailer backup assist system also includes a first sensor that senses a hitch angle between a vehicle and the trailer. Further, the trailer backup assist system includes a second sensor that senses a proximity of an object in a perimeter field of at least one of the vehicle and the trailer. A controller of the trailer backup assist system generates an available set of backing paths for the trailer based on the proximity of the object and the hitch angle. The available set of backing paths does not include backing paths that cross a space occupied by the object or that cause a jackknife condition between the vehicle and the trailer.

Claims

1. A trailer backup assist system, comprising:

a display showing a plurality of paths of a trailer;

a controller limiting the plurality of paths to an available set based on a proximity of an object in a perimeter field and a hitch angle between a vehicle and the trailer, wherein paths excluded from the available set are discernable on the display; and

a steering input device inputting a desired backing path selected from the available set, wherein the vehicle is steered according to the selected desired backing path.

2. The trailer backup assist system of claim 1, wherein the available set of the plurality of paths is generated by removing backing paths that cross a space occupied by the object.

3. The trailer backup assist system of claim 1, wherein the available set of the plurality of paths is generated by removing backing paths that cause a jackknife condition between the vehicle and the trailer.

4. The trailer backup assist system of claim 1, wherein the controller generates a forward maneuver for the vehicle when there are no backing paths in the available set.

5. The trailer backup assist system of claim 4, wherein the forward maneuver actuates an automatic transmission of the vehicle to a drive mode and generates steering commands for the vehicle to position the vehicle and the trailer in a location that provides at least one backing path in the available set.

6. The trailer backup assist system of claim 1, wherein the object includes at least one of a hazard area, a structure, another vehicle, and a natural object.

7. The trailer backup assist system of claim 1, wherein the steering input device includes an override command for inputting a desired backing path that is not in the available set.

8. The trailer backup assist system of claim 1, wherein the controller provides a notification to a driver of the vehicle when an attempted input with the steering input device is not in the available set.

9. The trailer backup assist system of claim 1, wherein the controller is configured to generate images on the display showing the vehicle, the trailer, and the object.

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

generating a plurality of backing paths for the trailer;

displaying the plurality of backing paths on a display;

determining an available set of backing paths from the plurality of backing paths based on a proximity of an object and a hitch angle;

highlighting backing paths excluded from the available set; and

steering the vehicle using a desired backing path selected from the available set.

11. The method of claim 10, further comprising:

generating an alert when the proximity of the object reduces the available set of backing paths for the trailer.

12. The method of claim 10, wherein the available set of backing paths is generated by removing paths that cross a space occupied by the object and paths that cause a jackknife condition between the vehicle and the trailer.

13. The method of claim 10, further comprising:

generating a forward maneuver for the vehicle when there are no paths in the available set of backing paths, wherein the forward maneuver monitors the position of the vehicle and the trailer for providing a notification when at least one backing path is in the available set.

14. The method of claim 10, further comprising:

generating images on the display showing the vehicle, the trailer, and the object.

15. The method of claim 14, wherein the display includes images representing the available set of backing paths and the desired backing path.

16. A trailer backup assist system, comprising:

a controller generating an available set of backing paths for a trailer and a vehicle, the available set excluding backing paths crossing a space occupied by an object or causing a jackknife condition, and

a steering input device for inputting a desired backing path selected from the available set, the steering input device including an override command for inputting a desired backing path excluded from the available set, wherein the vehicle is steered according to the selected desired backing path.

17. The trailer backup assist system of claim 16, wherein the controller generates a forward maneuver for the vehicle when there are no backing paths in the available set, wherein the forward maneuver monitors a hitch angle and the object for providing a notification when at least one backing path is in the available set.

18. The trailer backup assist system of claim 16, wherein the steering input device includes a knob that is rotatable to define the desired backing path, such that a first position of the knob has a different curvature than a rotated second position.

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

a display for viewing by a driver of the vehicle, wherein the controller generates images on the display showing a position of the vehicle and the trailer relative to the object.

20. The trailer backup assist system of claim 19, wherein the controller generates an image on the display indicative of the available set of backing paths and backing paths excluded from the available set.