Trailer backup assist system with adaptive steering angle limits

• US 9,522,699 B2
• Filed: 02/05/2015
• Issued: 12/20/2016
• Est. Priority Date: 02/05/2015
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Raad, Joseph M., Mattern, Donald Jacob
• Primary Examiner(s): Dager, Jonathan M
• Application Number:
  US14/614,443
• Publication Number:
  US 20160229451A1
• Time in Patent Office: 684 Days
• Field of Search: None
• 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
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence

Abstract

A trailer backup assist system includes a sensor that measures a hitch angle between a vehicle and a trailer. A steering system controls a steering angle of the vehicle between physical angle limits. A controller of the trailer backup assist system generates adaptive angle limits based on a maximum hitch angle rate and generates a steering command within the physical and adaptive angle limits for the vehicle to guide the trailer on a desired curvature.

Claims

1. A trailer backup assist system, comprising:

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

a steering system controlling a steering angle of the vehicle between physical angle limits; and

a controller generating adaptive angle limits from a substantially linear function based on a hitch angle rate and generating a steering command based on a most restrictive of the physical and adaptive angle limits for the vehicle to guide the trailer on a desired curvature.

2. The trailer backup assist system of claim 1, wherein the adaptive angle limits are generated based on the maximum hitch angle rate, the hitch angle, and a reversing speed of the vehicle.

3. The trailer backup assist system of claim 1, wherein the maximum hitch angle rate is preset based on a controllable steering angle rate of the vehicle.

4. The trailer backup assist system of claim 1, wherein the adaptive angle limits are within the physical angle limits of the steering system.

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

a speed sensor sensing a speed of the vehicle, wherein the maximum hitch angle rate is continuously regenerated based on the speed of the vehicle.

6. The trailer backup assist system of claim 1, wherein the adaptive steering angle limits prevent the steering angle from creating a hitch angle rate that cannot be recovered by the steering system.

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

a secondary steering input device in the vehicle providing the desired curvature of the trailer attached to the vehicle.

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

a vision-based hitch angle sensor measuring the hitch angle, wherein the adaptive angle limits are continuously regenerated based on a speed of the vehicle and the hitch angle.

9. A trailer backup assist system, comprising:

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

a speed sensor sensing a speed of the vehicle;

a steering system controlling a steering angle of the vehicle; and

a controller generating an adaptive limit of the steering angle defining a substantially linear function based on a maximum hitch angle rate.

10. The trailer backup assist system of claim 9, wherein the controller generates a steering command within the adaptive limit of the steering angle for the vehicle to guide the trailer on a desired curvature.

11. The trailer backup assist system of claim 10, wherein the steering command is generated to prevent the hitch angle from approaching a jackknife condition.

12. The trailer backup assist system of claim 9, wherein the steering system is prevented from adjusting the steering angle beyond physical angle limits, and wherein the adaptive limit of the steering angle is within the physical angle limits.

13. The trailer backup assist system of claim 9, wherein the maximum hitch angle rate is preset based on a controllable rate of adjusting the steering angle the vehicle.

14. The trailer backup assist system of claim 9, wherein the maximum hitch angle rate is continuously regenerated based on the speed of the vehicle.

15. The trailer backup assist system of claim 9, wherein the adaptive steering angle limits prevent the steering angle from creating an unrecoverable hitch angle rate.

16. The trailer backup assist system of claim 9, wherein the hitch angle sensor includes a camera on the vehicle that monitors the trailer to measure the hitch angle.

17. The trailer backup assist system of claim 9, further comprising:

a steering input device providing a desired curvature of the trailer, wherein the controller generates a steering command within the adaptive limit of the steering angle and based on a kinematic relationship of the vehicle and the trailer to guide the trailer on the desired curvature.

18. A method, comprising:

sensing a hitch angle between a vehicle and a trailer;

sensing a speed of the vehicle;

generating adaptive steering angle limits for the vehicle based on a maximum hitch angle rate, the speed, and the hitch angle within physical angle limits; and

setting a steering angle of the vehicle to the physical steering angle limit if a desired steering angle is outside of the physical limits.

19. The method of claim 18, wherein the steering angle of the vehicle is set to the physical and adaptive steering angle closest to a desired steering angle when the desired steering angle is within the physical limits.

20. The method of claim 18, further comprising:

generating a steering command within the physical and adaptive angle limits for the vehicle to guide the trailer on a desired curvature.