Topographical integration for trailer backup assist system

• US 9,616,923 B2
• Filed: 03/03/2015
• Issued: 04/11/2017
• Est. Priority Date: 03/03/2015
• 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, Trombley, Roger Arnold, Yu, Hai
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): GOLDMAN, RICHARD A
• Application Number:
  US14/636,754
• Publication Number:
  US 20160257341A1
• Time in Patent Office: 770 Days
• Field of Search: 701 70, 701 314, 701 41
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• 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 2520/16 Pitch
• CPC Class Codes: B60W 2520/18 Roll
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 30/18036 Reversing
• CPC Class Codes: B60W 40/02 related to ambient conditions
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60Y 2200/147 Trailers, e.g. full trailers or caravans
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/021 Determination of steering angle
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: B62D 15/0285 Parking performed automatically

Abstract

A trailer backup assist system for vehicles utilizes surface slope data to provide an alert to an operator if a problematic operating condition is present and/or imminent while the vehicle is backing up with a trailer attached thereto. The trailer backup assist system may also be configured to utilize surface slope data to control steering, braking, or other vehicle operating parameter while the vehicle is backing up with a trailer attached thereto. The trailer backup assist system may also be configured to generate a warning and/or control the vehicle if a jackknife condition is imminent. The surface slope data may be obtained utilizing sensors on the vehicle, or the surface slope data may be obtained utilizing a database that includes topographical data.

Claims

1. A method of utilizing surface slope data to alert an operator and/or to control a vehicle having a trailer backup assist system for use in backing up the vehicle when a trailer is connected to the vehicle, wherein the vehicle defines a plurality of vehicle operating parameters, and wherein the vehicle and trailer together encounter at least one predefined problematic operating condition that is to be avoided when the trailer is connected to the vehicle and the vehicle is backing up, and wherein, when backing up, a response of the trailer to changes in the vehicle operating parameters changes due to changes in surface slope encountered by the vehicle and/or the trailer;

the method comprising;

providing a trailer backup assist system; and

configuring the trailer backup assist system to utilize surface slope data to provide an alert to an operator if a problematic operating condition is present and/or imminent while the vehicle is backing up with a trailer attached thereto; and

/or utilize surface slope data to control at least one vehicle operating parameter while the vehicle is backing up with a trailer attached thereto.

2. The method of claim 1, including:

utilizing a Global Positioning System (GPS) device to obtain a position of the vehicle to determine the surface slope data.

3. The method of claim 1, including:

utilizing a wireless receiver to obtain the surface slope data encountered by the vehicle and/or the trailer.

4. The method of claim 1, including:

providing the vehicle with a sensor;

utilizing data from the sensor to determine the surface slope data.

5. The method of claim 4, wherein:

the sensor detects an angular orientation of the vehicle relative to an orientation of the vehicle on a level surface while the vehicle is backing up with a trailer attached thereto.

6. The method of claim 4, wherein:

the sensor detects at least one of a pitch and a roll angle of the trailer relative to the vehicle while the vehicle is backing up with a trailer attached thereto.

7. The method of claim 1, including:

determining a surface traction condition of a surface on which the vehicle and/or trailer are supported;

utilizing the surface traction condition to control a vehicle operating parameter while the vehicle is backing up with a trailer attached thereto.

8. The method of claim 7, wherein:

the vehicle operating parameter comprises vehicle steering; and

including;

generating a steering command for a steering system of the vehicle as a function of the surface traction condition while the vehicle is backing up with a trailer attached thereto.

9. The method of claim 8:

wherein;

the steering command takes the surface traction condition into account to compensate for the surface traction condition while the vehicle is backing up with a trailer attached thereto.

10. The method of claim 7, wherein:

the surface traction condition is determined utilizing one or more sensors on the vehicle while the vehicle is backing up with a trailer attached thereto.

11. The method of claim 10, wherein:

the surface traction condition is determined utilizing information obtained from a remote source using a receiver on the vehicle.

12. The method of claim 1, wherein:

the vehicle includes a steering wheel and a power steering system that changes a steering angle in response to steering command signals;

the trailer backup assist system includes an auxiliary steering input feature that can be operated by a user without turning the steering wheel while the vehicle is backing up with a trailer attached thereto to input user curvature requests corresponding to a desired curvature for a path of travel of a vehicle and trailer during backing of the vehicle and trailer; and

the trailer backup assist system generates steering command signals based on user curvature requests and surface slope data while the vehicle is backing up with a trailer attached thereto.

13. The method of claim 12, wherein:

the trailer backup assist system adjusts the steering command signals based on the surface slope data such that the vehicle and trailer have substantially consistent trailer curvature response across varying surface topography for a given user curvature request.

19. The method of claim 1, wherein:

the trailer backup assist system is configured to alert an operator and/or to control the speed of the vehicle while backing up with a trailer attached to the vehicle based, at least in part, on surface slope data.

20. The method of claim 19, wherein:

the trailer backup assist system controls at least one of a vehicle brake, a trailer brake, an engine torque, and a transmission ratio, based at least in part, on surface slope data.

22. The method of claim 19, wherein:

the slope data comprises at least one obstacle comprising a topographical feature to be avoided; and

the trailer backup assist system is configured to alert an operator if the vehicle and/or trailer is on a path towards at least one topographical feature to be avoided.

23. The method of claim 22, wherein:

the topographical feature to be avoided comprises a slope that exceeds a predefined maximum allowable slope.

14. A method of utilizing surface slope data to alert an operator and/or to control a vehicle having a trailer backup assist system for use in backing up the vehicle when a trailer is connected to the vehicle, wherein the vehicle defines a plurality of vehicle operating parameters, and wherein the vehicle and trailer together encounter at least one predefined problematic operating condition that is to be avoided when the trailer is connected to the vehicle and the vehicle is backing up, and wherein, when backing up, a response of the trailer to changes in the vehicle operating parameters changes due to changes in surface slope encountered by the vehicle and/or the trailer;

the method comprising;

providing a trailer backup assist system;

configuring the trailer backup assist system to utilize surface slope data to provide an alert to an operator if a problematic operating condition is present and/or imminent while the vehicle is backing up with a trailer attached thereto; and

/or utilize surface slope data to control at least one vehicle operating parameter while the vehicle is backing up with a trailer attached thereto;

the vehicle includes a steering wheel and a power steering system that changes a steering angle in response to steering command signals;

the trailer backup assist system includes an auxiliary steering input feature that can be operated by a user without turning the steering wheel while the vehicle is backing up with a trailer attached thereto to input user curvature requests corresponding to a desired curvature for a path of travel of a vehicle and trailer during backing of the vehicle and trailer;

the trailer backup assist system generates steering command signals based on user curvature requests and surface slope data while the vehicle is backing up with a trailer attached thereto;

the trailer backup assist system adjusts the steering command signals based on the surface slope data such that the vehicle and trailer have substantially consistent trailer curvature response across varying surface topography for a given user curvature request;

the trailer backup assist system is configured to determine a location of at least one problematic topographical feature having a surface slope that exceeds a predefined maximum value; and

adjusting the steering command signals to adjust a path of the trailer to avoid any such problematic topographical features while the vehicle is backing up with a trailer attached thereto.

15. A method of utilizing surface slope data to alert an operator and/or to control a vehicle having a trailer backup assist system for use in backing up the vehicle when a trailer is connected to the vehicle, wherein the vehicle defines a plurality of vehicle operating parameters, and wherein the vehicle and trailer together encounter at least one predefined problematic operating condition that is to be avoided when the trailer is connected to the vehicle and the vehicle is backing up, and wherein, when backing up, a response of the trailer to changes in the vehicle operating parameters changes due to changes in surface slope encountered by the vehicle and/or the trailer;

the method comprising;

providing a trailer backup assist system;

configuring the trailer backup assist system to utilize surface slope data to provide an alert to an operator if a problematic operating condition is present and/or imminent while the vehicle is backing up with a trailer attached thereto; and

/or utilize surface slope data to control at least one vehicle operating parameter while the vehicle is backing up with a trailer attached thereto;

defining a jackknife condition; and

wherein;

the trailer backup assist system utilizes the surface slope data to determine if a jackknife condition is imminent and generates a user warning if a jackknife condition is imminent.

16. The method of claim 15, wherein:

the trailer backup assist system is configured to estimate a time interval until the jackknife condition will occur and to generate a user warning at a predefined estimated time interval prior to the jackknife condition.

17. The method of claim 15, wherein:

the trailer defines a hitch angle relative to the vehicle;

the jackknife condition is a function of at least one of the surface slope data and the trailer angle;

a user warning is generated at smaller hitch angles when the vehicle and trailer are backing up on a sloped surface than when the vehicle and trailer are backing up on a level surface.

18. The method of claim 17, wherein:

the user warning comprises at least one of a visual indicator, an audible indicator, and a tactile indicator.

21. A method of utilizing surface slope data to alert an operator and/or to control a vehicle having a trailer backup assist system for use in backing up the vehicle when a trailer is connected to the vehicle, wherein the vehicle defines a plurality of vehicle operating parameters, and wherein the vehicle and trailer together encounter at least one predefined problematic operating condition that is to be avoided when the trailer is connected to the vehicle and the vehicle is backing up, and wherein, when backing up, a response of the trailer to changes in the vehicle operating parameters changes due to changes in surface slope encountered by the vehicle and/or the trailer;

the method comprising;

providing a trailer backup assist system;

configuring the trailer backup assist system to utilize surface slope data to provide an alert to an operator if a problematic operating condition is present and/or imminent while the vehicle is backing up with a trailer attached thereto; and

/or utilize surface slope data to control at least one vehicle operating parameter while the vehicle is backing up with a trailer attached thereto;

the trailer backup assist system is configured to alert an operator and/or to control the speed of the vehicle while backing up with a trailer attached to the vehicle based, at least in part, on surface slope data; and

wherein;

the trailer backup assist system is configured to determine if the vehicle is accelerating at a rate that is approaching a predefined maximum allowable acceleration rate and to control the vehicle speed whereby the vehicle does not exceed the maximum allowable acceleration rate.

24. A method of controlling a vehicle, comprising:

providing topographical data to a trailer backup assist system;

identifying an obstacle utilizing the topographical data; and

controlling at least one of a vehicle brake and steering system utilizing the trailer backup assist system to avoid the obstacle identified utilizing the topographical data.

25. The method of claim 24, wherein:

the trailer backup assist system includes an auxiliary steering input feature that can be operated by a user without turning the steering wheel to provide a user steering request; and

the trailer backup assist system utilizes user steering requests and topographical data to control a steering angle of a vehicle'"'"'s front wheels.