Control system for steering a towing vehicle with a trailer

Patent metadata

Field	Value
Publication number	US-10752289-B2
Application number	US-201816005904-A
Country	US
Kind code	B2
Filing date	Jun 12, 2018
Priority date	Jun 13, 2017
Publication date	Aug 25, 2020
Grant date	Aug 25, 2020

Abstract

In a control system for steering a combination with at least one electronic control unit, with a sensor apparatus for capturing the bend angle of the combination and with a display unit, the control unit has a memory region for storing a maximum reversible bend angle, a memory region for storing an upper bend angle change threshold value, and/or a memory region for storing a left hand bend angle range and a right hand bend angle range with reference to the zero line corresponding to a straight combination. A functional unit is designed to output a recommended action for moving forward on the display unit and/or for carrying out an autonomously executed forward movement, when the presence of at least one defined situation in relation to the values related to the bend angle stored in the memory region is ascertained through evaluation of the sensor apparatus.

First claim

What is claimed is:

1. A control system for steering a towing vehicle coupled with a trailer, comprising:
an electronic control unit;
a sensor that captures a bend angle of the vehicle and trailer combination; and
a display unit coupled with the electronic control unit, wherein
the electronic control unit comprises:
a memory region that stores a maximum reversible bend angle;
a memory region that stores an upper bend angle change threshold value; and
a memory region that stores a left hand bend angle range and a right hand bend angle range related to a zero line corresponding to a straight combination; and
a functional unit operatively configured to output on the display unit a recommended action for moving forward, and/or to carry out an autonomously executed forward movement, when
at least one defined situation related to one or more of the maximum reversible bend angle, the upper bend angle change threshold value, the left hand bend angle range and the right bend angle range, stored in the memory regions, is determined via evaluation of the sensor.

2. The control system as claimed in claim 1 , wherein
a first defined situation is present when the actual bend angle has exceeded the maximum reversible bend angle in the left hand bend angle range or the maximum reversible bend angle in the right hand bend angle range.

3. The control system as claimed in claim 2 , wherein
a second defined situation is present when a difference between the actual bend angle and a target bend angle has exceeded the upper bend angle change threshold value.

4. The control system as claimed in claim 3 , wherein
a third defined situation is present when the actual bend angle lies in the left hand bend angle range and a target bend angle lies in the right hand bend angle range, or vice versa.

5. The control system as claimed in claim 1 , wherein
a second defined situation is present when a difference between the actual bend angle and a target bend angle has exceeded the upper bend angle change threshold value.

6. The control system as claimed in claim 1 , wherein
a third defined situation is present when the actual bend angle lies in the left hand bend angle range and a target bend angle lies in the right hand bend angle range, or vice versa.

7. An electronic control unit that implements a control system for steering a towing vehicle coupled with a trailer, comprising:
memory that stores a maximum reversible bend angle, an upper bend angle change threshold value, a left hand bend angle range, and a right bend angle range; and
a processor operatively configured to execute program code to:
output, to a display, a recommended action for moving forward, and/or carry out an autonomously executed forward movement, when
at least one defined situation related to one or more of the maximum reversible bend angle, the upper bend angle change threshold value, the left hand bend angle range and the right bend angle range, stored in the memory, is determined based on an evaluation of a sensor of the towing vehicle.

8. A steering method for steering a towing vehicle coupled with a trailer to form a combination, the method comprising the steps of:
storing a maximum reversible bend angle, an upper bend angle change threshold value, a left hand bend angle range, and a right bend angle range in a memory;
capturing a bend angle of the combination by a sensor;
outputting a recommended action for moving forward, and/or autonomously executing forward movement, on a display when
at least one defined situation related to one or more of the maximum reversible bend angle, the upper bend angle change threshold value, the left hand bend angle range and the right bend angle range, stored in the memory, is determined based on evaluating the captured bend angle of the combination.

Assignees

• Bayerische Motoren Werke Ag

Inventors

• Stroebel Michael

Classifications

• B60W2300/14

  Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains · CPC title

• B60D1/245

  for facilitating push back or parking of trailers · CPC title

• B62D15/027

  Parking aids, e.g. instruction means · CPC title

• B60Y2200/147

  Trailers, e.g. full trailers or caravans · CPC title

• B60W2520/22

  Articulation angle, e.g. between tractor and trailer · CPC title