Trailer sideswipe avoidance system

Patent metadata

Field	Value
Publication number	US-11332191-B2
Application number	US-201916564351-A
Country	US
Kind code	B2
Filing date	Sep 9, 2019
Priority date	Sep 9, 2019
Publication date	May 17, 2022
Grant date	May 17, 2022

Abstract

A trailer sideswipe avoidance system for a vehicle towing a trailer is provided herein. The trailer sideswipe avoidance system includes a sensor system configured to detect objects in an operating environment of the vehicle. A controller receiving inputs from the sensor system is configured to determine a travel path of the towed trailer as the vehicle turns, determine whether an object detected in the operating environment of the vehicle is in the travel path of the towed trailer, determine a time until sideswiping of the object with the towed trailer, compare the time until sideswiping with a threshold time value, and prompt one or more vehicle systems to execute a sideswipe avoidance measure when the time until sideswiping is less than the threshold time value.

First claim

What is claimed is:

1. A trailer sideswipe avoidance system for a vehicle towing a trailer in a forward direction, comprising:
a sensor system configured to detect objects in an operating environment of the vehicle; and
a controller configured to process information received from the sensor system to determine whether an object detected in the operating environment of the vehicle is in a travel path of the forwardly towed trailer as the vehicle turns by determining whether an inner trailer boundary line intersects a virtual circle having a center point at a trailer turn center and a radius equal to the distance from the trailer turn center to the object, wherein the controller is further configured to prompt one or more vehicle systems to execute a sideswipe avoidance measure based on a determination that the object is in the travel path of the forwardly towed trailer.

2. The trailer sideswipe avoidance system of claim 1 , wherein the sideswipe avoidance measure comprises reducing manual steering torque assist supplied by a power assist steering system.

3. The trailer sideswipe avoidance system of claim 1 , wherein the sideswipe avoidance measure comprises executing a warning signal via a vehicle alert system.

4. The trailer sideswipe avoidance system of claim 1 , wherein the sideswipe avoidance measure comprises reducing the speed of the vehicle.

5. The trailer sideswipe avoidance system of claim 1 , wherein the sideswipe avoidance measure comprises reducing a steering angle of the vehicle such that the dynamic turning radius of the vehicle increases.

6. The trailer sideswipe avoidance system of claim 1 , wherein the controller is further configured to determine a time until sideswiping of the object with the towed trailer.

7. The trailer sideswipe avoidance system of claim 6 , wherein the controller is further configured to prompt one or more vehicle systems to execute the sideswipe avoidance measure when the time until sideswiping is less than a predetermined threshold time value.

8. The trailer sideswipe avoidance system of claim 6 , wherein the controller is further configured to prompt one or more vehicle systems to execute a first sideswipe avoidance measure when the time until sideswiping is less than a first predetermined threshold time value and prompt one or more vehicle systems to execute a second sideswipe avoidance measure when the time until sideswiping is less than a second predetermined threshold time value, wherein the first predetermined threshold time value is greater than the second predetermined threshold time value.

9. A trailer sideswipe avoidance system for a vehicle towing a trailer in a forward direction, comprising:
a sensor system configured to detect objects in an operating environment of the vehicle; and
a controller receiving inputs from the sensor system and configured to:
determine a travel path of the forwardly towed trailer as the vehicle turns;
determine whether an object detected in the operating environment of the vehicle is in the travel path of the forwardly towed trailer by determining whether an inner trailer boundary line intersects a virtual circle having a center point at a trailer turn center and a radius equal to the distance from the trailer turn center to the object;
determine a time until sideswiping of the object with the forwardly towed trailer;
compare the time until sideswiping with a threshold time value; and
prompt one or more vehicle systems to execute a sideswipe avoidance measure when the time until sideswiping is less than the threshold time value.

10. The trailer sideswipe avoidance system of claim 9 , wherein the sideswipe avoidance measure comprises reducing manual steering torque assist supplied by a power assist steering system.

11. The trailer sideswipe avoidance system of claim 9 , wherein the sideswipe avoidance measure comprises executing a warning signal via a vehicle alert system.

12. The trailer sideswipe avoidance system of claim 9 , wherein the sideswipe avoidance measure comprises reducing the speed of the vehicle.

13. The trailer sideswipe avoidance system of claim 9 , wherein the sideswipe avoidance measure comprises reducing a steering angle of the vehicle such that the dynamic turning radius of the vehicle increases.

14. A method for operating a trailer sideswipe avoidance system, comprising the steps of:
turning a vehicle towing a trailer in a forward direction;
determining a dynamic trailer turning radius and a trailer turn center;
detecting an object with a sensor system of the vehicle;
determining a distance from the trailer turn center to the object;
determining whether an inner trailer boundary line intersects a virtual circle having a center point at the trailer turn center and a radius equal to the distance from the trailer turn center to the object; and
executing a sideswipe avoidance measure based on the inner trailer boundary line intersecting the virtual circle.

15. The method of claim 14 , wherein the inner trailer boundary line extends between a first point and a second point, the first point is located proximate to an intersection between an inner side of the trailer and a line running along the axis of a trailer axle, and the second point is displaced from the first point a distance generally equal to the length of the trailer wheel base in the trailer forward direction substantially parallel to a longitudinal centerline of the trailer, wherein the inner side of the trailer corresponds with a turning direction of the vehicle and the inner trailer boundary line is distanced from the longitudinal centerline of the trailer by at least the distance of the inner side of the trailer from the longitudinal centerline of the trailer in a direction parallel to the axis of the trailer axle.

16. The method of claim 15 , further comprising the step of:
determining a time until sideswiping based on a speed of the trailer, the dynamic trailer turning radius, and the angle between a line extending from the trailer turn center to the object and a line extending from the trailer turn center to an intersection point of the inner trailer boundary line and the virtual circle.

17. The method of claim 16 , further comprising the steps of:
comparing the time until sideswiping with a predetermined threshold time value; and
executing the sideswipe avoidance measure when the time until sideswiping is less than the predetermined threshold time value.

18. The method of claim 14 , wherein the step of executing a sideswipe avoidance measure comprises:
executing a warning signal via a vehicle alert system.

19. The method of claim 14 , wherein the step of executing a sideswipe avoidance measure comprises:
reducing a steering angle of the vehicle such that the inner trailer boundary line no longer intersects the virtual circle.

20. The method of claim 14 , wherein the step of executing a sideswipe avoidance measure comprises:
reducing manual steering torque assist supplied by a power assist steering system.

Assignees

• Ford Global Tech Llc

Inventors

• Xu Li
• Miller Martin
• Pilutti Thomas Edward
• Celli John Michael

Classifications

• B60W50/14

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• B60W10/04

  including control of propulsion units · CPC title

• B62D13/00

  Steering specially adapted for trailers (combined traction and steering hitches B60D) · CPC title

• B60W30/0953

  the prediction being responsive to vehicle dynamic parameters · CPC title

• B60W2530/205

  Dimensions of trailer · CPC title