Assisted parking maneuvers for vehicles coupled in a towed recharging arrangement

Patent metadata

Field	Value
Publication number	US-11623637-B2
Application number	US-202117359898-A
Country	US
Kind code	B2
Filing date	Jun 28, 2021
Priority date	Jun 28, 2021
Publication date	Apr 11, 2023
Grant date	Apr 11, 2023

Abstract

Leading and trailing electrified vehicles are coupled together in a towing arrangement for in-flight transfer of an electrical charge between their battery systems. With the vehicles connected by a towing device, a parking maneuver is initiated in which the trailing vehicle leads the leading vehicle. For the parking maneuver, one of the vehicles is designated (e.g., automatically or by driver agreement) to be an active steering vehicle and the other vehicle to be a passive steering vehicle. At least the passive steering vehicle comprises an electrically-controlled steering actuator. During movement, a turning (e.g., steering angle) of the active steering vehicle is monitored. Based on the turning of the active steering vehicle, an assistive steering angle is determined for the passive steering vehicle. The electrically-controlled steering actuator is commanded according to the assistive steering angle. The parking maneuver may be reverse or forward.

First claim

What is claimed is:

1. An electrified vehicle comprising: a rechargeable battery system storing electrical energy used to provide propulsion of the electrified vehicle, wherein the rechargeable battery system exchanges electrical energy with a second vehicle which is coupled to the electrified vehicle in a towing relationship, and wherein the towing relationship comprises one of the vehicles being a leading vehicle and one of the vehicles being a trailing vehicle; a communication link for exchanging communication signals with the second vehicle; a first controller in the electrified vehicle which is adapted to be coupled to a second controller in the second vehicle via the communication link; wherein the first controller initiates a parking maneuver in cooperation with the second controller using the communication signals, wherein the parking maneuver includes a designated one of the vehicles being an active steering vehicle and a designated one of the vehicles being a passive steering vehicle, wherein the passive steering vehicle comprises an electrically-controlled steering actuator; wherein the first controller interacts with the second controller during the parking maneuver such that the controllers A) monitor a turning of the active steering vehicle, and B) command the electrically-controlled steering actuator according to an assistive steering angle for the passive steering vehicle based on the turning of the active steering vehicle.

2. The electrified vehicle of claim 1 wherein the turning of the active steering vehicle is monitored according to a steering wheel sensor.

3. The electrified vehicle of claim 1 wherein the assistive steering angle is determined according to a calculation for minimizing an incidence of scrubbing at wheels of the passive steering vehicle.

4. The electrified vehicle of claim 1 wherein the assistive steering angle is determined according to a calculation for conforming a movement path of the passive steering vehicle to a movement path of the active steering vehicle.

5. The electrified vehicle of claim 1 wherein the assistive steering angle is determined according to a calculation for preventing the vehicles from entering a jackknife condition.

6. The electrified vehicle of claim 1 wherein the assistive steering angle is determined according to a calculation for maximizing a turning radius when the turning of the active steering vehicle indicates a steering lock condition.

7. The electrified vehicle of claim 6 wherein the first controller cooperates with the second controller to respond to the steering lock condition by generating a throttle command or a braking command for the passive steering vehicle.

8. The electrified vehicle of claim 1 wherein each of the vehicles include a plurality of outward-looking cameras capturing respective exterior images, and wherein the first controller cooperates with the second controller to create a merged mosaic image for display on a display screen within the active steering vehicle.

9. The electrified vehicle of claim 8 wherein the first and second controllers (i) determine a maximum turning path according to a configuration of the vehicles, and (ii) display a representation of the maximum turning path on the display screen.

10. The electrified vehicle of claim 8 wherein the first and second controllers (i) generate a projected backup path according to the turning of the active steering vehicle and the assistive steering angle, and (ii) display a representation of the projected backup path on the display screen.

11. The electrified vehicle of claim 1 wherein at least one of the vehicles includes an active sensor that senses obstacles in a vicinity, and wherein the first and second controllers command a stop of movement of the vehicles during the parking maneuver when the active sensor indicates an obstacle within a predetermined buffer zone of one of the vehicles.

12. A method of controlling first and second electrified vehicles coupled together in a towing arrangement for in-flight transfer of a charge between battery systems of the vehicles, wherein the towing relationship comprises one of the vehicles being a leading vehicle and one of the vehicles being a trailing vehicle, the method comprising the steps of:
establishing a communication link between the vehicles for exchanging communication signals;
initiating a parking maneuver in which the trailing vehicle leads the leading vehicle, wherein the parking maneuver includes a designated one of the vehicles being an active steering vehicle and a designated one of the vehicles being a passive steering vehicle, and wherein the passive steering vehicle comprises an electrically-controlled steering actuator;
monitoring a turning of the active steering vehicle; and
commanding the electrically-controlled steering actuator according to an assistive steering angle for the passive steering vehicle based on the turning of the active steering vehicle.

13. The method of claim 12 wherein the assistive steering angle is obtained from a calculation for minimizing an incidence of scrubbing between at least one wheel of the passive steering vehicle and a ground surface.

14. The method of claim 12 wherein the assistive steering angle is obtained from a calculation for conforming a movement path of the passive steering vehicle to a movement path of the active steering vehicle.

15. The method of claim 12 wherein the assistive steering angle is obtained from a calculation for preventing the vehicles from entering a jackknife condition.

16. The method of claim 12 wherein the assistive steering angle is obtained from a calculation for maximizing a turning radius when the turning of the active steering vehicle indicates a steering lock condition.

17. The method of claim 12 wherein each of the vehicles include a plurality of outward-looking cameras, the method further comprising the steps of:
capturing respective exterior images from each of the vehicles using the cameras;
creating a merged mosaic image providing an exterior view unobscured by either vehicle; and
displaying the merged mosaic image on a display screen within the active steering vehicle.

18. The method of claim 17 further comprising the steps of:
determining a maximum turning path according to a configuration of the vehicles; and
displaying a representation of the maximum turning path on the display screen.

19. The method of claim 17 further comprising the steps of:
generating a projected backup path according to the turning of the active steering vehicle and the assistive steering angle; and
displaying a representation of the projected backup path on the display screen.

20. An electrified vehicle comprising: a rechargeable battery system couples with a second vehicle in a towing relationship for exchanging an electrical charge; a first controller in the electrified vehicle exchanging communication signals with a second controller in the second vehicle; wherein the first controller initiates a parking maneuver in cooperation with the second controller, wherein the parking maneuver includes a designated one of the vehicles being an active steering vehicle and a designated one of the vehicles being a passive steering vehicle; wherein the first controller interacts with the second controller during the parking maneuver such that the controllers A) monitor a turning of the active steering vehicle, and B) command the passive steering vehicle according to an assistive steering angle for the passive steering vehicle based on the turning of the active

Assignees

• Ford Global Tech Llc

Inventors

• Salter Stuart C
• Mchugh Kenneth P
• Phung Peter
• Glickman David Brian
• Dellock Paul K
• Van Wiemeersch John R

Classifications

• B62D15/0285

  Parking performed automatically · CPC title

• B60L53/53

  Batteries · CPC title

• B60L3/0015

  Prevention of collisions · CPC title

• B60L2260/32

  Auto pilot mode · CPC title

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title