Assistance by towed vehicle

Patent metadata

Field	Value
Publication number	US-11760355-B2
Application number	US-202117346735-A
Country	US
Kind code	B2
Filing date	Jun 14, 2021
Priority date	Jun 14, 2021
Publication date	Sep 19, 2023
Grant date	Sep 19, 2023

Abstract

A computer includes a processor and a memory storing instructions executable by the processor to receive data indicating a lane change by a first vehicle that is towing a second vehicle, the data including data indicating a direction that first wheels of the first vehicle are turning while the first vehicle is performing the lane change; and during the lane change, instruct a steering system of the second vehicle to turn second wheels of the second vehicle in a same direction as the first wheels.

First claim

What is claimed is:

1. A computer comprising a processor and a memory storing instructions executable by the processor to:
receive data indicating a lane change by a first vehicle that is towing a second vehicle, the data including data indicating a direction that first wheels of the first vehicle are turning while the first vehicle is performing the lane change;
during the lane change, instruct a steering system of the second vehicle to turn second wheels of the second vehicle in a same direction as the first wheels; and
during the lane change, refrain from instructing the steering system of the second vehicle to turn the second wheels in response to at least one of data indicating that the first vehicle is outside a geofenced area, a speed of the first vehicle being below a threshold speed, or failing to receive an input confirming the turning of the second wheels.

2. The computer of claim 1 , wherein the instructions further include instructions to, during the lane change, refrain from instructing the steering system of the second vehicle to turn the second wheels in response to data indicating that the first vehicle is outside the geofenced area.

3. The computer of claim 2 , wherein the geofenced area is a limited-access road.

4. The computer of claim 1 , wherein the instructions further include instructions to, during the lane change, refrain from instructing the steering system of the second vehicle to turn the second wheels in response to the speed of the first vehicle being below the threshold speed.

5. The computer of claim 1 , wherein the instructions further include instructions to, during the lane change, refrain from instructing the steering system of the second vehicle to turn the second wheels in response to failing to receive the input confirming the turning of the second wheels.

6. The computer of claim 1 , wherein instructing the steering system of the second vehicle to turn the second wheels includes turning the second wheels to a second steering angle based on a first steering angle of the first wheels.

7. The computer of claim 6 , wherein the second steering angle is a gain applied to the first steering angle.

8. The computer of claim 7 , wherein the instructions further include instructions to receive an input setting the gain.

9. The computer of claim 1 , wherein instructing the steering system of the second vehicle to turn the second wheels includes turning the second wheels to a second steering angle based on a relative angle between the first vehicle and the second vehicle.

10. The computer of claim 9 , wherein instructing the steering system of the second vehicle to turn the second wheels includes applying a feedback loop minimizing a difference between a target angle and the relative angle between the first vehicle and the second vehicle.

11. The computer of claim 1 , wherein the instructions further include instructions to, in response to a condition, instruct a propulsion of the second vehicle to accelerate the second vehicle.

12. The computer of claim 11 , wherein the propulsion is a second propulsion, and the condition is at least one of a temperature of a first propulsion of the first vehicle being above a threshold temperature, a fuel level of the first vehicle being below a threshold fuel level, a charge level of the first vehicle being below a threshold charge level, the first vehicle ascending a grade, or the first vehicle passing a third vehicle.

13. The computer of claim 1 , wherein the instructions further include instructions to, in response to the first vehicle descending a grade, instruct a propulsion of the second vehicle to downshift.

14. The computer of claim 1 , wherein the instructions further include instructions to, in response to a first brake system of the first vehicle braking, instruct a second brake system of the second vehicle to brake.

15. The computer of claim 1 , wherein the instructions further include instructions to:
receive data indicating a parking maneuver by the first vehicle, the data including data indicating the direction that the first wheels are turning while the first vehicle is performing the parking maneuver; and
during the parking maneuver, instruct the steering system to turn the second wheels in an opposite direction as the first wheels.

16. A computer comprising a processor and a memory storing instructions executable by the processor to: receive data indicating a parking maneuver by a first vehicle that is towing a second vehicle, the data including data indicating a direction that first wheels of the first vehicle are turning while the first vehicle is performing the parking maneuver;
during the parking maneuver, lock a third wheel of the second vehicle to prevent spinning of the third wheel about an axle of the third wheel in response to receiving an input to lock the third wheel;
during the parking maneuver, instruct a steering system of the second vehicle to turn second wheels of the second vehicle in an opposite direction as the first wheels, the second wheels being different than the third wheel; and
during the parking maneuver, refrain from instructing the steering system of the second vehicle to turn the second wheels in response to failing to receive an input confirming the turning of the second wheels.

17. The computer of claim 16 , wherein instructing the steering system of the second vehicle to turn the second wheels includes turning the second wheels to a second steering angle based on a first steering angle of the first wheels.

18. The computer of claim 17 , wherein the second steering angle is a gain applied to the first steering angle.

19. A method comprising:
receiving data indicating a lane change by a first vehicle that is towing a second vehicle, the data including data indicating a direction that first wheels of the first vehicle are turning while the first vehicle is performing the lane change;
during the lane change, instruct a steering system of the second vehicle to turn second wheels of the second vehicle in a same direction as the first wheels; and
during the lane change, refraining from instructing the steering system of the second vehicle to turn the second wheels in response to at least one of data indicating that the first vehicle is outside a geofenced area, a speed of the first vehicle being below a threshold speed, or failing to receive an input confirming the turning of the second wheels.

Assignees

• Ford Global Tech Llc

Inventors

• Lewandowski Andrew Denis
• Weston Keith
• Diamond Brendan F
• Barrett Jordan

Classifications

• B60W30/165 Primary

  Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar" · CPC title

• B62D15/0255 Primary

  Automatic changing of lane, e.g. for passing another vehicle · CPC title

• B60W30/18163 Primary

  Lane change; Overtaking manoeuvres · CPC title

• B62D12/02

  for vehicles operating in tandem · CPC title

• B60W2710/18

  Braking system · CPC title