Methods and apparatus to control stability of a vehicle and trailer

Patent metadata

Field	Value
Publication number	US-12005886-B2
Application number	US-202217727450-A
Country	US
Kind code	B2
Filing date	Apr 22, 2022
Priority date	Apr 22, 2022
Publication date	Jun 11, 2024
Grant date	Jun 11, 2024

Abstract

Methods and apparatus to control stability of a vehicle and trailer are disclosed. An example apparatus to control stability of a vehicle and trailer includes stability monitoring circuitry to determine, based on sensor data from one or more sensors of the vehicle, whether a vehicle stability condition associated with the vehicle is satisfied, and stability control circuitry to, in response to the vehicle stability condition not being satisfied, adjust a load distribution on front wheels and rear wheels of the vehicle by adjusting a vehicle pitch.

First claim

What is claimed is:

1. An apparatus to control stability of a vehicle and trailer, the apparatus comprising:
stability monitoring circuitry to:
determine, based on first sensor data obtained from one or more sensors of the vehicle when the vehicle is stationary, a starting pitch of the vehicle; and
determine, based on second sensor data obtained from the one or more sensors when the vehicle is moving, whether a vehicle stability condition associated with the vehicle is satisfied; and
stability control circuitry to;
when the vehicle stability condition is not satisfied, adjust a load distribution on front wheels and rear wheels of the vehicle by adjusting a vehicle pitch; and
when the vehicle stability condition is satisfied, return the vehicle pitch to the starting pitch.

2. The apparatus of claim 1 , wherein the stability control circuitry further includes suspension control circuitry to adjust the vehicle pitch by controlling one or more air springs operatively coupled to the rear wheels.

3. The apparatus of claim 1 , wherein the stability control circuitry further includes tension control circuitry to adjust the vehicle pitch by adjusting tension on chains of a trailer hitch coupled between the vehicle and the trailer.

4. The apparatus of claim 1 , wherein the stability monitoring circuitry is to:
determine a vehicle stability index based on the second sensor data;
compare the vehicle stability index to a first threshold and a second threshold;
determine that the vehicle stability condition is satisfied when the vehicle stability index satisfies the first and second thresholds; and
determine that the vehicle stability condition is not satisfied when the vehicle stability index does not satisfy at least one of the first threshold or the second threshold.

5. The apparatus of claim 4 , further including parameter calculation circuitry to calculate, based on the second sensor data, a relative yaw displacement between the vehicle and the trailer, the stability monitoring circuitry to determine the vehicle stability index based on the relative yaw displacement.

6. The apparatus of claim 4 , wherein the stability control circuitry is to:
when the vehicle stability index does not satisfy the first threshold, increase a first load on the front wheels and reduce a second load on the rear wheels; and
when the vehicle stability index does not satisfy the second threshold, reduce the first load on the front wheels and increase the second load on the rear wheels.

7. The apparatus of claim 4 , wherein the first threshold corresponds to understeer of the vehicle and the trailer, and the second threshold corresponds to oversteer of the vehicle and the trailer.

8. A non-transitory computer readable medium comprising instructions that, when executed, cause processor circuitry to:
determine, based on first sensor data obtained from one or more sensors of a vehicle when the vehicle is stationary, a starting pitch of the vehicle;
determine, based on second sensor data obtained from the one or more sensors when the vehicle is moving, whether a vehicle stability condition associated with the vehicle is satisfied;
when the vehicle stability condition is not satisfied, adjust a load distribution on front wheels and rear wheels of the vehicle by adjusting a vehicle pitch; and
when the vehicle stability condition is satisfied, return the vehicle pitch to the starting pitch.

9. The non-transitory computer readable medium of claim 8 , wherein the instructions, when executed, cause the processor circuitry to adjust the vehicle pitch by controlling one or more air springs operatively coupled to the rear wheels.

10. The non-transitory computer readable medium of claim 8 , wherein the instructions, when executed, cause the processor circuitry to adjust the vehicle pitch by adjusting tension on chains of a trailer hitch coupled between the vehicle and a trailer.

11. The non-transitory computer readable medium of claim 8 , wherein the instructions, when executed, cause the processor circuitry to:
determine a vehicle stability index based on the second sensor data;
compare the vehicle stability index to a first threshold and a second threshold;
determine that the vehicle stability condition is satisfied when the vehicle stability index satisfies the first and second thresholds; and
determine that the vehicle stability condition is not satisfied when the vehicle stability index does not satisfy at least one of the first threshold or the second threshold.

12. The non-transitory computer readable medium of claim 11 , wherein the instructions, when executed, cause the processor circuitry to calculate, based on the second sensor data, a relative yaw displacement between the vehicle and a trailer, the processor circuitry to determine the vehicle stability index based on the relative yaw displacement.

13. The non-transitory computer readable medium of claim 11 , wherein the instructions, when executed, cause the processor circuitry to:
when the vehicle stability index does not satisfy the first threshold, increase a first load on the front wheels and reduce a second load on the rear wheels; and
when the vehicle stability index does not satisfy the second threshold, reduce the first load on the front wheels and increase the second load on the rear wheels.

14. The non-transitory computer readable medium of claim 11 , wherein the first threshold corresponds to understeer of the vehicle, and the second threshold corresponds to oversteer of the vehicle.

15. An apparatus comprising:
memory;
instructions; and
processor circuitry to execute the instructions to:
determine, based on first sensor data from one or more sensors of a vehicle when the vehicle is stationary, a starting pitch of the vehicle;
determine, based on second sensor data obtained from the one or more sensors when the vehicle is moving, whether a vehicle stability condition associated with the vehicle is satisfied;
when the vehicle stability condition is not satisfied, adjust a load distribution on front wheels and rear wheels of the vehicle by adjusting a vehicle pitch; and
when the vehicle stability condition is satisfied, return the vehicle pitch to the starting pitch.

16. The apparatus of claim 15 , wherein the processor circuitry is to execute the instructions to adjust the vehicle pitch by controlling one or more air springs operatively coupled to the rear wheels.

17. The apparatus of claim 15 , wherein the processor circuitry is to execute the instructions to adjust the vehicle pitch by adjusting tension on chains of a trailer hitch coupled between the vehicle and a trailer.

18. The apparatus of claim 15 , wherein the processor circuitry is to execute the instructions to:
determine a vehicle stability index based on the second sensor data;
compare the vehicle stability index to a first threshold and a second threshold;
determine that the vehicle stability condition is satisfied when the vehicle stability index satisfies the first and second thresholds; and
determine that the vehicle stability condition is not satisfied when the vehicle stability index does not satisfy at least one of the first threshold or the second threshold.

19. The apparatus of claim 18 , wherein the processor circuitry is to execute the instructions to calculate, based on the second sensor data, a relative yaw displacement between the vehicle and a trailer, the processor circuitry to determine the vehicle stability index based on the relative yaw displacement.

20. The apparat

Assignees

• Ford Global Tech Llc

Inventors

• Weston Keith
• Johnson Matthew
• Lewandowski Andrew Denis
• Diamond Brendan

Classifications

• B60W2710/22

  Suspension systems · CPC title

• B60G2300/044

  Truck-trailer connections · CPC title

• B60G2500/20

  Spring action or springs · CPC title

• B60W2510/207

  Oversteer or understeer · CPC title

• B60W2520/14

  Yaw · CPC title