Trailer backup assist system with adaptive steering angle limits

Patent metadata

Field	Value
Publication number	US-2016229451-A1
Application number	US-201514614443-A
Country	US
Kind code	A1
Filing date	Feb 5, 2015
Priority date	Feb 5, 2015
Publication date	Aug 11, 2016
Grant date	—

Abstract

A trailer backup assist system includes a sensor that measures a hitch angle between a vehicle and a trailer. A steering system controls a steering angle of the vehicle between physical angle limits. A controller of the trailer backup assist system generates adaptive angle limits based on a maximum hitch angle rate and generates a steering command within the physical and adaptive angle limits for the vehicle to guide the trailer on a desired curvature.

First claim

1 . A trailer backup assist system, comprising:
a sensor measuring a hitch angle between a vehicle and a trailer; a steering system controlling a steering angle of the vehicle between physical angle limits; and a controller generating adaptive angle limits based on a hitch angle rate and generating a steering command based on a most restrictive of the physical and adaptive angle limits for the vehicle to guide the trailer on a desired curvature.

2 . The trailer backup assist system of claim 1 , wherein the adaptive angle limits are generated based on the maximum hitch angle rate, the hitch angle, and a reversing speed of the vehicle.

3 . The trailer backup assist system of claim 1 , wherein the maximum hitch angle rate is preset based on a controllable steering angle rate of the vehicle.

4 . The trailer backup assist system of claim 1 , wherein the adaptive angle limits are within the physical angle limits of the steering system.

5 . The trailer backup assist system of claim 1 , further comprising:
a speed sensor sensing a speed of the vehicle, wherein the maximum hitch angle rate is continuously regenerated based on the speed of the vehicle.

6 . The trailer backup assist system of claim 1 , wherein the adaptive steering angle limits prevent the steering angle from creating a hitch angle rate that cannot be recovered by the steering system.

7 . The trailer backup assist system of claim 1 , further comprising:
a secondary steering input device in the vehicle providing the desired curvature of the trailer attached to the vehicle.

8 . The trailer backup assist system of claim 1 , further comprising:
a vision-based hitch angle sensor measuring the hitch angle, wherein the adaptive angle limits are continuously regenerated based on a speed of the vehicle and the hitch angle.

9 . A trailer backup assist system, comprising:
a hitch angle sensor sensing a hitch angle between a vehicle and a trailer; a speed sensor sensing a speed of the vehicle; a steering system controlling a steering angle of the vehicle; and a controller generating an adaptive limit of the steering angle defining a substantially linear function based on a maximum hitch angle rate.

10 . The trailer backup assist system of claim 9 , wherein the controller generates a steering command within the adaptive limit of the steering angle for the vehicle to guide the trailer on a desired curvature.

11 . The trailer backup assist system of claim 10 , wherein the steering command is generated to prevent the hitch angle from approaching a jackknife condition.

12 . The trailer backup assist system of claim 9 , wherein the steering system is prevented from adjusting the steering angle beyond physical angle limits, and wherein the adaptive limit of the steering angle is within the physical angle limits.

13 . The trailer backup assist system of claim 9 , wherein the maximum hitch angle rate is preset based on a controllable rate of adjusting the steering angle the vehicle.

14 . The trailer backup assist system of claim 9 , wherein the maximum hitch angle rate is continuously regenerated based on the speed of the vehicle.

15 . The trailer backup assist system of claim 9 , wherein the adaptive steering angle limits prevent the steering angle from creating an unrecoverable hitch angle rate.

16 . The trailer backup assist system of claim 9 , wherein the hitch angle sensor includes a camera on the vehicle that monitors the trailer to measure the hitch angle.

17 . The trailer backup assist system of claim 9 , further comprising:
a steering input device providing a desired curvature of the trailer, wherein the controller generates a steering command within the adaptive limit of the steering angle and based on a kinematic relationship of the vehicle and the trailer to guide the trailer on the desired curvature.

18 . A method, comprising:
sensing a hitch angle between a vehicle and a trailer; sensing a speed of the vehicle; generating adaptive steering angle limits for the vehicle based on a maximum hitch angle rate, the speed, and the hitch angle within physical angle limits; and controlling a steering angle of the vehicle using the physical and adaptive steering angle limits closest to a desired steering angle.

19 . The method of claim 18 , wherein the maximum hitch angle rate is preset based on a controllable rate of adjusting the steering angle.

20 . The method of claim 18 , further comprising:
generating a steering command within the physical and adaptive angle limits for the vehicle to guide the trailer on a desired curvature.

Assignees

• Ford Global Tech Llc

Inventors

• Raad Joseph M
• Mattern Donald Jacob

Classifications

• B62D13/06 Primary

  for backing a normally drawn trailer · CPC title

• B62D6/003

  in order to control vehicle yaw movement, i.e. around a vertical axis (B62D6/007 takes precedence) · CPC title

• B62D15/027

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

• B62D6/002

  computing target steering angles for front or rear wheels (B62D7/159 takes precedence) · CPC title