Trailer curvature control and mode management with powertrain and brake support

Patent metadata

Field	Value
Publication number	US-2016288786-A1
Application number	US-201514678025-A
Country	US
Kind code	A1
Filing date	Apr 3, 2015
Priority date	Apr 3, 2015
Publication date	Oct 6, 2016
Grant date	—

Abstract

A backup assist system for a vehicle reversing a trailer includes a brake module and a throttle module. The system further includes a controller having a vehicle speed detector and coupled with the brake module and the throttle module for implementing a backup mode including detecting an adverse operating condition and then adjusting at least one of the brake module and the throttle module and terminating the backup mode upon detecting the adverse operating condition for a time interval.

First claim

1 . A backup assist system for a vehicle reversing a trailer, comprising:
a brake module; a throttle module; and a controller including a vehicle speed detector and coupled with the brake module and the throttle module for:
implementing a backup mode including detecting an adverse operating condition and then adjusting at least one of the brake module and the throttle module; and
terminating the backup mode upon detecting the adverse operating condition for a time interval.

2 . The system of claim 1 , wherein the controller, upon detecting the adverse operating condition in the backup mode, attempts to reduce a speed of the vehicle by adjusting at least one of the brake module and the throttle module.

3 . The system of claim 1 , wherein:
the brake module is coupled with a brake system of the vehicle; and adjusting the brake module includes causing the brake module to increase a brake torque applied by the brake system using a non-linear proportional-integral control scheme.

4 . The system of claim 1 , wherein:
the throttle module is coupled with a throttle of the vehicle; and adjusting the throttle module includes causing the throttle module to adjust a position of the throttle to reduce an output thereof.

5 . The system of claim 1 , wherein the adverse operating condition is an excess vehicle speed detected based on a predetermined backup threshold speed.

6 . The system of claim 1 , wherein:
the system further includes a trailer angle sensor, and the adverse operating condition is a threshold trailer angle that is detected based input from the trailer angle sensor.

7 . The system of claim 6 , wherein:
the system, while in the backup mode produces a driver warning in response to detection of the excess trailer angle; and the system further terminates the backup mode and presents a driver instruction upon detection of a maximum trailer angle that is greater than the a threshold trailer angle.

8 . The system of claim 1 , wherein during terminating of the backup mode, the controller ramps out the adjusting of at least one of the brake module and the throttle module.

9 . The system of claim 1 , further including at least one object sensor associated with a side of the vehicle and coupled with the controller, wherein:
while in the backup mode, the controller further adjusts at least one of the brake module and the throttle module upon detecting the trailer within a predetermined distance of the side of the vehicle.

10 . A vehicle, comprising:
a steering system; a vehicle speed detector; a brake system; a first controller coupled with steering system for implementing a backup mode for reversing a trailer including controlling the steering system to maintain the trailer along a path; and a second controller coupled with the speed detector and the brake system and implementing a non-linear proportional-integral control scheme to control the brake system to maintain a vehicle speed below a threshold speed.

11 . The vehicle of claim 10 , wherein the second controller is coupled with the brake system outputs a brake torque demand to the brake system based on the proportional-integral control scheme.

12 . The vehicle of claim 10 , wherein the first controller activates the second controller as a part of implementing the backup mode.

13 . The vehicle of claim 12 , wherein the first controller further terminates the backup mode and deactivates the second controller upon detecting an adverse condition for a time interval.

14 . The vehicle of claim 10 , wherein the proportional-integral control scheme uses a zero integral gain if the vehicle speed is below a reference speed that is less than the threshold speed.

15 . The vehicle of claim 10 , wherein the proportional-integral control scheme uses an integral control according to the equation:

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Assignees

• Ford Global Tech Llc

Inventors

• Lavoie Erick Michael
• Trombley Roger Arnold
• Pilutti Thomas Edward
• Rolfes Nathaniel Abram
• Hafner Michael

Classifications

• B60T8/32

  responsive to a speed condition, e.g. acceleration or deceleration ({using electrical circuitry or regulation means B60T8/17} ; B60T8/28 takes precedence; electric devices on electrically propelled vehicles indicating the wheel slip B60L3/10; measuring linear or angular speed per se G01P3/00) · CPC title

• B60W30/09

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B62D13/06

  for backing a normally drawn trailer · CPC title

• B62D1/22

  Alternative steering-control elements, e.g. for teaching purposes · CPC title

• B60W10/20

  including control of steering systems · CPC title