• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    method and system for maneuvering a traveling trailer unit in the reverse direction. system and method of maneuvering a vehicle unit (10, 110, 210)-trailer (20, 120, 220) traveling in the reverse direction using a sensor (130) that generates output information representing a relative position between the rear of the vehicle (10, 110, 210) and the front of the trailer (20, 120, 220). an electronic processing unit (24, 124, 224) compares the measured quantity to a reference value and determines whether the trailer (20, 120, 220) deviates from a direct alignment with the vehicle (10, 110, 210) and if they are not aligned, the system may interfere with the vehicle's steering system (28) (10, 110, 210), the trailer brake system (20, 120, 220), or both. the sensor can be a distance sensor or a camera (130), and the quantity can be a distance or a marker position (134). as a reference value for comparison, the method can use a previously or simultaneously stored or measured value. the method can be activated automatically or by a switch (204) operated by the driver.
    公开号:BR112013017565B1
    申请号:R112013017565-6
    申请日:2012-01-09
    公开日:2021-08-17
    发明作者:Philip Headley
    申请人:Continental Automotive Systems, Inc；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION
    [0001] The present invention relates to a method, system and electronic processing device for maneuvering a towing vehicle and a connected trailer when the vehicle and trailer unit is in the reverse process. BACKGROUND OF THE INVENTION
    [0002] A trailer is typically connected to a towing vehicle via a trailer hitch. The trailer hitch allows the trailer to rotate around the hitch horizontally so that the vehicle and trailer unit has the ability to move around curves. This, however, can pose difficulties when the vehicle is traveling in the reverse direction. When the vehicle moves backwards, it pushes the trailer. In certain situations, it is important that the trailer moves forward or along an intended path, for example, when steering a boat on water, and the trailer needs to turn in the water. Drivers are often confused about how to turn the vehicle's steering wheel to get the desired change in trailer direction. Applying an incorrect steering angle to the vehicle can still cause the trailer to flex and lose track of the vehicle. SUMMARY OF THE INVENTION
    [0003] It is an object of the present invention to stabilize a vehicle and trailer unit during a reverse gear.
    [0004] This objective is achieved through a method with the use of at least one sensor that measures a quantity that provides information about the angle between the longitudinal geometric axis of the vehicle and the longitudinal geometric axis of the trailer.
    [0005] This can be accomplished with at least one distance sensor that generates output information representing the distance between the front of the trailer and the rear of the vehicle at a location that is laterally separated from the location of the trailer hitch, establishing itself at least one distance value and determining the difference between the distance value and a reference value. If the difference exceeds a predetermined threshold, a path correction measure is implemented. Such a sensor can be mounted at the rear of the vehicle or at the front of the trailer.
    [0006] Another option is to observe a representative angle. One possibility is to measure the rotation of the coupling, either with a sensor integrated in the coupling or with an imaging device. It is also possible to measure the angle between the towing tongue and the longitudinal axis of the towing vehicle. A rearward-facing camera or sensor can be placed in an elevated position at the rear of the vehicle and monitor the angular position of the tow pawl's center beam. Similarly, a rear-facing sensor or camera can monitor the lateral position of a reference marker attached to the trailer. The marker can be anything that is optically distinguishable from the environment, even a pattern or part of the existing trailer.
    [0007] Any type of sensor has the ability to generate information that represents a distance or a position, such as an angular position, can be used to execute the method. Such sensors can work within the infrared spectrum, visible spectrum, radar spectrum or any other suitable frequency range. Instead of electromagnetic waves, longitudinal material waves can be emitted and detected for distance measurement, for example, using ultrasound or waves in a different band of the acoustic spectrum. Sensors can simply indicate distances, detect positions of reference markers, generate an image like a camera, or measure an angle. Thus, the term "sensor" as used in this descriptive report encompasses imaging devices as well.
    [0008] If the distance between the rear of the vehicle and the front of the trailer during direct travel is known, a distance sensor is sufficient to measure a deviation caused when the trailer deviates from a direct path and moves at an angle at relation to the vehicle. But if the distance between the rear of the vehicle and the front of the trailer during direct travel is not known, for example if the vehicle is towing different types of trailers, then two sensors separated laterally can be used.
    [0009] A mathematically simple arrangement for variation using two variable distance measurements is to place the two sensors at equal distances from the trailer hitch, one on the left and one on the right. If both measure the same distance, the trailer is traveling in a straight line. If the signals from the two distance sensors are different, the trailer path deviates in a straight line towards the side of the shortest measured distance between the rear of the vehicle and the front of the trailer.
    [00010] The distance between vehicle and trailer does not need to be known if an angle is measured. The longitudinal vehicle axis ideally coincides with the central horizontal direction of a rear-facing vehicle-mounted sensor sensing area. If the angle between the trailer tongue and the longitudinal axis of the vehicle deviates by 180 degrees, this deviation corresponds to the angle between the bottom of the vehicle and the front of the trailer.
    [00011] A vehicle mounted rear facing sensor that monitors a reference marker on the trailer may alternatively indicate the lateral deviation distance of that marker from a normal position. If the sensor is mounted laterally centered on the rear of the vehicle and the marker is at a laterally central location on the trailer, the measured deviation is symmetrical on both sides and the deviation d divided by the distance between the trailer hitch and the marker constitutes the value sine of the angle between the longitudinal geometric axes of the vehicle and the trailer.
    [00012] Such deviation can be corrected by an intervention in the vehicle's steering system, in which the steering wheel angle is automatically corrected to bring the vehicle and trailer in alignment with each other.
    [00013] Due to the fact that an angle between the trailer and the vehicle is sometimes what the driver intended, for example, when backing up in a garage, the corrective system cannot interfere with a steering maneuver, the unless indicated by the vehicle driver. Such indication can be performed by the driver who makes a manual entry through an interface or by the system itself after observing the driver's behavior.
    [00014] Further details and aspects of the invention will become apparent from the description of the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
    [00015] In the drawings, Fig. 1 shows a schematic view of a vehicle towing a trailer with two rear-facing distance sensors mounted on the vehicle; Fig. 2 shows such a vehicle and trailer unit in which the trailer deviates from a straight-line course; Fig. 3 shows a vehicle and trailer unit that measures the angle between the vehicle and the trailer by measuring the lateral deviation of a marker with a camera; Fig. 4 shows an arrangement similar to Fig. 3, in which a camera monitors the trailer hitch; and Fig. 5 is an illustration of an interface through which the vehicle driver can control the reversing maneuver. DETAILED DESCRIPTION OF THE DRAWINGS
    [00016] In Fig. 1, a vehicle 10 is towing a trailer 20. The trailer 20 is connected to the vehicle 10 through the trailer hitch 16, which allows the trailer to rotate horizontally around the vertical axis of the trailer hitch 16, which is the geometric axis vertical to the drawing plane.
    [00017] The two bottom-facing distance sensors 12L and 12R are located at the rear of vehicle 10. These measure the distances 14L and 14R between the rear of vehicle 10 and the front of trailer 20 at the respective left and right locations of the same as the trailer hitch 16. The information generated by the 12L and 12R distance sensors is sent to a reverse assistance module (Module BA) 22. The reverse assistance module 22 compares the two pieces of information. 12L and 12R distance sensors.
    [00018] For the sake of simplicity, it is assumed that the distances 14L and 14R are equal if trailer 20 is in a straight line with vehicle 10. But this need not be the case. Once a trailer is fitted, the driver can initiate the reverse gear system to take a "snapshot" of the prevailing 14L and 14R distances when the vehicle and trailer are aligned along the same geometric axis. Alternatively, the reverse assistance module can learn during the forward travel course what these 14L and 14R distances are when the vehicle is moving straight ahead. When distances 14L and 14R differ from each other during direct travel, a offset distance value can be added to either or both of the distances to make them equal for further calculations.
    [00019] The reverse assistance module 22 communicates with an electronic control module 24. The electronic control module 24 is an electronic processing unit that controls an active assisted steering system 28 that has the ability to change actively a steering angle of front axle wheels 26-1 and 26-2 without the vehicle driver making a respective input through the vehicle steering wheel. Active power steering system 28 may further include the ability to additionally steer rear axle wheels 26-3 and 26-4. The electronic control module 24 computes corrective actions to be taken in order to maneuver the vehicle and initiate the assisted steering system 28 properly.
    [00020] Fig. 2 shows a situation in which the trailer 20 exits to the right side of the vehicle - making a counterclockwise turn - while being pushed in the opposite direction. Trailer 20 is not aligned with vehicle 10 at this time. As shown by the dashed lines, the distance sensor 12L on the left side of the trailer hitch 16 will measure a longer distance 14L between the rear of the vehicle 10 and the front of the trailer 20 than the distance sensor 12R on the right side of the hitch Trailer 16. If vehicle 10 continues to travel in the v direction, the trailer will flex. Thus, corrective action can be taken. For a driver who only drives a vehicle with an occasional trailer attached, it is very difficult to find the proper steering angle to bring trailer 20 back into alignment with vehicle 10 as shown in Fig. 1.
    [00021] The reverse assistance module 22 which receives information from the rear-facing distance sensors 12L and 12R, calculates the angle between vehicle 10 and trailer 20 from the two distances 14L and 14R. If the actual angle between vehicle and trailer differs from a target angle by an amount greater than a stored threshold value, the power steering system 28 applies a corrective steering angle. The threshold value corresponds to a difference caused by a relatively small angle of maximum 10°. The smaller the threshold value stored, the more sensitive the control. The exact limit value can be determined empirically to best satisfy a driver's need. This can also be established by the driver of the respective vehicle 10.
    [00022] Once the reverse assistance module 22 has determined that the threshold value is exceeded, the reverse assistance module 22 or the electronic control module 24 or both compute what the appropriate countermeasure should be and the electronic control module 24 controls the vehicle's power steering system 28 to carry out these countermeasures.
    [00023] The vehicle shown in Fig. 1 has an active steering system, that is, a steering system that can automatically change the steering angle chosen by the driver to fit a current driving situation. For such vehicles, it is possible to add a right steering angle to the steering angle indicated by the vehicle driver through the vehicle steering wheel (not shown). The power steering system 28 can change the angular position of the steering wheel to adopt a steering angle on the front wheels 26-1 and 26-2 and optionally on the rear wheels 26-3 and 26-4. Alternatively, this added steering angle can be superimposed on the vehicle wheel level on the driven axle or axles, typically the front axle, without affecting the steering wheel held by the driver. The added right steering angle can be applied until the vehicle has made sufficient counterclockwise movement to return the trailer 20 to its intended position. Then, a slightly right steering angle can be added to rotate the vehicle and trailer unit in the intended direction to continue with the reverse maneuver.
    [00024] The reverse maneuver can even be performed automatically in a closed feedback loop to independently move the vehicle backwards without any input from the driver. The driver may have the option of canceling the maneuver or deactivating the function manually.
    [00025] Although the drawing shows the reverse assistance module 22 separate from the electronic control module 24 and the power steering system 28, these three modules can obviously be integrated into one or two processing units that cooperate to perform the described functions. Reverse assist module 22 can be an aftermarket addendum.
    [00026] An additional optional camera mounted to the rear of the trailer and facing rearward is not shown. Such a camera can additionally assist the vehicle driver if the direct view in the driving direction is obstructed during a reverse gear.
    [00027] The figures are just examples for one of the many embodiments of the invention. For example, it is clear that a steering intervention can still be carried out on a trailer with at least two axles, of which at least one is steerable. Likewise, if the towing vehicle has more than one steered axle, intervention can be carried out on both steered axles.
    [00028] The method of the invention does not require two distance sensors if the distance between the rear of the vehicle at the sensor location and the front of the trailer is known for direct travel or for a desired angle between the vehicle and the trailer. Then, the deviation from the known distance is compared to a predetermined threshold value. Of course, this threshold value can be about half the threshold value of the two-sensor mode discussed above.
    [00029] In the embodiment of Fig. 3, a camera 130 monitors the movement of the towing pawl 132 for a deviation from the longitudinal axis of the vehicle indicated by arrow v. To that end, camera 130, mounted on the rear of vehicle 110, detects a deviation from a marker 134 at a laterally central location attached to trailer 120. This marker may be a part of the trailer tongue itself or a patch or tape on a Contrast color. Because the trailer 120 rotates horizontally around the trailer hitch 130, the measured lateral distance of the marker 134 from a center position divided by the distance between the trailer hitch 116 and the marker 134 sets the sine value of the angle deviation α between the longitudinal geometric axis of the vehicle and the longitudinal geometric axis of the trailer. The trailer hitch 116, which is fixed with respect to both the vehicle 110 and the trailer 120, constitutes the apex of the deflection angle α.
    [00030] Camera 130 can be preset to have a center marker reference position stored in advance to mark the direct trip. But the reverse assistance module 122 or the electronic control module 124 or both may still have the ability to learn the center marker reference position with time from trip data that was acquired before the vehicle 110 started. the reversing maneuver of the same.
    [00031] As shown in Fig. 4, the camera 130 can be mounted in an elevated position that approximately corresponds to the height of the passenger compartment roof at the rear of the vehicle 110. The camera can observe the marker 134 fixed on the front of the trailer 120 or record an image that is processed by the reverse assistance module to calculate the angle α between the trailer 120 and the vehicle 110. But the camera can alternatively be mounted in a lower position 136, as indicated with dashed lines. Such a lower mounting position may be necessary if the vehicle is, for example, a pickup truck that does not allow the camera 130 to be mounted in the raised position.
    [00032] Fig. 5 shows another embodiment, in which the driver of vehicle 210 can direct the reverse assistance module to move trailer 220 in a specific direction that is not necessarily in direct alignment with vehicle 210. driver can input in the intended direction through an interface 200. Interface 200 shown comprises a monitoring portion 202 and an input portion 204. Input portion 204 is configured as a slider 206 that can be manually moved horizontally to the left or to the right to indicate the intended direction of the trailer 220. The runner 206 can be a physical runner or a runner image with a touch-sensitive surface. The monitoring portion 202 shows a video stream of the movement of the trailer 220 as recorded by a rear facing camera mounted on the vehicle 210. The lower end of the monitoring image shows the rear of the vehicle 210. The monitoring portion 202 may include additionally virtual guides 238, 240 and 242. In the mode shown, virtual guide 240 indicates the direction of direct alignment between vehicle and trailer. Guides 238 and 242 contain distance markers to give the driver an intuitive measure of determining the angle between vehicle 210 and trailer 220 by having the ability to compare the distance of the right side of the trailer from vehicle 210 with the distance from the left side of the trailer from vehicle 210. The two virtual guides 238 and 242 may have differently colored sections to show the driver the relative safe, intermediate, and hazardous distances between each side of the trailer 220 and vehicle 210.
    [00033] The broad teachings of this description can be implemented in many ways not specifically pointed out. Consequently, the actual scope of the description is not limited to the particular examples discussed in detail. Additional modifications become evident by studying the drawings, the descriptive report and the claims below.
    权利要求:
    Claims (21)
    [0001]
    1. Method of maneuvering a vehicle unit (10, 110, 210) and trailer (20, 120, 220) in a reverse gear, the vehicle unit (10, 110, 210) and trailer (20, 120, 220) having a trailer (20, 120, 220), a vehicle (10, 110, 210) and a trailer hitch (16, 116), the trailer (20, 120, 220) being connected to the trailer hitch (16 116) to allow a rotational movement of the trailer (20, 120, 220) relative to the trailer hitch (16, 116), the method characterized by comprising the steps of: providing an electronic processing unit configured to provide signals for controlling an assisted steering system (28); provide at least one sensor connected to the vehicle (10, 110, 210) and configured to send information regarding a position of the trailer (20, 120, 220) in relation to the vehicle (10, 110, 210) to the electronic processing unit ; determining an intended position of the trailer (20, 120, 220) relative to the vehicle (10, 110, 210) based on an input from a driver that is independent of a vehicle steering wheel; determining that the vehicle (10, 110, 210) and trailer (20, 120, 220) unit is backing up; measuring, with at least one sensor, a quantity representing the position of the trailer (20, 120, 220) in relation to the vehicle (10, 110, 210); generating output information from the at least one sensor to the electronic processing unit, the output information being representative of the position of the trailer (20, 120, 220) in relation to the vehicle (10, 110, 210); compare the position of the trailer (20, 120, 220) in relation to the vehicle (10, 110, 210) with a reference value that corresponds to the intended position of the trailer (20, 120, 220) in relation to the vehicle (10, 110 , 210) which uses the electronic processing unit; determine, in the electronic processing unit, whether the position of the trailer (20, 120, 220) in relation to the vehicle (10, 110, 210) deviates from the intended position of the trailer (20, 120, 220) in relation to the vehicle (10 , 110, 210) and determining an offset; implement a position correction measure using the electronic processing unit to command the steering system (28) to correct the deviation by correcting the position of the at least one vehicle (10, 110, 210) and the trailer (20, 120, 220) while the vehicle (10, 110, 210) and trailer (20, 120, 220) unit is in a reverse gear.
    [0002]
    2. Method according to claim 1, characterized in that the quantity representing the position of the trailer (20, 120, 220) in relation to the vehicle (10, 110, 210) comprises an angle.
    [0003]
    3. Method according to claim 2, characterized in that the angle is determined based on a distance between a front of the trailer (20, 120, 220) and a rear of the vehicle in at least one location that is laterally offset from the trailer hitch location by determining the difference between the distance value and a reference distance value.
    [0004]
    4. Method according to claim 2, characterized in that the angle represents a deviation of the trailer from a straight alignment with the vehicle (10, 110, 210) and the reference value is an angle that represents a deviation of the trailer from straight alignment with the vehicle (10, 110, 210) when the trailer (20, 120, 220) is in the desired position relative to the vehicle (10, 110, 210).
    [0005]
    5. Method according to claim 1, characterized in that the intended position of the trailer (20, 120, 220) in relation to the vehicle (10, 110, 210) defines an intended path for the vehicle unit (10 , 110, 210) and towing (20, 120, 220) in the opposite journey.
    [0006]
    6. Method according to claim 5, characterized in that the intended path is a curved path.
    [0007]
    7. Method according to claim 1, characterized in that the position correction measure adds a corrective steering angle to an existing steering angle.
    [0008]
    8. Method according to claim 1, characterized in that the vehicle (10, 110, 210) has a driver operable assistance switch (204), the method including the step of detecting whether the switch (204) has been set to activate the method.
    [0009]
    9. Method according to claim 1, characterized in that the at least one sensor is a chamber (130).
    [0010]
    10. System for maneuvering a vehicle (10, 110, 210) and trailer (20, 120, 220) unit to correct a relative position of a vehicle (20, 120, 220) trailer (10, 110, 210) in relation to a vehicle (10, 110, 210), the system characterized by comprising, an input device for the driver separate from a vehicle steering wheel, the input device for the driver configured to be actuated by a driver of the vehicle ( 10, 110, 210) to provide information regarding a desired position of the trailer (20, 120, 220) relative to the vehicle (10, 110, 210); a sensor configured to provide information about an actual position of the trailer (20, 120, 220) in relation to the vehicle (10, 110, 210); an electronic processing unit programmed to receive information about the actual position of the trailer (20, 120, 220) in relation to the vehicle (10, 110, 210) and receive information about the intended position of the trailer (20, 120, 220 ) with respect to the vehicle (10, 110, 210) and further configured to provide signals to control an assisted steering system (28) to correct the actual position of the trailer (20, 120, 220) with respect to the vehicle (10, 110 , 210) to correspond to the intended position of the trailer (20, 120, 220) in relation to the vehicle (10, 110, 210); wherein the electronic processing unit is further programmed to compare information about the actual position of the trailer (20, 120, 220) in relation to the vehicle (10, 110, 210) with a reference value and determine from the comparison , if the trailer (20, 120, 220) deviates from the intended position and, in response to it, command the power steering system (28) to correct the position of at least one vehicle (10, 110, 210) and trailer ( 20, 120, 220).
    [0011]
    11. System according to claim 10, characterized in that the information about the actual position of the trailer (20, 120, 220) is an angle.
    [0012]
    12. System according to claim 11, characterized in that the angle is determined from a location of a marker (134).
    [0013]
    13. System according to claim 11, characterized in that the angle is determined from a variable position of a geometric marker (134).
    [0014]
    14. System according to claim 10, characterized in that the sensor is a camera.
    [0015]
    15. System according to claim 10, characterized in that the intended position of the trailer (20, 120, 220) in relation to the vehicle (10, 110, 210) is a rotated position of the trailer (20, 120, 220) in relation to the vehicle (10, 110, 210).
    [0016]
    16. System according to claim 15, characterized in that the rotated position of the trailer (20, 120, 220) in relation to the vehicle (10, 110, 210) defines an intended path when the vehicle (10, 110) , 210) is moving in the opposite direction.
    [0017]
    17. System according to claim 16, characterized in that the intended path is a curved path.
    [0018]
    The system of claim 10, further comprising a switch (204) for activating the system.
    [0019]
    19. System according to claim 10, characterized in that the sensor is a distance sensor.
    [0020]
    20. System according to claim 10, characterized in that the electronic processing unit includes information stored therein that represents the geometric information of the vehicle (10, 110, 210) and the trailer (20, 120, 220) and the electronic processing unit is programmed to calculate a desired steering angle of the vehicle (10, 110, 210) to obtain the intended position of the trailer (20, 120, 220) with respect to the vehicle (10, 110, 210).
    [0021]
    21. System according to claim 10, characterized in that the electronic processing unit receives the information about the intended position of the trailer (20, 120, 220) and commands the power steering system (28) to reach the desired position in a closed-loop fashion.
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    法律状态:
    2018-12-18| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-09-17| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2020-10-06| B06G| Technical and formal requirements: other requirements [chapter 6.7 patent gazette]|
    2021-02-09| B07A| Application suspended after technical examination (opinion) [chapter 7.1 patent gazette]|
    2021-06-08| B350| Update of information on the portal [chapter 15.35 patent gazette]|
    2021-07-06| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-08-17| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 09/01/2012, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
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    US13/005,644|2011-01-13|
    PCT/US2012/020618|WO2012096875A1|2011-01-13|2012-01-09|System and method for maneuvering a vehicle-trailer unit in reverse travel|
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