• 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:
    A backing system for a vehicle-trailer unit includes an input device for providing a input used to determine a first and second requested hitch angle. The first hitch angle is disposed within a standard range of motion of the input device while the second hitch angle is disposed within a maximum range of motion, different from the standard range of motion. Movement of the input device in the standard range of motion limits the requested hitch angle to a first maximum value to prevent jack-knifing of the vehicle-trailer unit. However, movement of the input device in the maximum range of motion does not limit the actual hitch angle.
    公开号:SE1651585A1
    申请号:SE1651585
    申请日:2016-12-02
    公开日:2017-06-05
    发明作者:Herzog Brandon；Muharemovic Ibro
    申请人:Continental automotive systems inc；
    IPC主号:
    专利说明:

    [6616] [6616] A sensor 26 and the input device 16 are connected to the ECU 22.The input device 16 and a sensor 26 may already be existing and incorperated inte thevehicle 16. The input device 16 may be ene et a joystick, a roller ball, a kneb, a slidedevice, at least ene physical button, at least one touch screen button, a handheldelectronic device, gesture control inputs and voice control inputs. Fer example, theinput device 16 may be a kneb style controller that is used with a navigation/informationsystem, er a separate portable device that may be removed from the vehicle 16 andconnected wirelessly te the ECU 22. Alternatively, the input device 16 may be a hand-held device where inputting a requested hitch angle comprises pivoting the hand-helddisplay toward the desired direction of travel and the electronic control unit determlnesan angle of the hand-held device relative te horizontal based upon input from agyrescope within the hand-held device.{6626} The sensor 26 may be used te measure hitch angle ef the vehicle 16. Thesensor 26 may be one er multiple sensers rneasuring relativa distance between thevehicle 16 and the trailer 11 and using the varied distance te calculate hitch angle 46.The sensor 26 may use horizontal er vertical features en the trailer 11 in the distancemeasurement.[6621] ln one embediment, the sensor 26 is a camera, preferably a camera (netseparately numbered) which is installed in the vehicle 16, such as a back-up camera.The camera may Capture an image and image analysis may be used te calculate thehitch angle 46. A distinct marklng can be established en the trailer 11 and captured bythe camera for analysis. Fer example, the rnarking may be three or mere of dets spaced apart from ene another and positiened en the front of the trailer 11 preximate to 2015PO59l4USO1 the hitoh 15. The camera 26 may capture an image of the marking and the ECU 22may analyze the image to determine the relative position of the dots to one another.The ECU 22 compares the relative distances of the dots and to stored data of therelativa distances. The stored data would include at what hitch angle 40 those relativadistanoes would occur. Titus, the hitch angle can he calculated using a camera for thesensor 26 and a predetermined distlnct marking. The marking may he specific to thetrailer haoklng system 14, e.g., a known decal to he applied to the trailer 11, since therelativa distanoes of the marklngs may he prerecorded hy the ECU 22. The distance tothe marklng from the camera 16 may also need to he input into the system 14. ïüu22j ln another emhodiment, the trailer hacklng system 14 can use referencepoints on the trailer 11 as markings, such as the corners of the trailer, hltch attachmentpoint, hody decals that are provided hy the manufacturer, etc. The ECU 22 may ernploya learning mode to team the relative distances at known hitch angles 49 the first timethe system 14 is used. The trailer hacklng system 14 could learn the relative distancesbetween the markings when the trailer 11 is hitched to the vehicle “iO and at a knownangle, eg., zero degrees nitch angle. [90231 FlG. 2 iliustrates an emhodlment of a method of using the trailer hackingsystem 14, shown at 29. The path input mode for the trailer hacking system 14 islnitiated, step 30. A vehicle operator would use the input device 16 to input an intendeddirection of moving the trailer 11, step 32. The ECU 22 interprets the ioystick 116movement to a steering angle required, step 34. [ÛG24] The trailer hacklng system “l4 is designed to work real-time in which the vehicle-trailer unit 12 moves as the user inputs the directions through the input device 2015PÛ5914US01 16, step 36. lf the actual angle between the vehicle and the trailer ditters from anintended angle hy an amount greater than a stereo threshold value, the power steeringsystem 24 applies a oorrective steering angle. The threshold value corresponds to adifference caused hy a relatively small angle ot at most th The smaller the storedthresheid value is, the mere sensitive the control witl he. The exact threshotd value maybe empirioally deterrnined to hest satisty a drivers need. lt could also he set by thedriver ot the respective vehicle 10. tüüâš] FEGS. Sa and 3h iltustrate an input device 16, where the device is a knohstyle control. The ECtl 22 receives control signals trorn the knoh 16 based enmovement ot the knoh 16 to the right and lett and interprets the movement to hegin asteering request in the direction chosen. Anti-jack ltnite measures will limit themaximum hitch angle to either side. The knoh 16 has an available range ot motion 41.Within the available range ot motion 41 is a limited standard available motion betweendotted lines 44. When the knoh 16 is in the standard available range ot motion 44 thebaeking system 14 limits the maximum hltch angle ot the vehicle-trailer unit 12 bacltingup to prevent jaok-kniting. The standard range of motion 44, could he, eg., 26-35% otan available maximum range ot motion. This feature is particularly important forindividuals who are untamiliar with backlng trailers 11, when inadvertent jack-kniting otthe trailer 11 may occur. thüâât i-lowever, situations may occur when range ot motion greater than thestandard range of motion 44 is desired and the anti-jack knite measures can beoverridden. Fer example, an experienced user may desire a hitch angle 40 to avoid an ohstacle 48 (as shown in FlG. 1), where the desired hitch angle is outside the standard 2015PO5914USO1 range ot motion 44. in such instances, a maximum range ot motion ot the knoh, asshown between the dotted tines 42, may be implemented. The user may override thestandard available range ot motion 44 to allow the maximum range ot motion 42 by,eg., pressing downward 46 while simuttaneouslv moving the knob 16 turther in thedesired direction 41. Qt course, in other embodiments, instead ot pressing downward46, the knob may be moved in some other direction, eg., lett, right, upward, etc. [udfi] The ECU 22 receives control signals to allow the hitch angle 4G to move toa tull extent ot the range ot motion available, when the knoo 16 is moved past thestandard range ot motion 44 and into the maximum range ot motion 42. The movementot the input device 16 would still have the same rate ot reguested change, eg., turningthe knob 5 degrees would still request a 5% increase in hitch angle, but would nowallow the reduested hitch angle to extend through a greater range ot motion.
    [6633] [6633] The input device 16, 116 may be a proportional or differential input device16, 116. That is the ECU 22 may provide proportionai degrees of change based uponthe position of the input device 16, 116 to the range of motion, e.g. every 16% change inone direction of the range of motion results in a 5 degree change in the reguested hitchangle and maintains the ioystick at the zero degree position maintains a current hitchangle. The differential change may be incrementaliy or contlnuously Variable. füdßdl Alternatively, the input device 16, 116 may be a proportional input devicewhere the input device 16, 116 outputs a reguested trailer angle based on knoblioystickposition and straight up indicates straight backing motion. For example, the input device 16, 116 may be moved to the end of travel in the right direction and held there. The 12 2Q15POS914USO1 ECU 22 wiii interpret this as a request to steer to the maximum aiiowed angie and hoidthat angie whiie the input device 16, 116 remains in piece. füüâb] White the figures show the ECU 22 separate from the controi moduie 25and from the power steering system 24, these moduies can obviousiy be integrated intoprocessing units cooperating to perform the described functions. The ECU 22 can,therefore, be an after-market add-on
    [6336] [6336] White the best modes for carryihg out the invention have been describedin detaii the true scope of the ciisciosure shouid hot be so iimited, since those famiiiarwith the art to which this invention reiates wiii recognize various aiternative designs and embodiments for praoticing the invention within the scope of the appended oiaims. 13
    权利要求:
    Claims (14)
    [1] 1. 2015PO5914US0l CLAEMS What is ciaimed is: t. A method of maneuvering a vehicie-traiier unit in reverse travet with abacking system, wherein the traiier has a front with a traiier tongue and the vehicie hasa rear with a traiier hitch, the traiier tongue being connected to the traiier hitoh aiiowinga horizontai swivei movement of the traiier around the hitch, the method comprising: determining that the vehicie-traiier unit is booking up with an eiectroniccontroi unit for the backing system; determining a current hitch angie representing the reiative angie betweenthe vehicie and the traiier with the eiectronic controi unit; inputting a first requested hitch angie with an input device connected tothe eiectronic controi unit by moving the input device within a standard range of motion; caicuiating the first requested hitch angie with the eiectronic controi unitbased on the movement of the input device within the standard range of motion,wherein the standard range of motion iimits the requested hitch angie to a firstmaximum vaiue to prevent iack-knifing of the vehicie-traiier unit; inputting a second requested hitch angie with the input device connectedto the eiectronic ccntroi unit hy moving the input device within a maximum range ofmotion; caicuiating the second reduested hitch angie with the eiectronic controlunit, based on the movement of the input device within the maximum range of motion, wherein the maximum range of motion does not iimit the actuai hitch angie; 14 2015P05914USO1. catoutating a steering angie with the etectronic controi unit based uponone of the first and second requested hitch angtes, wherein the steering angie witt aiiowmovement of the vehicie-traiier unit in the reverse direction to obtain the first andsecond requested hitch angie; and sending a request to a steering system to provide the steering angte.
    [2] 2. The method of ciaim t, further comprising continuing catcutating thesteering angie to provide the first and second requested hitch angies white the vehicte-traiier unit is moving in the reverse direction, and continuing to send the requests to the steering system.
    [3] 3. The method of ctaim 1, wherein the input device is one of a ioystick, arotter hatt, a knoh, a siide device, at teast one ohysicat button, at ieast one touch screen button, a handhetd eiectronic device, gesture controt inputs and voice controt inputs.
    [4] 4. The method of ctaim 3, wherein the input device is a knoh and inputting afirst request hitch angie cornprises turning the knoo in the desired direction of travet andinoutting a second requested hitch angie further comprises moving the knoh in a downward direction white continuing to turn in the desired direction of travet.
    [5] 5. The method of ciaim 3, wherein the input device is a ioysttck and inouttinga first request hitch angte comprises oivoting the iovstick toward the desired direction of travet and inputting a second requested hitch angie further cornprises moving the 2015P05914USÛ1 ioystick in e downward direction white oontinuing to pivot toward the desired direction of travei.
    [6] 6. The method of oieim 3, wherein the input device is e hand-hete diepieyend inputting e first reguested hitoh engie oompriees pivoting the hend-heid dispieytoward the desired direction of travet and inputtirig e second regueeted hitch angiefurther compriees preeeing and hoid e button on the hend-heid dispiay white continuing to pivot the hand-heid diepiay toward the desired direction ot travet. .
    [7] 7. The method ot oiairn 6, wherein moving the input device within thestandard range of motion and maximum range of motion further oompriees theeieotronio oontroi unit deterrninee en angie ot the hehdheid device reietive to horizontai hesed upon input from a gyroeoope within the hand-heid device. 16 2015P05914USO1
    [8] 8. A backing system for a vehicie-traiier unit, wherein the traiier has a frontwith a traiier tengue and the vehicie has a rear with a traiier hitch, the traiier tonguebeing connected to the traiier hitch aiiowing a herizontai swivei movement of the traiieraround the hitch, the system comprising: a sensor for sensing a current hitch angle, which represents the reiativeangie between the vehioie and the traiier;an input device for providing a input used to determine a first and secondrequested hitch angie; andan eiectronic centret unit for the backing system, the eiectrenic centret unitin communication with the sensor and the input device, wherein the eiectronic centretunit inciudes instructions for:determining that the vehicie-traiier unit is backing up;receiving the current hitch angie from the sensor;caicuiating the first requested hitch angie, based on the movementof the input device within a standard range of motion, wherein the standard rangeof motion iimits the requested hitch angie to a first maximum vaiue to preventjack-kniting of the vehicie-traiier unit;caiouiating the second reeuested hitch angie, based en themovement of the input device within a maximum range of motion, wherein themaximum range of motion does not iimit the actuai hitch angie;caicuiating a steering angie with the eiectronio centret unit based upon one of the first and second reguested hitch angies, wherein the steering 17 2015P05914USOl angie wiii eiiow movement of the vehicie-traiier unit in the reverse direction toobtain the one of the first and second reouested hitch angie; endsending e request to e steering system to provide the steering angie.
    [9] 9. , The backing system of cieim 8, wherein the eiectronic controi devicecontains further instructions to further comprising continuing ceicuieting the steeringangie to provide the one of the first end second requested bitch engies white thevehicie-traiier unit is moving in the reverse direction, and continuing to send the requests to the steering system. 1G.
    [10] 10. The becking system of ciaim 8, wherein the input device is one of ajoystick, e roiier beii, e kncb, e slide device, et ieest one physics! button, et ieast onetouch screen button, e hendheid eiectronic device, gesture controi inputs and voice controi inputs. tt.
    [11] 11. The booking system ot ciaim 1G, wherein the input device is e knob endinputting e first request hitch engie comprises turning the knob in the desired direction oftravet and inputting e second reguested nitch engie further comprises moving the Knob in e downwerd direction white continuing to turn in the desired direction of trevei.
    [12] 12. The becking system of cieirn 10, wherein the input device is e ioystick and inputting a first request hitch engie cornprises pivoting the ioystick toward the desired 18 2015PO5914US01 direction of travet and inputting a second requested hitch angie further cornprisesmoving the joystick in a downward direction white continuing to pivot toward the desired direction of travet.
    [13] 13. The baoking system of ctaim 10, wherein the input device is a hand-heiddisptay and inputting a first requested hitch angte comprises pivoting the hand-heiddispiay toward the desired direction of travet and inputting a second reduested hitchangie further comprises pressing and hoid a button on the hand-heid dispiay white continuing to pivot the hand-heid display toward the desired direction of travet.
    [14] 14. The hacking system of ciaim 13, wherein the eiectronic controi unitdetermines an angie of the hand-hetd device reiative to horizontai based upon inputfrom a gyroscope to determine movement of the input device within the standard range of motion and the maximum range of motion. 19
    类似技术:
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
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    US9592851B2|2013-02-04|2017-03-14|Ford Global Technologies, Llc|Control modes for a trailer backup assist system|
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    DE102019206818A1|2019-05-10|2020-11-12|Psa Automobiles Sa|System for controlling functions of a motor vehicle, motor vehicle, method for operating a system and computer program product|
    法律状态:
    2019-01-22| NAV| Patent application has lapsed|
    优先权:
    申请号 | 申请日 | 专利标题
    US201562263186P| true| 2015-12-04|2015-12-04|
    US15/361,614|US10220878B2|2015-12-04|2016-11-28|Maximum hitch angle control for reversing a vehicle and trailer system|
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