System and method for assisting in the maneuvering of a trailer towed by a vehicle

Abstract

Methods and systems for assisting in the steering of a trailer towed by a vehicle. The trailer includes a left wheel, a right wheel, an axle, a left brake device coupled to the left wheel, and a right brake device coupled to the right wheel. The methods and systems receive a driver command for a target path for the trailer, determine a left brake torque for the left wheel and a right brake torque for the right wheel based on the target path to provide differential braking, and apply a left brake torque and a right brake torque via the left brake device and the right brake device to assist in the steering of the trailer along the target path.

Description

Technical Field

[0001] This disclosure generally relates to vehicles, and more specifically to assisting a driver in operating a trailer towed by a vehicle. Background Technology

[0002] Various vehicles can be used as towing vehicles for trailers. Some vehicle and trailer systems allow the driver to command the application of the trailer's brakes using a mechanical interface provided in the vehicle. In such systems, the brakes on all wheels of the trailer are applied simultaneously with the same magnitude. Vehicle and trailer brakes can be used in combination to ensure smooth braking operation of the combined system. Trailer brakes can be used to mitigate trailer swaying.

[0003] Maneuvering a trailer from a vehicle (e.g., reversing) requires driver skill and can be a complex operation. One known problem that can occur is bending into a V-shape, like a folding knife. During reversing maneuvers of a trailer, a V-shape can form when the engagement angle increases to the point where the vehicle and trailer fold together around the engagement point like a folding knife. If the reversing motion continues, the folding knife effect gradually worsens until the vehicle and trailer make physical contact with each other. Bending into a V-shape like a folding knife can cause traffic disruptions and wasted time, and may result in damage or personal injury.

[0004] Therefore, it is desirable to provide improved systems and methods for maneuvering vehicle and trailer combinations along desired trajectories. It is also desirable to provide methods and systems that are easy for drivers to use. Furthermore, other desirable features and characteristics of the invention will become apparent from the following detailed description and the appended claims, taken in conjunction with the accompanying drawings and the foregoing technical field and background. Summary of the Invention

[0005] In one aspect, a method is provided to assist in maneuvering a trailer towed by a vehicle. The trailer includes a left wheel, a right wheel, an axle, a left brake connected to the left wheel, and a right brake connected to the right wheel. The left and right wheels are located at opposite ends of the axle. The method includes: receiving a driver command for a target path of the trailer via a processor; determining, based on the target path, a left braking torque for the left wheel and a right braking torque for the right wheel via the processor to provide differential braking; and applying the left and right braking torques via the left and right brakes to assist in maneuvering the trailer along the target path.

[0006] In this embodiment, the driver's command for the target path originates from the vehicle's driver input device.

[0007] In one embodiment, the driver command for the target path originates from a steering input device of the vehicle that sets the current path of the trailer and a second input device of the vehicle that modifies the current path to provide the target path.

[0008] In one embodiment, the trailer includes a video capture device for imaging the external scene behind the trailer and providing a corresponding video feed, and wherein the second input device is a human-machine interface (HMI) that receives and displays the video feed from the video capture device, integrates a depiction of the current path into the video feed for display, and allows the driver to input modifications to the current path.

[0009] In one embodiment, the method includes determining a target trajectory for a target path via a processor, wherein left braking torque and right braking are determined based on the target trajectory for the target path.

[0010] In one embodiment, the trailer includes a left wheel speed sensor, a right wheel speed sensor, and an inertial measurement unit (IMU). The method includes: receiving a measured left wheel speed from the left wheel speed sensor via a processor; receiving a measured right wheel speed from the right wheel speed sensor via a processor; determining a target yaw rate of the trailer via a processor based on a driver command; deriving a target left wheel speed based on the target yaw rate; deriving a target right wheel speed based on the target yaw rate; determining a left braking torque via a processor based on the difference between the target left wheel speed and the measured left wheel speed; and determining a right braking torque via a processor based on the difference between the target right wheel speed and the measured right wheel speed.

[0011] In an embodiment, the method includes checking, via a processor, whether the following trailer state conditions are true based on measurements from sensor systems of the trailer and the vehicle: the vehicle speed is not zero, the driver steering input is approximately constant, the trailer yaw rate is approximately constant, and the engagement articulation angle is approximately constant. If the vehicle-trailer state conditions are true, the processor determines the current yaw rate of the trailer, the currently measured left wheel speed from the left wheel speed sensor, and the currently measured right wheel speed from the right wheel speed sensor under the trailer state conditions; determines a target yaw rate via the processor based on the current yaw rate; receives a newly measured left wheel speed from the left wheel speed sensor via the processor; receives a newly measured right wheel speed from the right wheel speed sensor via the processor; and determines a left braking torque via the processor based on the difference between the target left wheel speed and the newly measured left wheel speed; and determines a right braking torque via the processor based on the difference between the target right wheel speed and the newly measured right wheel speed.

[0012] In one embodiment, the method includes displaying a depiction of a target path on a human-machine interface (HMI), wherein the depiction of the target path is generated based on a current yaw rate and includes a first user interface element for accepting the target path and a second user interface element for modifying the target path in the HMI, wherein when the driver accepts the target path using the first user interface element, the processor uses the current yaw rate as the target yaw rate, wherein the current yaw rate is modified by the processor according to the modified target path input by the driver using the second user interface element to provide a modified yaw rate, and wherein the processor uses the modified yaw rate as the target yaw rate.

[0013] On the other hand, a trailer towed by a vehicle is provided. The trailer includes a left wheel, a right wheel, and an axle. The left and right wheels are located at opposite ends of the axle. A left braking device is connected to the left wheel, and a right braking device is connected to the right wheel. A processor is configured to execute program instructions. The program instructions are configured to cause the processor to perform the following operations: receive a differential braking command from the vehicle's control system; and based on the differential braking command, command the left braking device to apply a left braking torque and command the right braking device to apply a right braking torque to assist in maneuvering the trailer along a target path.

[0014] In one embodiment, the trailer includes a left wheel speed sensor coupled to the left wheel to measure the left wheel speed and a right wheel speed sensor coupled to the right wheel to measure the right wheel speed. Program instructions are configured to cause the processor to send the left wheel speed and right wheel speed to the vehicle's control system.

[0015] On the other hand, a system is provided to assist in maneuvering a trailer towed by a vehicle. The system includes a trailer and a vehicle. The trailer includes a left wheel, a right wheel, and an axle. The left and right wheels are located at opposite ends of the axle. A left brake is connected to the left wheel, and a right brake is connected to the right wheel. The system includes a processor configured to execute program instructions. The program instructions are configured to cause the processor to perform the following operations: receive a driver command for a target path for the trailer; determine a left braking torque for the left wheel and a right braking torque for the right wheel based on the target path to provide differential braking; and apply the left and right braking torques via the left and right brakes to assist in maneuvering the trailer along the target path.

[0016] In this embodiment, the driver's command for the target path originates from the vehicle's driver input device.

[0017] In one embodiment, the driver command for the target path originates from a steering input device of the vehicle that sets the current path of the trailer and a second input device of the vehicle that modifies the current path to provide the target path.

[0018] In one embodiment, the trailer includes a video capture device for imaging the external scene behind the trailer and providing a corresponding video feed. The second input device may be a human-machine interface (HMI) that receives and displays the video feed from the video capture device, integrates a depiction of the current path into the video feed for display, and allows the driver to input modifications to the current path.

[0019] In an embodiment, program instructions are configured to cause the processor to: determine the target trajectory of the target path, wherein determining the left braking torque and the right braking torque is based on the target trajectory of the target path.

[0020] In this embodiment, the trailer includes a left wheel speed sensor, a right wheel speed sensor, and an inertial measurement unit (IMU). Program instructions are configured to cause the processor to perform the following operations: receive a measured left wheel speed from the left wheel speed sensor; receive a measured right wheel speed from the right wheel speed sensor; determine a target yaw rate for the trailer based on a driver command; derive a target left wheel speed based on the target yaw rate; derive a target right wheel speed based on the target yaw rate; determine a left braking torque based on the difference between the target left wheel speed and the measured left wheel speed; and determine a right braking torque based on the difference between the target right wheel speed and the measured right wheel speed.

[0021] In an embodiment, the program instructions are configured to cause the processor to perform the following operations: Based on measurements from the sensor systems of the trailer and the vehicle, check whether the following trailer state conditions are true: the vehicle speed is not zero, the driver steering input is approximately constant, the trailer yaw rate is approximately constant, and the engagement articulation angle is approximately constant. If the vehicle-trailer state conditions are true, then: determine the current yaw rate of the trailer, the currently measured left wheel speed from the left wheel speed sensor, and the currently measured right wheel speed from the right wheel speed sensor under the trailer state conditions; determine a target yaw rate based on the current yaw rate; receive a newly measured left wheel speed from the left wheel speed sensor; receive a newly measured right wheel speed from the right wheel speed sensor; and determine the left braking torque based on the difference between the target left wheel speed and the newly measured left wheel speed; and determine the right braking torque based on the difference between the target right wheel speed and the newly measured right wheel speed.

[0022] In an embodiment, the program instructions are configured to cause the processor to perform the following operations: displaying a depiction of a target path on the vehicle's human-machine interface (HMI), wherein the depiction of the target path is generated based on the current yaw rate; the HMI includes a first user interface element for accepting the target path and a second user interface element for modifying the target path, wherein when the driver accepts the target path using the first user interface element, the processor uses the current yaw rate as the target yaw rate, wherein the current yaw rate is modified by the processor according to the modified target path input by the driver using the second user interface element to provide a modified yaw rate, and wherein when the modified target path is input by the driver using the second user interface element and accepted by the driver using the first user interface element, the processor uses the modified yaw rate as the target yaw rate.

[0023] In one embodiment, the system includes multiple trailers, each trailer including a left wheel, a right wheel, and an axle. The left and right wheels are located at opposite ends of the axle. A left brake is connected to the left wheel, and a right brake is connected to the right wheel. Program instructions are configured to cause the processor to perform the following operations: receive driver commands for the multiple trailers and for a target path for each trailer; determine a left braking torque for the left wheel and a right braking torque for the right wheel based on the target path to provide differential braking; and apply the left and right braking torques via the left and right brakes to assist in maneuvering the trailers along the target path.

[0024] In one embodiment, the trailer includes multiple axles, a left wheel connected to each axle, a right wheel connected to each axle, a left brake connected to each left wheel, and a right brake connected to each right wheel. The program instructions are configured to cause the processor to perform the following operations: receive a driver command for a target path for the trailer; determine, based on the target path, a left braking torque for each left wheel and a right braking torque for each right wheel to provide differential braking; and apply corresponding left and right braking torques via the left and right brakes to assist in maneuvering the trailer along the target path.

[0025] This invention provides the following technical solutions:

[0026] 1. A method for assisting in maneuvering a trailer towed by a vehicle, the trailer comprising:

[0027] Revolver;

[0028] Right wheel;

[0029] axle;

[0030] The left and right wheels are located at opposite ends of the axle;

[0031] The left brake device connected to the left wheel; and

[0032] A right brake device connected to the right wheel;

[0033] The method includes:

[0034] Receive driver commands for the target route of the trailer via at least one processor;

[0035] Based on the target path, the left braking torque of the left wheel and the right braking torque of the right wheel are determined via the at least one processor to provide differential braking;

[0036] The left braking torque and the right braking torque are applied via the left braking device and the right braking device to assist the trailer in maneuvering along the target path.

[0037] 2. The method according to Scheme 1, wherein the driver command for the target path is derived from at least one driver input device of the vehicle.

[0038] 3. The method according to Scheme 1, wherein the driver command for the target path originates from a steering input device of the vehicle that sets the current path of the trailer and a second input device of the vehicle that modifies the current path to provide the target path.

[0039] 4. The method according to Scheme 3, wherein the trailer includes a video capture device for video imaging of the external scene behind the trailer and providing a corresponding video feed, and wherein the second input device is a human-machine interface (HMI) that receives and displays the video feed from the video capture device, integrates the depiction of the current path into the video feed for display, and allows the driver to input modifications to the current path.

[0040] 5. The method according to Scheme 1, comprising determining a target trajectory of the target path via the at least one processor, wherein determining the left braking torque and the right braking torque is based on the target trajectory of the target path.

[0041] 6. The method according to Scheme 1, wherein the trailer includes a left wheel speed sensor, a right wheel speed sensor, and an inertial measurement unit (IMU), wherein the method includes:

[0042] The measured left wheel speed is received from the left wheel speed sensor via the at least one processor;

[0043] The measured right wheel speed is received from the right wheel speed sensor via the at least one processor;

[0044] Based on the driver's command, the target yaw rate of the trailer is determined via the at least one processor;

[0045] The target left wheel speed is derived based on the target yaw rate.

[0046] The target right wheel speed is derived based on the target yaw rate.

[0047] The left braking torque is determined via the at least one processor based on the difference between the target left wheel speed and the measured left wheel speed; and

[0048] The right braking torque is determined via the at least one processor based on the difference between the target right wheel speed and the measured right wheel speed.

[0049] 7. The method according to Scheme 6, comprising:

[0050] Based on measurements from the sensor systems of the trailer and the vehicle, at least one of the following trailer state conditions is checked via the at least one processor to determine whether it is true:

[0051] The speed of the vehicle is not zero;

[0052] The driver's steering input is approximately constant;

[0053] The yaw rate of the trailer is approximately constant;

[0054] The hinge angle is approximately constant; and

[0055] If all of the above vehicle-trailer status conditions are true:

[0056] The at least one processor determines the trailer's current yaw rate, the currently measured left wheel speed from the left wheel speed sensor, and the currently measured right wheel speed from the right wheel speed sensor under the vehicle-trailer state conditions.

[0057] The target yaw rate is determined based on the current yaw rate via the at least one processor;

[0058] The newly measured left wheel speed is received from the left wheel speed sensor via the at least one processor;

[0059] The newly measured right wheel speed is received from the right wheel speed sensor via the at least one processor; and

[0060] The left braking torque is determined via the at least one processor based on the difference between the target left wheel speed and the newly measured left wheel speed; and

[0061] The right braking torque is determined via the at least one processor based on the difference between the target right wheel speed and the newly measured right wheel speed.

[0062] 8. The method according to claim 7, comprising displaying a depiction of the target path on a human-machine interface (HMI), wherein the depiction of the target path is generated based on the current yaw rate and the HMI includes a first user interface element for accepting the target path and a second user interface element for modifying the target path, wherein when the driver accepts the target path using the first user interface element, the at least one processor uses the current yaw rate as the target yaw rate, wherein the current yaw rate is modified by the at least one processor according to the modified target path input by the driver using the second user interface element to provide a modified yaw rate, and wherein the at least one processor uses the modified yaw rate as the target yaw rate.

[0063] 9. A trailer for being towed by a vehicle, said trailer comprising:

[0064] Revolver;

[0065] Right wheel;

[0066] axle;

[0067] The left and right wheels are located at opposite ends of the axle;

[0068] The left brake device connected to the left wheel; and

[0069] A right brake device connected to the right wheel;

[0070] At least one processor, the processor being configured to execute program instructions, wherein the program instructions are configured to cause the at least one processor to perform the following operations:

[0071] Receive differential braking commands from the vehicle's control system; and

[0072] Based on the differential braking command, the left braking device is commanded to apply left braking torque and the right braking device is commanded to apply right braking torque to assist the trailer in maneuvering along the target path.

[0073] 10. The trailer according to claim 9, comprising a left wheel speed sensor coupled to the left wheel for measuring the left wheel speed and a right wheel speed sensor coupled to the right wheel for measuring the right wheel speed, wherein the program instructions are configured to cause the at least one processor to send the left wheel speed and the right wheel speed to the control system of the vehicle.

[0074] 11. A system for assisting in maneuvering a trailer towed by a vehicle, the system comprising:

[0075] The trailer;

[0076] The vehicle mentioned:

[0077] The trailer includes:

[0078] Revolver;

[0079] Right wheel;

[0080] axle;

[0081] The left and right wheels are located at opposite ends of the axle;

[0082] The left brake device connected to the left wheel; and

[0083] A right brake device connected to the right wheel;

[0084] The system includes at least one processor configured to execute program instructions, wherein the program instructions are configured to cause the at least one processor to perform the following operations:

[0085] Receive driver commands for the target route of the trailer;

[0086] The left braking torque of the left wheel and the right braking torque of the right wheel are determined based on the target path to provide differential braking;

[0087] The left braking torque and the right braking torque are applied via the left braking device and the right braking device to assist the trailer in maneuvering along the target path.

[0088] 12. The system according to claim 11, wherein the driver command for the target path is derived from at least one driver input device of the vehicle.

[0089] 13. The system according to claim 11, wherein the driver command for the target path originates from a steering input device of the vehicle that sets the current path of the trailer and a second input device of the vehicle that modifies the current path to provide the target path.

[0090] 14. The system according to claim 13, wherein the trailer includes a video capture device for video imaging of the external scene behind the trailer and providing a corresponding video feed, and wherein the second input device is a human-machine interface (HMI) that receives and displays the video feed from the video capture device, integrates a depiction of the current path into the video feed for display, and allows the driver to input modifications to the current path.

[0091] 15. The system according to claim 11, wherein the program instructions are configured to cause the at least one processor to: determine a target trajectory of the target path, wherein the determination of the left braking torque and the right braking torque is based on the target trajectory of the target path.

[0092] 16. The system according to claim 1, wherein the trailer includes a left wheel speed sensor and a right wheel speed sensor and an inertial measurement unit (IMU), wherein the program instructions are configured to cause the at least one processor to perform the following operations:

[0093] The measured left wheel speed is received from the left wheel speed sensor;

[0094] Receive the measured right wheel speed from the right wheel speed sensor;

[0095] The target yaw rate of the trailer is determined based on the driver's command;

[0096] The target left wheel speed is derived based on the target yaw rate.

[0097] The target right wheel speed is derived based on the target yaw rate.

[0098] The left braking torque is determined based on the difference between the target left wheel speed and the measured left wheel speed; and

[0099] The right braking torque is determined based on the difference between the target right wheel speed and the measured right wheel speed.

[0100] 17. The system according to claim 16, wherein the program instructions are configured to cause the at least one processor to perform the following operations:

[0101] Based on measurements from the sensor systems of the trailer and the vehicle, check whether at least one of the following trailer status conditions is true:

[0102] The speed of the vehicle is not zero;

[0103] The driver's steering input is approximately constant;

[0104] The yaw rate of the trailer is approximately constant; and

[0105] The hinge angle is approximately constant; and

[0106] If all vehicle-trailer status conditions are true: then

[0107] Determine the current yaw rate of the trailer, the currently measured left wheel speed from the left wheel speed sensor, and the currently measured right wheel speed from the right wheel speed sensor under the vehicle-trailer state conditions.

[0108] The target yaw rate is determined based on the current yaw rate;

[0109] Receive the newly measured left wheel speed from the left wheel speed sensor;

[0110] Receive the newly measured right wheel speed from the right wheel speed sensor; and

[0111] The left braking torque is determined based on the difference between the target left wheel speed and the newly measured left wheel speed; and

[0112] The right braking torque is determined based on the difference between the target right wheel speed and the newly measured right wheel speed.

[0113] 18. The system according to claim 17, wherein the program instructions are configured to cause the at least one processor to perform the following operations:

[0114] A depiction of the target path is displayed on the vehicle's human-machine interface (HMI), wherein the depiction of the target path is generated based on the current yaw rate;

[0115] The HMI includes a first user interface element for accepting the target path and a second user interface element for modifying the target path. When the driver accepts the target path using the first user interface element, the at least one processor uses the current yaw rate as the target yaw rate. The current yaw rate is modified by the at least one processor based on the modified target path input by the driver using the second user interface element to provide a modified yaw rate. Furthermore, when the modified target path is input by the driver using the second user interface element and accepted by the driver using the first user interface element, the at least one processor uses the modified yaw rate as the target yaw rate.

[0116] 19. The system according to claim 11 includes a plurality of trailers, each trailer including:

[0117] Revolver;

[0118] Right wheel;

[0119] axle;

[0120] The left and right wheels are located at opposite ends of the axle;

[0121] The left brake device connected to the left wheel; and

[0122] A right brake device connected to the right wheel; wherein the program instructions are configured to cause the at least one processor to perform the following operations:

[0123] Receive driver commands for the target routes of the plurality of trailers;

[0124] For each trailer:

[0125] The left braking torque of the left wheel and the right braking torque of the right wheel are determined based on the target path to provide differential braking;

[0126] The left braking torque and the right braking torque are applied via the left braking device and the right braking device to assist the trailer in maneuvering along the target path.

[0127] 20. The system according to claim 11, wherein the trailer includes a plurality of axles, a left wheel coupled to each axle and a right wheel coupled to each axle, a left brake coupled to each of the left wheels and a right brake coupled to each of the right wheels, wherein the program instructions are configured to cause the at least one processor to perform the following operations:

[0128] Receive the driver's command for the target path of the trailer;

[0129] The left braking torque of each left wheel and the right braking torque of each right wheel are determined based on the target path to provide differential braking;

[0130] The left and right braking torques are applied via the left and right braking devices to assist the trailer in maneuvering along the target path. Attached Figure Description

[0131] Example embodiments will be described below with reference to the following figures, wherein the same reference numerals denote the same elements, and wherein:

[0132] Figure 1 This is a functional block diagram of a trailer handling assistance system including a vehicle and a trailer according to an exemplary embodiment;

[0133] Figure 2 This is a functional block diagram of a trailer handling assistance system according to an exemplary embodiment;

[0134] Figure 3 This is a schematic diagram of the data flow within a trailer handling assistance system according to an exemplary embodiment;

[0135] Figure 4It is a human-computer interface according to an exemplary embodiment, which depicts a target trajectory and user interface elements for receiving and modifying the target trajectory;

[0136] Figure 5 According to exemplary embodiments Figure 1 A flowchart illustrating the process of using differential braking to assist trailer handling in a trailer assist system;

[0137] Figure 6 This is a functional block diagram of a vehicle and a trailer according to an exemplary embodiment; and

[0138] Figure 7 is an example of an exemplary embodiment. Figure 1 The flowchart shows the process of using differential braking to assist trailer handling in a trailer handling assist system. Detailed Implementation

[0139] The following detailed description is exemplary in nature only and is not intended to limit this disclosure or its application and use. Furthermore, there is no intention to be bound by any theories set forth in the foregoing background or the following detailed description.

[0140] This disclosure provides methods and systems for controlling trailer braking torque to assist trailer maneuvering. The system and method assist a driver in maneuvering a trailer by using active and independent braking torque at the trailer axles. Maneuverability is increased by independently applying braking torque to different wheel corners during maneuvering. In embodiments, a trailer brake controller is used in conjunction with the control system of the towing vehicle to apply independent braking torque to the wheels of the towed vehicle by controlling brake hydraulic pressure, with the aim of increasing maneuverability by generating torque on the towed vehicle, thereby causing it to rotate about its axles. In one embodiment, a human-machine interface (HMI) displays a desired trailer path for acceptance or modification. A slider or other user interface (UI) element allows the driver to modify the desired path (e.g., by adjusting the gain on the current yaw rate to influence the target yaw rate of the trailer). Differential braking commands can be calculated to achieve the modified desired path. In one example, the driver can slide a virtual bar in the HMI such that the gain adjustment increases with distance from the center of the slider.

[0141] Figure 1A trailer handling adjustment system (or "system") 100 is shown, comprising a vehicle 102 (also referred to as towing vehicle 102) and a trailer 104. Vehicle 102 and trailer 104 are connected together via a trailer interface module 106 and one or more connectors 107, such that trailer 104 moves with vehicle 102 when vehicle 102 is driven. As described in more detail below, system 100 includes a control system 120 that generates differential braking commands for braking devices 152L, 152R to assist the trailer in following a target path. In various embodiments, control system 120 is part of vehicle 102, trailer 104 or distributed between trailer 104 and vehicle 102.

[0142] It should be understood that vehicle 102 and trailer 104 may each comprise any one or more of a variety of different types of vehicles and trailers. For example, vehicle 102 may be any of a variety of different types of cars and / or other vehicle types. For example, in various embodiments, vehicle 102 may include a sedan, van, truck, or sports utility vehicle (SUV), and may be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD), or all-wheel drive (AWD), and / or any of many other types of vehicles. Similarly, trailer 104 may be any of a variety of different types of trailers towed and / or transported by such vehicle 102, including, by way of example only, trailers for transporting other automobiles, boats or other marine vehicles, other vehicles, cargo, and / or other devices and / or systems. Figure 1 In the illustrated embodiment, the trailer has a pair of wheels 154L and 154R, which are respectively connected to their respective first and second axles 148. However, it is conceivable to have only one axle 148 (see [link to example]). Figure 6 (Example) or trailers with more than two axles.

[0143] like Figure 1 As shown, in addition to the control system 120 described above, the vehicle 102 also includes a body 110, a steering input device 112 (e.g., a steering wheel 112), four wheels 114, a human-machine interface (HMI) 108 (or other driver input device), and a propulsion system 116. The body 110 essentially surrounds the other components of the vehicle 102.

[0144] In the depicted embodiment, each wheel 114 is positioned near a corresponding corner of the vehicle body 110. In various embodiments, the vehicle 102 may differ from... Figure 1 As depicted in the illustration. For example, in some embodiments, the number of wheels 114 can vary.

[0145] The propulsion system 116 powers the vehicle 102 via the movement of the wheels 114. In various embodiments, the propulsion system 116 is part of an actuator assembly for powering the movement of the vehicle. In one embodiment, the propulsion system 116 includes one or more electric motors and / or engines and drives the wheels 114.

[0146] Similarly, Figure 1 As shown, in various embodiments, trailer 104 includes a body 150, four wheels 154L, 154R, and a trailer electronic brake control module (EBCM) 156. In various embodiments, the body 150 substantially surrounds the other components of trailer 104. Also in various embodiments, trailer 104 includes one or more other systems 158 (such as, for example, a lighting system, an environmental control system, a trailer hydraulic actuator, a leveling jack, etc.). In the depicted embodiments, each wheel 154 is positioned near a corresponding corner of the body 150. In various embodiments, the number of wheels 154 may vary.

[0147] Similarly, in various embodiments, the trailer EBCM 156 controls the braking of the trailer 104. In various embodiments, the trailer EBCM 156 controls the braking of the trailer 104 according to instructions provided via the trailer interface module 106 and / or the processor 132 of the control system 120.

[0148] In various embodiments, such as Figure 1 As shown, the control system 120 includes a sensor system 122, one or more transceivers 124, and a controller 131. The transceiver 124 may be part of the trailer interface module 106, although this is not explicitly stated in the original text. Figure 1 It is not shown in the document.

[0149] In various embodiments, sensor system 122 includes sensors for measuring and / or acquiring information about one or more devices, systems, and / or components of vehicle 102 and / or trailer 104. Additionally, in some embodiments, sensor system 122 includes wheel speed sensors 302A, 302B and 304A, 304B, coupled to each wheel of trailer 104 to measure the corresponding rotational wheel speed of trailer 104. Sensor system 122 may include an inertial measurement unit (IMU) 306 for measuring inertial motion parameters of trailer 104, including yaw rate. Sensor system 122 may include a hitch hinge angle sensor (not depicted) for measuring the hitch hinge angle between trailer 104 and vehicle 102. For example, as disclosed in U.S. Patent Application 17 / 196,910, an ultrasonic sensor may be provided to measure the hitch hinge angle. Sensor system 122 includes a vehicle speed sensor (not shown) for measuring the speed of the vehicle (102). Sensor system 122 includes a steering input sensor for measuring steering commands, such as steering angle, input by the driver using steering input device 112. Wheel speeds from wheel speed sensors 302A, 302B, 304A, 304B are fed back to control system 120, which compares the measured wheel speeds with target wheel speeds derived from a target yaw rate (which itself is derived from the target path of trailer 104) to determine the differential braking torque to be applied to the wheels 154L, 154R of trailer 104, thereby aligning the measured wheel speeds with the target wheel speeds, which is used to control trailer 104 to follow the target path.

[0150] In various embodiments, one or more transceivers 124 may facilitate communication between vehicle 102 and trailer 104, which may include commands for differential braking and measurement data from sensors (e.g., wheel speed sensors 302A, 302B, 304A, 304B and trailer IMU 306) of sensor system 122 on trailer 104. In some embodiments, the respective transceivers 124 may be located on vehicle 102 and trailer 104 and communicate with each other. In various embodiments, transceivers 124 may include any number of receivers, transmitters and / or transceivers.

[0151] In various embodiments, the control system 120 includes a controller 131 coupled to the sensor system 122 and the transceiver 124. Also in various embodiments, the controller 131 may be further coupled to the trailer EBCM 156, the vehicle EBCM 160, other systems 158 (e.g., other trailer components), and / or one or more other components of the vehicle 102, trailer 104, and / or the trailer interface module 106. Although in Figure 1It is not described in this way, but the vehicle EBCM 160 and the trailer EBCM 156 are included in the control system 120.

[0152] In various embodiments, controller 131 determines a target path for the trailer based on driver commands input via steering input device 112 and / or HMI 108 (or other driver input devices), receives motion data from sensors on trailer 104, and calculates differential braking commands to be applied to the corresponding wheels 154L, 154R of trailer 104 to assist in maneuvering the trailer along the target path. In various embodiments, controller 131, according to the following combination Figure 2 The functions described further in Figure 7 are used to perform these and other functions.

[0153] like Figure 1 As shown, controller 131 includes a computer system. In some embodiments, controller 131 may also include some or all, or one or more of, each of the following: sensor system 122, transceiver 124, trailer interface module 106, trailer EBCM 156, vehicle EBCM 160, one or more other devices and / or systems, and / or components thereof. Furthermore, it should be understood that controller 131 may differ in other respects. Figure 1 The embodiments depicted herein. For example, controller 131 may be coupled to or may otherwise utilize one or more remote computer systems and / or other control systems, and / or one or more other systems of vehicle 102 and / or trailer 104.

[0154] In the illustrated embodiment, the computer system of controller 131 includes a processor 132, a memory 134, an interface 136, a storage device 138, and a bus 137. The processor 132 performs the computational and control functions of controller 131 and may include any type of processor or multiple processors, a single integrated circuit such as a microprocessor, or any suitable number of integrated circuit devices and / or circuit boards that work together to perform the functions of a processing unit. During operation, processor 132 executes one or more programs 139 contained in memory 134 and thus controls the general operation of controller 131 and the computer system of controller 131, typically in the process described herein.

[0155] Memory 134 can be any suitable type of memory. For example, memory 134 can include various types of dynamic random access memory (DRAM), such as SDRAM, various types of static RAM (SRAM), and various types of non-volatile memory (PROM, EPROM, and flash memory). In some examples, memory 134 is located on and / or co-located on the same computer chip as processor 132. In the depicted embodiment, memory 134 stores the above-described program 139 and one or more stored values ​​140 (e.g., one or more predetermined thresholds used in conjunction with the process described herein).

[0156] Bus 137 is used to transmit programs, data, status, and other information or signals between various components of the computer system of controller 131. Interface 136 allows communication with the computer system of controller 131, for example from a system drive and / or another computer system, and can be implemented using any suitable methods and means. In one embodiment, interface 136 obtains various data from sensors of sensor system 122. Interface 136 may include one or more network interfaces for communicating with other systems or components. Interface 136 may also include one or more network interfaces for communicating with technicians, and / or one or more storage interfaces for connecting to storage devices such as storage device 138.

[0157] Storage device 138 can be any suitable type of storage device, including direct access storage devices such as hard disk drives, flash memory systems, floppy disk drives, and optical disk drives. In one exemplary embodiment, storage device 138 includes a program product from which memory 134 can receive program 139, which performs the following combination Figure 2 One or more embodiments of one or more processes (and any subprocesses thereof) of this disclosure further described up to 7. In another exemplary embodiment, the program product may be stored directly in memory 134 and / or disk (e.g., disk 142) and / or otherwise accessed by memory 134 and / or disk, as mentioned below.

[0158] Bus 137 can be any suitable physical or logical device for connecting computer systems and components. This includes, but is not limited to, direct hardwired connections, fiber optic, infrared, and wireless bus technologies. During operation, program 139 is stored in memory 134 and executed by processor 132.

[0159] It should be understood that although this exemplary embodiment is described in the context of a fully functional computer system, those skilled in the art will recognize that the mechanisms of this disclosure can be distributed as a program product having one or more types of non-transitory computer-readable signal-bearing media for storing and distributing programs and their instructions, such as non-transitory computer-readable media carrying programs and containing computer instructions stored therein to cause a computer processor (such as processor 132) to implement and execute the program. Such program products can take many forms, and this disclosure applies equally regardless of the specific type of computer-readable signal-bearing medium used for distribution. Examples of signal-bearing media include recordable media such as floppy disks, hard disk drives, memory cards, and optical disks, and transmission media such as digital and analog communication links. It should be understood that cloud-based storage and / or other technologies may also be used in some embodiments. Similarly, it will be understood that the computer system of controller 131 can also be integrated with other technologies in other ways. Figure 1 The embodiments depicted may differ, for example, because the computer system of controller 131 may be coupled to or may otherwise utilize one or more remote computer systems and / or other control systems.

[0160] Although the components of control system 120 (including sensor system 122, transceiver 124, and controller 131) are described as part of the same system, it should be understood that in some embodiments, these features may include two or more systems. Furthermore, in various embodiments, control system 120 may also include all or part of various other devices and systems and / or be combinable to various other devices and systems, among others, such as vehicle 102, trailer 104, and / or one or more of its components and / or systems.

[0161] As described above, connector 107 physically connects vehicle 102 to trailer 104, and trailer interface module 106 provides bidirectional data communication between vehicle 102 and trailer 104. In various embodiments, both vehicle 102 and trailer 104 have corresponding connectors 107 (e.g., including various wires) for connecting vehicle 102 and trailer 104 together. In addition to data communication and mechanical connection, trailer 104 and vehicle 102 are electrically connected.

[0162] Figure 2This is a functional block diagram illustrating various modules and systems of a trailer handling assistance system 100 according to an example embodiment. Vehicle 102 includes an HMI 108 (or other driver input device), a target trajectory determination module 312, a vehicle sensor system 122A, a vehicle EBCM 160, a controller area network bus 318, a video capture device 109, and a trailer interface module 106. Trailer 104 includes a trailer sensor system 122B, a trailer EBCM 156, and a left trailer brake 152L and a right trailer brake 152R. The vehicle and trailer sensor systems 122A and 122B are part of the aforementioned sensor system 122. The trailer sensor system 122B includes wheel speed sensors 302A, 302B, 304A, 304B, and a trailer IMU 306.

[0163] In one embodiment, the HMI 108 (or other user input device) allows the driver to command trailer maneuvers, such as reversing along a curved path or moving forward at an angle. Although this document primarily describes the HMI 108, references are made specifically to... Figure 4 The example interface is provided, but other driver input devices are also conceivable. For example, a mechanical driver input device could allow input of steering commands for trailer 104 (independent of or attached to steering commands for vehicle 102). Such a mechanical device could be in the form of a slider, a rotary knob, or a control wheel or button, allowing input of the trailer's steering direction during operation. In another example, control system 120 is capable of automatically generating a target path to reverse the trailer into a parking space based on general commands from the driver, using a perception system (not depicted) associated with vehicle 102 and trailer 104. According to the HMI 108 example, video feed 332 is provided by a video capture device 109 mounted behind trailer 104. Video capture device 109 captures video of the external scene behind the trailer to assist in reversing. Video feed 332 is provided to HMI 108 via trailer interface module 106. HMI 108 includes a digital display that displays video of the external scene based on video feed 332, which optionally has graphical enhancements representing the vehicle's current or target path. HMI 108 allows driver touch input to define the target path for the trailer. The target path can be defined based on the driver selecting multiple target paths, by allowing the driver to draw the target path, or by adjusting the current path followed by the trailer. Touch input is not required, and other user input devices (such as cursor controls) can be provided. HMI 108 (or other user input devices) receives input from the driver regarding the target (or desired) manipulation of the trailer and reflects the driver's intention to manipulate in driver command data 310. Driver command data 310 can describe acceptance of the current path followed by the trailer 104, adjustment of the current path, the target end position of the trailer 104, or the target path to be followed.

[0164] exist Figure 2 In an exemplary embodiment, driver command data 310 is output to a target trajectory determination module 312, which determines one or more target trajectory parameters based on the driver command data 310. In one example, the target trajectory determination module 312 determines the target yaw rate of trailer 104. In other embodiments, a more detailed trajectory may be defined, including curves with concave and convex portions, curved paths, linear paths with adjacent segments at angles relative to each other, etc. Such a trajectory may be defined by the target position at points distributed along the target path, by the yaw rate curve, and / or by other motion parameters (e.g., velocity curves). In one embodiment, the target trajectory determination module 312 receives a measured steering angle associated with the steering input device 112 of vehicle 102 from vehicle sensor system 122A as part of measured vehicle data 316. The target trajectory determination module 312 may determine the current path of trailer 104 based on the steering angle and optionally based on other measured parameters of vehicle 102, such as the speed of movement provided by vehicle sensor system 122A. The current path may be displayed by HMI 108 as a graphical enhancement of the displayed video. Users can use HMI 108 to adjust or accept the current path when providing driver commands. The target trajectory determination module 312 can determine the trailer motion parameters for adjusting or accepting the path when generating target trajectory data 314.

[0165] Vehicle EBCM 160 receives measured trailer data 322 generated by trailer sensor system 122B and transmitted to vehicle EBCM 160 via trailer interface module 106. Vehicle EBCM 160 further receives target trajectory data 314. The measured trailer data 322 includes at least measured wheel speeds associated with each trailer wheel 154L, 154R and optionally includes the trailer's yaw rate from trailer IMU 306. Vehicle EBCM 160 determines a differential braking procedure to achieve the target path set by target trajectory data 314. Vehicle EBCM 160 adjusts the required differential braking in response to the measured trailer data 322 provided in the feedback loop. Vehicle EBCM 160 provides the determined differential braking command to trailer EBCM 156 in the form of braking data 130 via trailer interface module 106. In one embodiment, braking data 130 may include target wheel speeds or braking torques to be applied to each trailer wheel 154L, 154R. The braking torque applied to each trailer wheel 154L, 154R of trailer 104 by braking devices 152L, 152R can and typically is different in order to enhance control of the maneuvering of trailer 104 through the use of differential braking. Braking data 330 is provided to trailer EBCM 156, which sends differential braking to each of braking devices 152L, 152R. It should be understood that different task assignments for determining the differential braking profile can be implemented between vehicle EBCM 160 and trailer EBCM 156. In practice, only one central EBCM may be provided. The vehicle and trailer EBCMs 156, 160, and more generally, the control system 120 together perform the process described herein, namely: determining the target trajectory for trailer maneuvering based on driver commands input via driver input device and determining differential braking commands for trailer braking devices 152L, 152R to follow the target trajectory, and utilizing measured trailer data 322 in the feedback loop of re-determining the differential braking commands to continue following the target path.

[0166] Figure 3 A trailer handling assistance system 100 according to an exemplary embodiment is further illustrated. The trailer handling assistance system 100 includes an HMI (or driver input device) 108, a CAN bus 318, a vehicle EBCM (or vehicle braking module) 160, multiple trailers 104a, 104b…104n, a target trajectory determination module 312, a video capture device 109, and an enhancement module 354. It should be understood that only one trailer 104 may be provided. A human driver 352 is connected to the HMI 108 (which will be referred to in the original text). Figure 4(Further description) Interaction to set driver commands for trailer maneuvering. Driver commands can be accepting the current path followed by the trailer, adjusting the current path, drawing the target destination for trailer(s)(s) or trailer(s) 104a to 104n. (Refer to...) Figure 4 In a further exemplary embodiment, video capture device 109 provides video feed 332 to HMI 108 for displaying the external scene of (one or more) trailers. Enhancement module 354 graphically enhances the displayed video based on target trajectory data 314 provided by target trajectory determination module 312 to include a depiction of the target path of (one or more) trailers. The user is provided with the option to accept or adjust the depicted path. HMI 108 outputs driver command data 310 describing the driver's commands to manipulate trailers 104a to 104n. Target trajectory determination module 312 receives measured vehicle data 316 provided via CAN bus 318 from vehicle sensor system 122A. The measured vehicle data 316 may include vehicle speed and steering wheel angle, which allows the manipulation of trailers 104a to 104n to be projected, thereby establishing the current or predicted path of trailers 104a to 104n. The current or predicted path is embodied in the target trajectory data 314 and is used by enhancement module 354 to depict the current or predicted path. The driver can accept the current or predicted path, or adjust the path by inputting a driver command. The target trajectory determination module 312 recalculates the target path based on the driver command data 310 requesting adjustment of the current or predicted path. The new target trajectory data 314 (which may include the target yaw rate of trailers 104a to 104n) is output to the enhancement module 354 for display and to the vehicle EBCM 160 for generating differential braking commands.

[0167] Vehicle EBCM 160 receives measured trailer data 322, including the current hitch articulation angle. Vehicle EBCM 160 can use the current hitch articulation angle as part of checking trailer condition conditions, which will be further described below with reference to Figure 7. Vehicle EBCM 160 determines braking information describing the amount of braking to be applied to each wheel 154 of each trailer 104a to 104n. In one embodiment, vehicle EBCM 160 determines a target wheel speed for each wheel, which is sent to trailer EBCMs 156a to 156n associated with each trailer 104a to 104n. Trailer EBCMs 156a to 156n receive braking data 330a to 330n from vehicle EBCM 160, which controls the application of braking torque via various trailer braking devices 152L, 152R. In some embodiments, the braking data 330a to 330n provided by vehicle EBCM 160 is in the form of braking torque or target wheel speed. In the latter case, the trailer EBCM 156a to 156n determines the braking torque based on the difference between the target wheel speed and the measured wheel speed obtained from wheel speed sensors 302A, 302B, 304A, and 304B.

[0168] Figure 4An exemplary HMI 108 according to this disclosure is depicted herein. Other forms of driver input devices, including mechanical versions, may be provided, as already noted herein. HMI 108 may be displayed on a display device integrated into vehicle 102 or trailer 104. In other embodiments, HMI 108 is displayed on a portable display device, such as a tablet or smartphone. HMI 108 includes a video feed window 410 for displaying live video of the scene around (e.g., behind) the trailer obtained from video capture device 109. Furthermore, a depiction of the current / modified / target path 402 is included in the video feed window 410 to depict the projected travel path of the trailer. This depiction is the current path when initially projected based on steering input from steering input device 112 and the speed of vehicle 102 (or trailer 104). The depiction is the adjusted path when the driver adjusts the current path via path modification UI element 406. When the driver accepts the depiction using acceptance UI element 404, the depiction becomes the target path. The depiction of the current / modified / target path 402 is generated by enhancement module 354 based on target trajectory data 314, which may include yaw rate as further described below with reference to FIG. 7. In one embodiment, the path modification UI element 406 is a slider that allows left and right offset of the current path, which can set the adjusted yaw rate, as described with reference to FIG. 7. Other UI elements besides the slider may be implemented, such as adjustment arrows. In other embodiments, the path can be adjusted by dragging or redrawing the depiction of the current / modified / target path 402 through touch or cursor control input to HMI 108. In an alternative embodiment, the target destination of trailer 104 can be selected by the driver via HMI 108. The driver's adjustment causes the target trajectory data 314 to be adjusted, so that HMI 108 can display the adjusted depiction of the current / modified / target path 402 and enable the vehicle EBCM to determine braking data 330, thereby causing trailer 104 to follow the target path. In one embodiment, HMI 108 includes a bias indicator element 408 that moves along a scale based on a left or right bias amount input by the user via path modification UI element 406 to indicate the magnitude of the bias to be applied to the current path of trailer 104 using differential braking.

[0169] Figure 5 This is a flowchart of a method 500 for assisting trailer maneuvering, such as reversing maneuvering, according to an exemplary embodiment. In various embodiments, method 500 may be implemented in conjunction with vehicle 102, trailer 104, and their control system 120.

[0170] In step 510, a driver command for the target route is received. The driver command can be input via HMI 108 or another driver input device. The driver command may include information about... Figure 4 The discussion focuses on the acceptance of the current / modified / target path 402. Driver commands can also include the driver drawing a target path, selecting one of multiple target paths, adjusting the current path, selecting the destination space for trailer 104, etc.

[0171] In step 520, a target trajectory is determined for the purpose of generating a depiction of the current / modified / target path 402 and for determining braking data 330. The target trajectory may include the yaw rate of the trailer 104. In one embodiment, the target trajectory includes the current yaw rate determined based on measured vehicle data 316 and / or measured trailer data 322, and may also include a left or right adjustment offset based on driver input set via HMI 108.

[0172] In step 530, the measured trailer data 322 is received by the vehicle EBCM 160. In step 540, the vehicle braking module 160 determines differential braking data 330 based on the measured trailer data 322 (including measured wheel speeds) and the target trajectory. The target trajectory allows the derivation of the target wheel speed, and the target wheel speed can be compared with the measured wheel speed to determine the braking torque to be applied, minimizing the difference between the target wheel speed and the measured wheel speed.

[0173] In step 550, based on the differential braking data from step 540, differential braking torque is applied to trailer wheels 154L and 154R. Applying differential braking guides trailer 104 more accurately along the target path compared to the usual method of controlling trailer 104 simply by manipulating vehicle 102 or by applying braking torque uniformly.

[0174] According to an exemplary embodiment, a more detailed method 700 for assisting trailer handling in a trailer handling assistance system 100 is described in... Figure 6 It is outlined in section 7. Figure 6 The illustration shows various parameters of the trailer handling assistance system 100 mentioned in method 700 of Figure 7. The vehicle 102 has a front wheel angle of 604 (δ). f ) and vehicle longitudinal speed 607 (ν ν As described above, the front wheel angle 606 and the vehicle longitudinal speed 607 can be obtained from the vehicle sensor system 122A. Figure 6 The diagram further illustrates the engagement hinge angle 608 (θ) between vehicle 102 and trailer 104. Trailer 104 has left and right rotation wheel speeds 614 and 610 (ω). tl ω tr ), trailer wheel track 602 (D)t ) and trailer yaw rate 612 As described above, the wheel rotation speeds 614 and 610, the engagement hinge angle 608, and the trailer yaw rate 612 can be obtained from the sensor system 122, and the trailer wheel track 602 is one of the values ​​140 stored in the memory 134.

[0175] Referring to Figure 7, method 700 includes step 704 of checking trailer status conditions 704. Trailer status conditions include checking whether the vehicle speed is non-zero in step 706. And the driver's steering input is almost constant. ,in This refers to the angular rate of the vehicle's front wheels. The check in step 706 provides an indication that the driver intends to perform trailer maneuvers, which can be assisted by the trailer maneuvering assistance system 100 described herein. In step 708, the trailer's yaw rate is checked. Or attach hinge angle Nearly constant. Thresholds Th1, Th2, Th3, and Th4 are calibrable parameters, typically close to zero. For a given constant steering input and speed, step 708 provides an indication that the trailer motion is in a steady-state condition. When the check in step 704 is confirmed to be true, method 700 proceeds to step 710, whereby the measured current yaw rate 712 of trailer 104 is taken as the target yaw rate of trailer 104. The resulting HMI 108 includes a video feed window 410 and a depiction of the current / modified / target path 402, which has been generated based on the target yaw rate assumption from step 710.

[0176] In one embodiment, the driver can input driver command 702 via HMI 108 to accept the current route using the accept UI element 404 (step 714) or adjust the current route using the route modification UI element 406 (step 718). In one embodiment, a gain (K) is applied to the adjustment of the current route. HMI To modify the current trailer yaw rate The gain is determined based on the degree of right or left yaw commanded by the driver via path modification UI element 406. HMI 108 updates with an adjusted depiction of the current / modified / target path 402, which the driver can be asked to accept before proceeding (using the accept UI element 404). The current or adjusted path corresponds to a target yaw rate of 716. It is used in a subsequent step of method 700 to determine the differential braking torque to be applied to the wheels of trailer 104.

[0177] In steps 720 and 722, the target rotational speeds of the left and right wheels are calculated based on the target yaw rate 716, respectively. The target wheel rotational speeds can be determined using the following formula:

[0178] For the right wheel of trailer 104:

[0179] (Formula 1)

[0180] For the left wheel of trailer 104:

[0181] (Formula 2)

[0182] In formulas 1 and 2, R eff It is the effective rolling tire radius and one of the stored values ​​140 in memory 134.

[0183] In steps 724 and 726, the left and right wheel speeds of trailer 104 are measured. In steps 728 and 730, the braking torque is measured. Based on the target rotational wheel speed from steps 720 and 722 The rotational wheel speed measured from steps 728 and 730 The difference (or error) between them is determined. An exemplary formula for calculating braking torque is:

[0184] For the right wheel of trailer 104:

[0185] (Formula 3)

[0186] For the left wheel of trailer 104:

[0187] (Formula 4)

[0188] Where K is a calibrable constant or function.

[0189] In steps 720 to 730 of method 700, for example, trailer 104 includes two trailer wheels 154L and 154R, and a corresponding algorithmic pipeline for determining a target braking speed based on the yaw rate and the target braking torque for each wheel. In other embodiments, trailer 104 may include four or more wheels, in which case additional parallel pipelines would be included for calculating the braking torque for each wheel.

[0190] The braking torque from steps 728 and 730 is provided to trailer EBCM 156. In some embodiments, method 700 may be for multiple trailers (trailer 1 to trailer 2). N Each of the specified differential braking torques in the equation will be provided to the corresponding trailer EBCM 156. a Up to 156N In steps 732 and 734, the trailer EBCM 156 controls the application of the requested braking torque by applying braking pressure to each trailer wheel 154L and 154R using braking devices 152L and 152R.

[0191] It should be understood that the disclosed methods and systems may differ from those depicted in the figures and described herein. For example, system 100, vehicle 102, trailer 104, and control system 120, and / or their various components, may differ from those described herein. Figure 1 The description and combination in Figure 1 Those described. Furthermore, it should be understood that certain steps in methods 500 and 700 may differ from... Figure 5 The steps described in and / or those described above in conjunction with them. It will be understood similarly that certain steps of methods 500 and 700 above may occur simultaneously or in combination with... Figure 5 The order of occurrence differs from that described in 7 and / or the order described above.

[0192] Although at least one exemplary embodiment has been presented in the foregoing detailed description, it should be understood that numerous variations exist. It should also be understood that the one or more exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or construction of this disclosure in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient roadmap for implementing one or more exemplary embodiments. It should be understood that various changes can be made to the function and arrangement of the elements without departing from the scope of the appended claims and their legal equivalents.

Claims

1. A method for assisting in maneuvering a trailer towed by a vehicle, the trailer comprising: Revolver; Right wheel; axle; The left and right wheels are located at opposite ends of the axle; A left braking device connected to the left wheel; A right brake device connected to the right wheel; Revolver speed sensor; as well as Right wheel speed sensor; The method includes: Receive driver commands for the target route of the trailer via at least one processor; The measured left wheel speed is received from the left wheel speed sensor via the at least one processor; The measured right wheel speed is received from the right wheel speed sensor via the at least one processor; Based on the driver's command, the target yaw rate of the trailer is determined via the at least one processor; The target left wheel speed is derived based on the target yaw rate. The target right wheel speed is derived based on the target yaw rate. Based on the target path, the left braking torque of the left wheel and the right braking torque of the right wheel are determined via the at least one processor to provide differential braking, wherein the left braking torque is determined based on the difference between the target left wheel speed and the measured left wheel speed, and wherein the right braking torque is determined based on the difference between the target right wheel speed and the measured right wheel speed. The left braking torque and the right braking torque are applied via the left braking device and the right braking device to assist the trailer in maneuvering along the target path.

2. The method of claim 1, wherein, The driver command for the target path is derived from at least one driver input device of the vehicle.

3. The method according to claim 1, wherein, The driver command for the target path originates from the vehicle's steering input device that sets the trailer's current path and the vehicle's second input device that modifies the current path to provide the target path.

4. The method according to claim 3, wherein, The trailer includes a video capture device for imaging the external scene behind the trailer and providing a corresponding video feed, wherein the second input device is a human-machine interface that receives and displays the video feed from the video capture device, integrates the depiction of the current path into the video feed for display, and allows the driver to input modifications to the current path.

5. The method of claim 1, further comprising determining the target trajectory of the target path via the at least one processor, wherein, The determination of the left braking torque and the right braking torque is based on the target trajectory of the target path.

6. The method according to claim 1, wherein, The trailer also includes an inertial measurement unit, wherein the inertial measurement unit is used to measure the inertial motion parameters of the trailer, including the yaw rate.

7. The method of claim 6, comprising: Based on measurements from the sensor systems of the trailer and the vehicle, at least one of the following trailer state conditions is checked via the at least one processor to determine whether it is true: The speed of the vehicle is not zero; The driver's steering input is constant; The yaw rate of the trailer is constant; The hinge angle is constant; and If all of the above trailer status conditions are true: The at least one processor determines the trailer's current yaw rate, the currently measured left wheel speed from the left wheel speed sensor, and the currently measured right wheel speed from the right wheel speed sensor under the trailer state conditions. The target yaw rate is determined based on the current yaw rate via the at least one processor; The newly measured left wheel speed is received from the left wheel speed sensor via the at least one processor; The newly measured right wheel speed is received from the right wheel speed sensor via the at least one processor; and The left braking torque is determined via the at least one processor based on the difference between the target left wheel speed and the newly measured left wheel speed. and The right braking torque is determined via the at least one processor based on the difference between the target right wheel speed and the newly measured right wheel speed.

8. The method of claim 7, further comprising displaying a depiction of the target path on a human-machine interface, wherein, The depiction of the target path is generated based on the current yaw rate and includes a first user interface element for accepting the target path and a second user interface element for modifying the target path in the human-machine interface. When the driver accepts the target path using the first user interface element, the at least one processor uses the current yaw rate as the target yaw rate. The current yaw rate is modified by the at least one processor according to the modified target path input by the driver using the second user interface element to provide a modified yaw rate. The at least one processor uses the modified yaw rate as the target yaw rate.

9. A trailer for being towed by a vehicle, the trailer comprising: Revolver; Right wheel; axle; The left and right wheels are located at opposite ends of the axle; A left braking device connected to the left wheel; A right brake device connected to the right wheel; Revolver speed sensor; as well as Right wheel speed sensor; At least one processor, the processor being configured to execute program instructions, wherein the program instructions are configured to cause the at least one processor to perform the following operations: Receive differential braking command from the vehicle's control system; as well as Based on the differential braking command, the left braking device is commanded to apply a left braking torque and the right braking device is commanded to apply a right braking torque to assist the trailer in maneuvering along a target path. The left braking torque is determined based on the difference between the target left wheel speed and the left wheel speed measured from the left wheel speed sensor, and the right braking torque is determined based on the difference between the target right wheel speed and the right wheel speed measured from the right wheel speed sensor. The target left wheel speed and the target right wheel speed are derived based on a target yaw rate, which is determined based on the driver's command.

10. The trailer of claim 9, comprising a left wheel speed sensor coupled to the left wheel for measuring the speed of the left wheel and a right wheel speed sensor coupled to the right wheel for measuring the speed of the right wheel, wherein, The program instructions are configured to cause the at least one processor to send the left wheel speed and the right wheel speed to the vehicle's control system.

11. A system for assisting in maneuvering a trailer towed by a vehicle, the system comprising: The trailer; The vehicle mentioned: The trailer includes: Revolver; Right wheel; axle; The left and right wheels are located at opposite ends of the axle; A left braking device connected to the left wheel; A right brake device connected to the right wheel; Revolver speed sensor; and Right wheel speed sensor; The system includes at least one processor configured to execute program instructions, wherein the program instructions are configured to cause the at least one processor to perform the following operations: Receive driver commands for the target route of the trailer; The measured left wheel speed is received from the left wheel speed sensor via the at least one processor; The measured right wheel speed is received from the right wheel speed sensor via the at least one processor; Based on the driver's command, the target yaw rate of the trailer is determined via the at least one processor; The target left wheel speed is derived based on the target yaw rate. The target right wheel speed is derived based on the target yaw rate. The left braking torque of the left wheel and the right braking torque of the right wheel are determined based on the target path to provide differential braking, wherein the left braking torque is determined based on the difference between the target left wheel speed and the measured left wheel speed, and wherein the right braking torque is determined based on the difference between the target right wheel speed and the measured right wheel speed. The left braking torque and the right braking torque are applied via the left braking device and the right braking device to assist the trailer in maneuvering along the target path.

12. The system according to claim 11, wherein, The driver command for the target path is derived from at least one driver input device of the vehicle.

13. The system according to claim 11, wherein, The driver command for the target path originates from the vehicle's steering input device that sets the trailer's current path and the vehicle's second input device that modifies the current path to provide the target path.

14. The system according to claim 13, wherein, The trailer includes a video capture device for imaging the external scene behind the trailer and providing corresponding video feeds, wherein the second input device is a human-machine interface that receives and displays the video feeds from the video capture device, integrates the depiction of the current path into the video feeds for display, and allows the driver to input modifications to the current path.

15. The system according to claim 11, wherein, The program instructions are configured to cause the at least one processor to: determine the target trajectory of the target path, wherein the determination of the left braking torque and the right braking torque is based on the target trajectory of the target path.

16. The system according to claim 11, wherein, The trailer also includes an inertial measurement unit, wherein the inertial measurement unit is used to measure the inertial motion parameters of the trailer, including the yaw rate.

17. The system according to claim 16, wherein, The program instructions are configured to cause the at least one processor to perform the following operations: Based on measurements from the sensor systems of the trailer and the vehicle, check whether at least one of the following trailer status conditions is true: The speed of the vehicle is not zero; The driver's steering input is constant; The yaw rate of the trailer is constant; as well as The hinge angle is constant; as well as If all trailer status conditions are true: then Determine the current yaw rate of the trailer, the currently measured left wheel speed from the left wheel speed sensor, and the currently measured right wheel speed from the right wheel speed sensor under the trailer condition. The target yaw rate is determined based on the current yaw rate; Receive the newly measured left wheel speed from the left wheel speed sensor; Receive the newly measured right wheel speed from the right wheel speed sensor; and The left braking torque is determined based on the difference between the target left wheel speed and the newly measured left wheel speed; and The right braking torque is determined based on the difference between the target right wheel speed and the newly measured right wheel speed.

18. The system according to claim 17, wherein, The program instructions are configured to cause the at least one processor to perform the following operations: The depiction of the target path is displayed on the human-machine interface of the vehicle, wherein the depiction of the target path is generated based on the current yaw rate; The human-machine interface includes a first user interface element for accepting the target path and a second user interface element for modifying the target path. When the driver accepts the target path using the first user interface element, the at least one processor uses the current yaw rate as the target yaw rate. The current yaw rate is modified by the at least one processor based on the modified target path input by the driver using the second user interface element to provide a modified yaw rate. Furthermore, when the modified target path is input by the driver using the second user interface element and accepted by the driver using the first user interface element, the at least one processor uses the modified yaw rate as the target yaw rate.

19. The system of claim 11, comprising a plurality of trailers, each trailer comprising: Revolver; Right wheel; axle; The left and right wheels are located at opposite ends of the axle; A left braking device connected to the left wheel; as well as A right brake device connected to the right wheel; wherein the program instructions are configured to cause the at least one processor to perform the following operations: Receive driver commands for the target routes of the plurality of trailers; For each trailer: The left braking torque of the left wheel and the right braking torque of the right wheel are determined based on the target path to provide differential braking; The left braking torque and the right braking torque are applied via the left braking device and the right braking device to assist the trailer in maneuvering along the target path.

20. The system according to claim 11, wherein, The trailer includes multiple axles, a left wheel connected to each axle and a right wheel connected to each axle, a left brake connected to each of the left wheels and a right brake connected to each of the right wheels, wherein the program instructions are configured to cause the at least one processor to perform the following operations: Receive the driver's command for the target path of the trailer; The left braking torque of each left wheel and the right braking torque of each right wheel are determined based on the target path to provide differential braking; The left and right braking torques are applied via the left and right braking devices to assist the trailer in maneuvering along the target path.

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