Method and system for controlling trailer sway

Abstract

This invention discloses a method and system for controlling trailer sway. A method and system for towing a trailer are provided. In an exemplary embodiment, one or more sensors on the vehicle are configured to provide sensor data, and a processor on the vehicle is configured to at least facilitate: monitoring trailer sway using the sensor data based on one or more parameters representing trailer sway and applying a bandpass filter to said one or more parameters; and mitigating trailer sway via instructions provided by the processor to one or more braking systems of the vehicle, trailer, or both, when it is determined, based on the one or more parameters representing trailer sway and the application of the bandpass filter to said one or more parameters, that trailer sway is sufficient to warrant mitigation.

Description

Technical Field

[0001] This technical field generally relates to vehicles, and more specifically, to methods and systems for controlling vehicles towing trailers and controlling the swaying generated by the trailers. Background Technology

[0002] Currently, some vehicles are equipped to tow trailers while in motion. However, such existing vehicles may not always provide optimal control over the vehicle and trailer in terms of trailer swaying.

[0003] Therefore, it is desirable to provide improved methods and systems for controlling vehicles and trailers (including trailer swaying). Furthermore, other desirable features and characteristics of the invention will become apparent from the following detailed description and appended claims, taken in conjunction with the accompanying drawings and this background of the invention. Summary of the Invention

[0004] According to an exemplary embodiment, a method is provided, comprising: obtaining sensor data from one or more sensors on a vehicle towing a trailer, the vehicle and the trailer jointly comprising a vehicle-trailer system; monitoring trailer sway of the trailer using the sensor data based on one or more parameters representing trailer sway based on the sensor data and applying a bandpass filter to the one or more parameters via a processor disposed on the vehicle; and mitigating trailer sway via instructions provided by the processor to one or more braking systems of the vehicle-trailer system when it is determined, based on the one or more parameters representing trailer sway based on the sensor data and the application of the bandpass filter to the one or more parameters, that trailer sway of the trailer is sufficient to warrant mitigation.

[0005] Additionally, in an exemplary embodiment: monitoring includes: using sensor data based on the hook (or "traction device") hinge angle of the vehicle-trailer system and applying a bandpass filter to the hook hinge angle to monitor trailer sway via a processor on the vehicle; and mitigation includes: when it is determined based on the hook hinge angle and the application of a bandpass filter to the hook hinge angle that the trailer sway is sufficient to warrant mitigation, mitigating the trailer sway via instructions provided by the processor to the one or more braking systems of the vehicle-trailer system.

[0006] Additionally, in an exemplary embodiment: monitoring includes: using sensor data based on the vehicle's yaw rate and applying a bandpass filter to the yaw rate to monitor trailer sway via a processor on the vehicle; and mitigation includes: when it is determined based on the yaw rate and applying a bandpass filter to the yaw rate that the trailer sway is sufficient to make mitigation necessary, mitigating the trailer sway via instructions provided by the processor to the one or more braking systems of the vehicle-trailer system.

[0007] Additionally, in an exemplary embodiment: monitoring includes: using sensor data based on the hook articulation angle of the vehicle-trailer system and the yaw rate of the vehicle, along with applying a bandpass filter to the hook articulation angle and the yaw rate, via a processor on the vehicle to monitor trailer sway; and mitigation includes: when it is determined, based on the hook articulation angle, the yaw rate, and the application of the bandpass filter to the hook articulation angle and the yaw rate, that the trailer sway is sufficient to warrant mitigation, mitigating the trailer sway via instructions provided by the processor to the one or more braking systems of the vehicle-trailer system.

[0008] Additionally, in an exemplary embodiment, the mitigation of trailer sway includes: when it is determined, based on the sway of the trailer sway, that the trailer sway is sufficient to warrant mitigation, mitigating the trailer sway via instructions provided by a processor to the vehicle-trailer system via one or more braking systems, the sway being represented by a sway signal of the one or more parameters, including multiple peaks of the sway signal.

[0009] Additionally, in an exemplary embodiment, the mitigation of trailer sway includes: when it is determined, based on the number of the plurality of peaks of the sway signal and the corresponding amplitude of the plurality of peaks, that the trailer sway is sufficient to warrant mitigation, mitigating the trailer sway via instructions provided by the processor to the one or more braking systems of the vehicle-trailer system.

[0010] Additionally, in an exemplary embodiment, the reduction of trailer sway includes: applying a bandpass filter to the hook hinge angle and yaw rate, and applying uniform or differential braking to the rear axle of the vehicle via instructions provided by the processor to the vehicle's braking system to reduce trailer sway.

[0011] Additionally, in an exemplary embodiment, the mitigation of trailer sway includes: applying a bandpass filter to the hook hinge angle and yaw rate, and applying differential braking to the front axle of the vehicle via instructions provided by the processor to the vehicle's braking system to mitigate trailer sway.

[0012] Additionally, in an exemplary embodiment, the reduction of trailer sway includes: setting a driver trailer braking gain based on a supplementary yaw rate and a hook articulation angle, and applying calculated uniform braking via instructions provided by a processor to the trailer braking system to reduce trailer sway.

[0013] In another exemplary embodiment, a system is provided comprising: one or more sensors and a processor. The one or more sensors are configured to provide sensor data from a vehicle towing a trailer, the vehicle and trailer collectively comprising a vehicle-to-trailer system. The processor is configured to be coupled to the one or more sensors when the one or more sensors are on the vehicle, and is configured to at least facilitate: monitoring trailer sway using the sensor data based on one or more parameters representing trailer sway and applying a bandpass filter to the one or more parameters; and mitigating trailer sway via instructions provided by the processor to one or more braking systems of the vehicle-to-trailer system when it is determined, based on the one or more parameters representing trailer sway and the application of the bandpass filter to the one or more parameters, that the trailer sway is sufficient to warrant mitigation.

[0014] Additionally, in an exemplary embodiment, the processor is further configured to at least facilitate: monitoring trailer sway using sensor data based on the hook hinge angle of the vehicle-trailer system and applying a bandpass filter to the hook hinge angle; and when it is determined based on the hook hinge angle and the application of the bandpass filter to the hook hinge angle that the trailer sway is sufficient to warrant mitigation, mitigating the trailer sway via instructions provided by the processor to the one or more braking systems of the vehicle-trailer system.

[0015] In another exemplary embodiment, a vehicle configured to tow a trailer is provided, the vehicle including a braking system, one or more sensors, and a processor. The one or more sensors are disposed on the vehicle and configured to provide sensor data. The processor is disposed on the vehicle, coupled to the braking system and the one or more sensors, and configured to at least facilitate: monitoring trailer sway using the sensor data based on one or more parameters representing trailer sway and applying a bandpass filter to the one or more parameters; and mitigating trailer sway via instructions provided by the processor to one or more braking systems of the vehicle, trailer, or both, when it is determined, based on the one or more parameters representing trailer sway and the application of the bandpass filter to the one or more parameters, that the trailer sway is sufficient to warrant mitigation.

[0016] Additionally, in an exemplary embodiment, the processor is configured to at least facilitate: monitoring trailer sway using sensor data based on the hook hinge angle of the vehicle, trailer, or both, and applying a bandpass filter to the hook hinge angle; and mitigating trailer sway via instructions provided by the processor to the one or more braking systems of the vehicle, trailer, or both, when it is determined based on the hook hinge angle and the application of the bandpass filter to the hook hinge angle that the trailer sway is sufficient to warrant mitigation.

[0017] Additionally, in an exemplary embodiment, the processor is configured to at least facilitate: monitoring trailer sway using sensor data based on the vehicle's yaw rate and applying a bandpass filter to the yaw rate; and mitigating trailer sway via instructions provided by the processor to the vehicle, trailer, or both braking systems when it is determined, based on the yaw rate and the application of the bandpass filter to the yaw rate, that the trailer sway is sufficient to warrant mitigation.

[0018] Additionally, in an exemplary embodiment, the processor is configured to at least facilitate: monitoring trailer sway using sensor data based on the hook articulation angle of the vehicle, trailer, or both and the yaw rate of the vehicle, along with the application of a bandpass filter to the hook articulation angle and the yaw rate; and mitigating trailer sway via instructions provided by the processor to the one or more braking systems of the vehicle, trailer, or both when it is determined, based on the hook articulation angle, the yaw rate, and the application of the bandpass filter to the hook articulation angle and the yaw rate, that the trailer sway is sufficient to warrant mitigation.

[0019] Additionally, in an exemplary embodiment, the processor is configured to at least facilitate: when it is determined, based on the sway of the trailer sway, that the trailer sway is sufficient to warrant mitigation, mitigating the trailer sway via instructions provided by the processor to the vehicle, trailer, or both braking systems, the sway being represented by a sway signal of the one or more parameters, including multiple peaks of the sway signal.

[0020] Additionally, in an exemplary embodiment, the processor is configured to at least facilitate: when it is determined, based on the number of the plurality of peaks of the sway signal and the corresponding amplitude of the plurality of peaks, that the trailer sway is sufficient to warrant mitigation, mitigating the trailer sway via instructions provided by the processor to the vehicle, trailer, or both braking systems.

[0021] Additionally, in an exemplary embodiment, the processor is configured to at least facilitate: applying uniform or differential braking to the rear axle of the vehicle by means of instructions provided by the processor to the vehicle's braking system based on the application of a bandpass filter to the hook hinge angle and yaw rate, thereby mitigating trailer sway.

[0022] Additionally, in an exemplary embodiment, the processor is configured to at least facilitate: applying differential braking to the front axle of the vehicle by means of instructions provided by the processor to the vehicle's braking system based on the application of a bandpass filter to the hook hinge angle and yaw rate, thereby mitigating trailer sway.

[0023] Additionally, in an exemplary embodiment, the processor is configured to at least facilitate: the application of calculated uniform braking to mitigate trailer sway by setting a driver trailer braking gain based on a supplementary yaw rate and a hook articulation angle, via instructions provided by the processor to the trailer's trailer braking system.

[0024] The present invention also discloses the following technical solutions:

[0025] Option 1. A method comprising:

[0026] Sensor data is obtained from one or more sensors on the vehicle towing the trailer, the vehicle and the trailer together comprising a vehicle-trailer system;

[0027] The trailer sway is monitored by using the sensor data, based on one or more parameters representing trailer sway, and by applying a bandpass filter to the one or more parameters, via a processor located on the vehicle; and

[0028] When the trailer sway is determined to be sufficient to warrant mitigation based on one or more parameters representing the trailer sway from the sensor data and by applying the bandpass filter to the one or more parameters, the trailer sway is mitigated via instructions provided by the processor to one or more braking systems of the vehicle-trailer system.

[0029] Option 2. The method according to claim 1, wherein:

[0030] The monitoring includes: using sensor data based on the hook hinge angle of the vehicle-trailer system and applying the bandpass filter to the hook hinge angle, via the processor on the vehicle, to monitor the trailer sway of the trailer; and

[0031] The mitigation includes: mitigating the trailer sway via instructions provided by the processor to the one or more braking systems of the vehicle-trailer system when it is determined, based on the hook hinge angle and the bandpass filter applied to the hook hinge angle, that the trailer sway is sufficient to warrant mitigation.

[0032] Option 3. The method according to claim 1, wherein:

[0033] The monitoring includes: monitoring the trailer sway of the trailer using the sensor data based on the vehicle's yaw rate and applying the bandpass filter to the yaw rate via the processor on the vehicle; and

[0034] The mitigation includes: mitigating the trailer sway via instructions provided by the processor to the one or more braking systems of the vehicle-trailer system when it is determined, based on the yaw rate and the bandpass filter applied to the yaw rate, that the trailer sway is sufficient to make mitigation necessary.

[0035] Option 4. The method according to claim 1, wherein:

[0036] The monitoring includes: using sensor data via the processor on the vehicle to monitor the trailer sway based on the hook hinge angle of the vehicle-trailer system and the yaw rate of the vehicle, along with applying the bandpass filter to the hook hinge angle and the yaw rate; and

[0037] The mitigation includes: mitigating the trailer sway via instructions provided by the processor to the one or more braking systems of the vehicle-trailer system when it is determined, based on the hook hinge angle, the yaw rate, and the application of the bandpass filter to the hook hinge angle and the yaw rate, that the trailer sway is sufficient to make mitigation necessary.

[0038] Option 5. The method of claim 1, wherein the mitigation of the trailer sway comprises: mitigating the trailer sway via instructions provided by the processor to the one or more braking systems of the vehicle-trailer system when it is determined, based on the sway of the trailer sway, that the trailer sway is sufficient to make mitigation necessary, the sway being represented by a sway signal of the one or more parameters, including a plurality of peaks of the sway signal.

[0039] Option 6. The method of claim 5, wherein the mitigation of the trailer sway comprises: mitigating the trailer sway via instructions provided by the processor to the one or more braking systems of the vehicle-trailer system when it is determined, based on the number of the plurality of peaks of the sway signal and the corresponding amplitudes of the plurality of peaks, that the trailer sway is sufficient to make mitigation necessary.

[0040] Option 7. The method of claim 4, wherein the mitigation of the trailer sway comprises: mitigating the trailer sway by applying the bandpass filter to the hook hinge angle and the yaw rate, via the instructions provided by the processor to the vehicle braking system of the vehicle to apply uniform or differential braking on the rear axle of the vehicle.

[0041] Option 8. The method of claim 4, wherein the mitigation of the trailer sway comprises: mitigating the trailer sway by applying the bandpass filter to the hook hinge angle and the yaw rate, via the instructions provided by the processor to the vehicle braking system of the vehicle to apply differential braking on the front axle of the vehicle.

[0042] Option 9. The method of claim 4, wherein the mitigation of the trailer sway comprises: mitigating the trailer sway by setting a driver trailer braking gain based on a supplementary yaw rate and a hook articulation angle, and applying calculated uniform braking via instructions provided by the processor to the trailer braking system of the trailer.

[0043] Option 10. A system comprising:

[0044] One or more sensors configured to provide sensor data from a vehicle towing a trailer, the vehicle and the trailer jointly comprising a vehicle-to-trailer system; and

[0045] A processor configured to be coupled to the one or more sensors when the one or more sensors are on the vehicle, and configured to at least facilitate:

[0046] The trailer sway is monitored using the sensor data to represent one or more parameters of the trailer sway based on the sensor data, and by applying a bandpass filter to the one or more parameters; and

[0047] When the trailer sway is determined to be sufficient to warrant mitigation based on one or more parameters representing the trailer sway from the sensor data and by applying the bandpass filter to the one or more parameters, the trailer sway is mitigated via instructions provided by the processor to one or more braking systems of the vehicle-trailer system.

[0048] Option 11. The system of claim 10, wherein the processor is further configured to at least facilitate:

[0049] The trailer sway is monitored using the sensor data based on the hook hinge angle of the vehicle-trailer system and by applying the bandpass filter to the hook hinge angle; and

[0050] When it is determined, based on the hook hinge angle and the application of the bandpass filter to the hook hinge angle, that the trailer sway is sufficient to warrant mitigation, the trailer sway is mitigated via instructions provided by the processor to the one or more braking systems of the vehicle-trailer system.

[0051] Option 12. A vehicle configured to tow a trailer, said vehicle comprising:

[0052] Braking system;

[0053] One or more sensors are mounted on the vehicle and configured to provide sensor data; and

[0054] A processor disposed on the vehicle, the processor being coupled to the braking system and the one or more sensors, and configured to at least facilitate:

[0055] The trailer sway is monitored using the sensor data to represent one or more parameters of the trailer sway based on the sensor data, and by applying a bandpass filter to the one or more parameters; and

[0056] When the trailer sway is determined to be sufficient to warrant mitigation based on one or more parameters representing the trailer sway from the sensor data and by applying the bandpass filter to the one or more parameters, the trailer sway is mitigated via instructions provided by the processor to one or more braking systems of the vehicle, the trailer, or both.

[0057] Option 13. The vehicle of claim 12, wherein the processor is configured to at least facilitate:

[0058] The trailer sway is monitored using the sensor data based on the hook hinge angle of the vehicle, the trailer, or both, and by applying the bandpass filter to the hook hinge angle; and

[0059] When it is determined, based on the hook hinge angle and the application of the bandpass filter to the hook hinge angle, that the trailer sway is sufficient to warrant mitigation, the trailer sway is mitigated via instructions provided by the processor to the vehicle, the trailer, or one or more braking systems of both.

[0060] Option 14. The vehicle of claim 12, wherein the processor is configured to at least facilitate:

[0061] The trailer sway is monitored using the sensor data based on the vehicle's yaw rate and by applying the bandpass filter to the yaw rate; and

[0062] When it is determined, based on the yaw rate and the application of the bandpass filter to the yaw rate, that the trailer sway is sufficient to warrant mitigation, the trailer sway is mitigated via instructions provided by the processor to the vehicle, the trailer, or the braking systems of both.

[0063] Option 15. The vehicle of claim 12, wherein the processor is configured to at least facilitate:

[0064] The trailer sway is monitored using the sensor data based on the hook hinge angle of the vehicle, the trailer, or both, and the yaw rate of the vehicle, along with the bandpass filter applied to the hook hinge angle and the yaw rate; and

[0065] When it is determined, based on the hook hinge angle, the yaw rate, and the application of the bandpass filter to the hook hinge angle and the yaw rate, that the trailer sway is sufficient to warrant mitigation, the trailer sway is mitigated via instructions provided by the processor to the vehicle, the trailer, or one or more braking systems of both.

[0066] Option 16. The vehicle of claim 12, wherein the processor is configured to at least facilitate: when it is determined, based on the sway of the trailer sway, that the trailer sway is sufficient to warrant mitigation, mitigating the trailer sway via instructions provided by the processor to the vehicle, the trailer, or both of the braking systems of the vehicle, the trailer, or both, the sway being represented by a sway signal of the one or more parameters, including a plurality of peaks of the sway signal.

[0067] Option 17. The vehicle of claim 16, wherein the processor is configured to at least facilitate: when it is determined, based on the number of the plurality of peaks of the sway signal and the corresponding amplitude of the plurality of peaks, that the trailer sway of the trailer is sufficient to warrant mitigation, mitigating the trailer sway via the instructions provided by the processor to the vehicle, the trailer, or the braking systems of both.

[0068] Option 18. The vehicle of claim 15, wherein the processor is configured to at least facilitate: applying uniform or differential braking on the rear axle of the vehicle by means of the instructions provided by the processor to the vehicle braking system of the vehicle based on the bandpass filter applied to the hook hinge angle and the yaw rate, thereby mitigating the trailer sway.

[0069] Option 19. The vehicle of claim 15, wherein the processor is configured to at least facilitate: applying differential braking on the front axle of the vehicle by means of the instructions provided by the processor to the vehicle braking system of the vehicle based on the bandpass filter applied to the hook hinge angle and the yaw rate, thereby mitigating the trailer sway.

[0070] Option 20. The vehicle of claim 15, wherein the processor is configured to at least facilitate: mitigating trailer sway by applying calculated uniform braking through the instructions provided by the processor to the trailer braking system of the trailer based on a driver trailer braking gain setting based on a supplementary yaw rate and a hook articulation angle. Attached Figure Description

[0071] The present disclosure will be described below with reference to the following figures, wherein similar numerals denote similar elements, and wherein:

[0072] Figure 1 This is a functional block diagram of a vehicle / trailer system according to an exemplary embodiment, the vehicle / trailer system including a vehicle towing a trailer during travel, and wherein the vehicle includes a control system for controlling the vehicle and the trailer in terms of swaying of the trailer during travel.

[0073] Figure 2 It is an exemplary embodiment for controlling the vehicle and trailer system in terms of trailer swaying and can be combined Figure 1 A flowchart illustrating the process implemented by the system (including vehicles and their trailers);

[0074] Figure 3 It can be combined according to the exemplary embodiments. Figure 1 The system (including the vehicle and its trailer) is used to implement this. Figure 2 A graphical representation of certain steps in the process, including the use of a bandpass filter to monitor trailer sway; and

[0075] Figure 4 It can be combined according to the exemplary embodiments. Figure 1 The system (including the vehicle and its trailer) is used to implement this. Figure 2 A graphical representation of the implementation of certain steps of the process, including determining whether the trailer is swaying sufficiently to make mitigation necessary. Detailed Implementation

[0076] The following detailed description is merely exemplary in nature and is not intended to limit the content, application, or purpose of the disclosure. Furthermore, it is not intended to be bound by any theories presented in the foregoing background or the following detailed description.

[0077] Figure 1The illustration shows a driving system 10 (also referred to as a "system" or "vehicle / trailer system") 10 according to an exemplary embodiment. Figure 1 As depicted, the driving system 10 includes a vehicle 100 and a trailer 101. In various embodiments, the vehicle 100 is coupled and connected to the trailer 101 via a coupling device 170 and is configured to tow the trailer 101. In some embodiments, the coupling device 170 includes a hook. In some other embodiments, the coupling device 170 includes one or more other types of device systems, such as a gooseneck for a fifth-wheel trailer.

[0078] As described in further detail below, according to an exemplary embodiment, vehicle 100 includes a control system 102 for controlling the operation and movement of driving system 10 (including in terms of the swaying of trailer 101 during driving).

[0079] In various embodiments, vehicle 100 includes automobiles. In some embodiments, vehicle 100 can be any of many different types of automobiles, such as, for example, sedans, vans, trucks, or sport utility vehicles (SUVs), and can 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 various other types of vehicles. In some embodiments, vehicle 100 may also include motorcycles or other vehicles, such as aircraft, spacecraft, ships, etc., and / or one or more other types of mobility platforms (e.g., robots and / or other mobility platforms).

[0080] Vehicle 100 includes a body 104 disposed on a chassis 116. The body 104 substantially encloses the other components of vehicle 100. The body 104 and chassis 116 may be jointly configured to form a frame. Vehicle 100 also includes a plurality of wheels 112. Each wheel 112 is rotatably coupled to chassis 116 near a corresponding corner of body 104 to facilitate movement of vehicle 100. In one embodiment, vehicle 100 includes four wheels 112, although this may vary in other embodiments (e.g., for trucks and certain other vehicles).

[0081] The drive system 110 is mounted on the chassis 116 and drives the wheels 112, for example, via axle 114. The drive system 110 preferably includes a propulsion system. In some exemplary embodiments, the drive system 110 includes an internal combustion engine and / or an electric motor / generator coupled to its transmission. In some embodiments, the drive system 110 may vary, and / or two or more drive systems 110 may be used. For example, the vehicle 100 may also incorporate any or a combination of many different types of propulsion systems, such as, for example, a combustion engine fueled by gasoline or diesel, a "flexible fuel vehicle" (FFV) engine (i.e., using a mixture of gasoline and alcohol), an engine fueled by gaseous compounds (e.g., hydrogen and / or natural gas), a combustion / electric motor hybrid engine, and an electric motor.

[0082] like Figure 1 As depicted, in various embodiments, the vehicle also includes a braking system 106 and a steering system 108. In exemplary embodiments, the braking system 106 uses braking components to control the braking of the vehicle 100, these braking components being controlled via input provided by the driver (e.g., via the brake pedal in some embodiments) and / or automatically controlled via the control system 102. Furthermore, in exemplary embodiments, the steering system 108 controls the steering of the vehicle 100 via steering components (e.g., a steering column coupled to axle 114 and / or wheels 112), these steering components being controlled via input provided by the driver (e.g., via the steering wheel in some embodiments) and automatically controlled via the control system 102. Moreover, in various embodiments, the control system 102... Figure 2 The process involves 200 steps and Figure 3 and Figure 4 Furthermore, the embodiments described below provide automatic braking as appropriate via braking system 106 to mitigate trailer sway of trailer 101.

[0083] exist Figure 1 In the embodiment depicted, the control system 102 is coupled to the braking system 106, the steering system 108, and the drive system 110. Furthermore, as... Figure 1 As depicted, in various embodiments, the control system 102 includes a sensor array 120, a positioning system 130, a display 135, and a controller 140.

[0084] In various embodiments, sensor array 120 includes various sensors that acquire sensor data for controlling the swaying of trailer 101. In the depicted embodiments, sensor array 120 includes input sensors 122 (e.g., brake pedal sensors and / or touchscreen sensors that measure braking input provided by the driver and / or other input sensors configured to receive input from the driver or other user of vehicle 100); trailer sensors 124 (e.g., configured to measure the hook hinge angle relative to trailer 101, and / or, in some embodiments, weight and / or other data associated with trailer 101); and speed sensors 125 (e.g., wheel speed sensors and / or sensors configured to measure vehicle speed and / or velocity). (city) and / or other sensors for calculating such speed and / or rate data), camera 126 (in some embodiments, configured to capture images of the lane and road in which vehicle 100 is traveling, and in some embodiments, to capture data related to trailer 101, such as the hook angle at which vehicle 100 is attached to trailer 101 via hook 170), and acceleration sensor 127 (e.g., accelerometer and / or one or more other sensors for measuring and / or determining the acceleration of vehicle 100) and yaw sensor 128 (for measuring and / or determining the yaw rate of vehicle 100). In various embodiments, according to Figure 2 Furthermore, the process 200 described below involves various sensor data (including information about the hook hinge angle and yaw rate) used to monitor and mitigate trailer sway of trailer 101.

[0085] In some embodiments, the positioning system 130 is configured to acquire and / or generate data about the location and / or destination of the vehicle. In some embodiments, the positioning system 130 includes and / or is connected to a satellite-based network and / or system, such as the Global Positioning System (GPS) and / or other satellite-based systems. Furthermore, in some embodiments, the display system 135 provides visual, auditory, tactile, and / or other information, including information related to trailer sway, to the driver or user of the vehicle 100 via instructions provided by the controller 140.

[0086] In various embodiments, controller 140 is coupled to sensor array 120 and braking system 106. In various embodiments, controller 140 may also be coupled to one or more other vehicle components, such as steering system 108, drive system 110, positioning system 130, display 135 and / or other vehicle components.

[0087] In various embodiments, controller 140 includes a computer system (also referred to herein as computer system 140) and includes a processor 142, a memory 144, an interface 146, a storage device 148, and a computer bus 150. In various embodiments, controller (or computer system) 140 controls vehicle and trailer operations, including monitoring and mitigating trailer swaying of trailer 101. In various embodiments, controller 140 according to Figure 2 The steps of the process and the implementation methods further described below (e.g., in conjunction with) Figure 3 and Figure 4 (This is used to provide these and other functions.)

[0088] In various embodiments, the controller 140 (and in some embodiments, the control system 102 itself) is located within the body 104 of the vehicle 100. In one embodiment, the control system 102 is mounted on the chassis 116. In some embodiments, the controller 140 and / or the control system 102 and / or one or more components thereof may be located outside the body 104, such as on a remote server, in the cloud, or on other devices that remotely perform processing therein.

[0089] It will be understood that controller 140 may differ in other ways. Figure 1 The embodiments described herein. For example, controller 140 may be coupled to or may otherwise utilize one or more remote computer systems and / or other control systems, such as as part of one or more of the vehicle 100 devices and systems identified above.

[0090] In the depicted embodiment, the computer system of controller 140 includes a processor 142, a memory 144, an interface 146, a storage device 148, and a bus 150. The processor 142 performs the computational and control functions of controller 140 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 implement the functions of the processing unit. During operation, processor 142 executes one or more programs 152 contained in memory 144, and thus controls the general operation of controller 140 and the computer system of controller 140, typically in the process described herein, such as... Figure 2 The process and the implementation methods further described below, for example, in combination with Figure 2 and Figure 3 .

[0091] Memory 144 can be any suitable type of memory. For example, memory 144 may 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 144 is located and / or co-located on the same computer chip as processor 142. In the depicted embodiment, memory 144 stores the program 152 referenced above along with map data 154 (e.g., from and / or used in conjunction with positioning system 130) and one or more stored values ​​156 (e.g., in various embodiments, including thresholds for the time when vehicles and trailers cross lane markings).

[0092] Bus 150 is used to transfer programs, data, status, and other information or signals between various components of the computer system of controller 140. Interface 146 allows communication, for example, from system drives and / or another computer system to the computer system of controller 140, and can be implemented using any suitable methods and devices. In one embodiment, interface 146 obtains various data from sensor array 120 and / or positioning system 130. Interface 146 may include one or more network interfaces for communicating with other systems or components. Interface 146 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 148).

[0093] Storage device 148 can be any suitable type of storage device, including various types of direct access memory and / or other memory devices. In one exemplary embodiment, storage device 148 includes a program product from which memory 144 can receive program 152, which performs one or more embodiments of one or more processes of this disclosure, such as Figure 2 The steps of the process and the implementation methods further described below, for example, in combination with Figure 2 and Figure 3 In another exemplary embodiment, the program product may be directly stored in and / or accessed by memory 144 and / or disk (e.g., disk 157), as referenced below.

[0094] Bus 150 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 152 is stored in memory 144 and executed by processor 142.

[0095] It will be understood that although this exemplary embodiment has been described in the context of a full-featured 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 the program and its instructions, such as a non-transitory computer-readable medium carrying the program and containing computer instructions stored therein for inducing a computer processor (such as processor 142) to perform and execute the program. Such a program product may take many forms, and this disclosure is equally applicable regardless of the specific type of computer-readable signal-bearing medium used for distributing. Examples of signal-bearing media include recordable media (such as floppy disks, hard disks, memory cards, and optical disks) and transmission media (such as digital and analog communication links). It will be understood that, in some embodiments, cloud-based storage and / or other technologies may also be utilized. Similarly, it will be understood that the computer system of controller 140 may also differ in other ways. Figure 1 In the embodiments depicted herein, for example, the computer system of controller 140 may be connected to or may utilize one or more remote computer systems and / or other control systems.

[0096] like Figure 1 As depicted, in some embodiments, trailer 101 also includes a plurality of wheels 162, and one or more sensors 164, a control system 166, and / or a braking system 168. In some embodiments, the sensors 164 of trailer 101 can provide sensor data related to trailer 101 (e.g., hook hinge angle, its mass, and / or weight), such as those similar to... Figure 1 The trailer sensor 124. Furthermore, in some embodiments, the trailer control system 166 may include a processor and provide certain functions described in conjunction with the controller 140 of the vehicle 100. Additionally, in some embodiments, the braking system 168 may provide braking to the trailer 101, for example, according to instructions provided by the controller 140 of the vehicle 100 (and / or, in some embodiments, via the control system 166 of the trailer 101), including for mitigating trailer sway.

[0097] Figure 2 This is a flowchart of a process 200 for controlling the swaying of a vehicle and trailer system according to an exemplary embodiment. In various embodiments, process 200 may be combined with... Figure 1 The system 10 (including vehicle 100 and its trailer 101) is used to implement this.

[0098] Process 200 will also combine Figure 3 and Figure 4 The exemplary implementation will be described below. Specifically: (i) Figure 3 yes Figure 2A graphical representation of certain steps of process 200, including the use of a bandpass filter to monitor trailer sway; and (ii) Figure 4 This is according to an exemplary embodiment. Figure 2 A graphical representation of certain steps of the process 200, including determining whether the trailer is swaying sufficiently to warrant mitigation.

[0099] like Figure 2 As described, process 200 begins at step 202. In one embodiment, process 200 begins when the vehicle drive or ignition cycle begins, for example, when the driver approaches or enters vehicle 100, or when the driver turns on the vehicle and / or its ignition (e.g., by turning a key, engaging a key chain, or pressing the start button, etc.), while vehicle 100 is coupled to trailer 101. In one embodiment, the steps of process 200 are performed continuously during vehicle operation.

[0100] In various embodiments, sensor data is obtained (step 204). In various embodiments, via... Figure 1 The sensors in sensor array 120 are used to obtain various sensor data about vehicle 100 and trailer 101. In some embodiments, sensor data may also be obtained via trailer sensor 164 of trailer 101. In various embodiments, sensor data includes the hook hinge angle relative to trailer 101 (e.g., for hook 170) and the yaw rate of vehicle 100. In various embodiments, various other sensor data may also be obtained, such as, for example, input from the driver or other user, camera data about system 10 and / or the road on which it is traveling, acceleration of vehicle 100 and / or trailer 101, mass, weight and / or other measurements of vehicle 100 and / or trailer 101, speed and / or acceleration of vehicle 100 and / or trailer 101, etc. In various embodiments, the sensor data of step 204 is provided to... Figure 1 The processor 142 is used for processing, as well as for determining and implementing the remaining steps of process 200, including for monitoring and mitigating trailer sway of trailer 101, such as as described below.

[0101] In various embodiments, trailer swaying is monitored (step 206). Specifically, in various embodiments, Figure 1 The processor 142 uses the processor from step 204 Figure 1 Sensor data obtained from sensor array 120 is used to monitor trailer 101 sway. In various embodiments, trailer sway is monitored using the hook hinge angle relative to trailer 101 and the yaw rate of vehicle 100. In some embodiments, additional sensor data from step 204 may also be used to monitor trailer sway.

[0102] In various embodiments, monitoring uses bandpass filters on the hook articulation angle (HAA) and / or on the yaw rate to eliminate low-frequency content (e.g., bias in the signal) due to driver steering input. In some embodiments, monitoring uses bandpass filtering on both the hook articulation angle and the yaw rate. In some other embodiments, monitoring may use bandpass filtering on either the hook articulation angle or the yaw rate. In various embodiments, the monitoring algorithm does not require any kinematic / dynamic model and does not require additional trailer parameters.

[0103] In some embodiments, the monitoring algorithm determines trailer sway based on yaw rate and HAA input, in order to determine the required braking control inputs for the corresponding wheels(s) according to the following equation:

[0104] (Equation 1)

[0105] Where the coefficient a i b i The cutoff frequency is selected for use within a predetermined range. In one embodiment, this predetermined range is between 0.4 Hz and 2.0 Hz. However, this may vary in other embodiments, and the predetermined range may be calibrable. x is the raw signal measured by the sensor. f It is the signal after bandpass filtering.

[0106] refer to Figure 3 A graphical representation 300 is provided, illustrating step 206 of monitoring the sway of trailer 101 via the hook hinge angle. Figure 3 In the diagram, x-axis 301 represents time (in seconds), and y-axis 302 represents hook articulation (HAA) (in degrees). Figure 3 The document describes three signals: (i) an initial estimate of the HAA 310 based on a given strict angle and the vehicle system; (ii) the measured HAA 320 from the vehicle sensors; and (iii) a filtered HAA value 330 over time using a bandpass filter. In various embodiments, the filtered HAA value 330 uses a bandpass filter and helps eliminate bias, thus fully supporting the process of checking the health of the sensors over time and measuring peak values ​​and observing changes in peak values ​​over time. In various embodiments, this is used as an approximation of trailer sway.

[0107] Return to reference Figure 2 In various embodiments, it is determined whether sufficient trailer sway is identified to make mitigation necessary (step 208). In various embodiments, this determination is made by... Figure 1The processor 142 makes this determination based on the sensor data from step 204 and the monitoring from step 206. Additionally, in various embodiments, this determination is based on the detected sway of parameters (including the hook hinge angle and / or yaw rate) (these parameters represent trailer sway in the model utilized in process 200), and particularly on whether such sway includes certain peaks exceeding one or more predetermined thresholds, such as those described below. Figure 4 The exemplary embodiments described herein.

[0108] refer to Figure 4 According to an exemplary embodiment, a graphical representation 400 is provided regarding step 206, which involves monitoring trailer sway, and step 208, which involves determining whether the trailer has sufficient sway to warrant mitigation. According to an exemplary embodiment, the graphical representation 400 includes an x-axis 402 representing time (e.g., in seconds) and a y-axis 404 representing one or more trailer sway parameters, including hook hinge angle and / or yaw rate (e.g., in degrees and / or degrees per millisecond, respectively).

[0109] like Figure 4 As depicted, a sway signal 406 is provided with respect to the one or more trailer sway parameters (e.g., including articulation angle and / or yaw rate). In various embodiments, the peak value in the sway signal 406 is determined based on when the sway signal leaves the boundary established by the entry threshold 410.

[0110] Specifically, in some embodiments, a peak value in the oscillation signal 406 is determined when the oscillation signal is greater than a first entry threshold (T1) 411 or less than a second entry threshold (T2) 412, wherein the second entry threshold (T2) 412 is less than the first entry threshold (T1) 411. For example, in Figure 4 In the implementation: (i) when the sway signal 406 first exceeds the first entry threshold (T1) 411, a first peak value Pk1 450 is identified; (ii) when the sway signal 406 first falls below the second entry threshold (T2) 412, a second peak value Pk2 451 is identified; and (iii) when the sway signal 406 next exceeds the first entry threshold (T1) 411, a third peak value Pk3 452 is identified. As described in further detail, when the sway signal 406 is greater than the first entry threshold (T1) 411 or less than the second entry threshold (T2) 412, trailer sway mitigation is considered.

[0111] Additionally, in some embodiments, when the sway signal is less than both the first exit threshold (T3) 421 and greater than the second exit threshold (T4) 422, the peak value in the sway signal 406 is no longer considered for trailer sway mitigation. For example... Figure 4As illustrated, in various embodiments: (i) a first exit threshold (T3) 421 is less than a first entry threshold (T1) 411; (ii) a second exit threshold (T4) 422 is less than the first exit threshold (T3) 421; and (iii) a second entry threshold (T2) 412 is less than the second exit threshold (T4) 422. In one exemplary embodiment, the following thresholds may be used: T1=2; T2=-2; T3=1 and T4=-1; however, this may vary in other embodiments.

[0112] In addition, such as Figure 4 As depicted, in some embodiments, the trailer sway mitigation threshold 460 is utilized to implement a trailer sway mitigation strategy for the vehicle-trailer system. Figure 4 As described herein, in some embodiments, both the lower limit easing threshold (T5) 462 and the upper limit easing threshold (T6) 461 are utilized. In various embodiments, trailer sway easing is implemented when the sway signal 406 is less than the lower limit easing threshold (T5) 462 or greater than the upper limit easing threshold (T6) 461. Moreover, in various embodiments, both the lower limit easing threshold 462 and the upper limit easing threshold 461 are based on the previous peak value of the sway signal 406.

[0113] Specifically, in some embodiments, the lower limit of the easing threshold (T5) 462 is calculated according to the following equation:

[0114] T5=K1*|Pk1| (Equation 2)

[0115] Where K1 represents a predetermined constant, and Pk1 represents the first peak value of 450. In one exemplary embodiment, the value of K1 is equal to 1.2; however, this may vary in other embodiments.

[0116] Additionally, in some embodiments, the upper limit reduction threshold (T6) 461 is calculated according to the following equation:

[0117] T6=K2*|Pk2| (Equation 3)

[0118] Where K2 represents a predetermined constant, and Pk2 represents the second peak value 451. In one exemplary embodiment, the value of K2 is equal to 0.9; however, this may vary in other embodiments.

[0119] Additionally, in various embodiments, the trailer sway easing implementation begins when the amplitude (i) of the sway signal 406 is less than the lower easing threshold (T6) 462 or greater than the upper easing threshold (T5) 461, further provided that (ii) at least one peak (or in some embodiments, at least two peaks) of the amplitude of the sway signal 406 exceeds the absolute value of one or both of the first entry threshold 411 or the second entry threshold 412. Furthermore, in some embodiments, trailer sway easing terminates when the sway signal 406 has a peak value less than the first exit threshold 421 or greater than the second exit threshold 412.

[0120] In various implementations, trailer sway mitigation is carried out in two different embodiments, as described below.

[0121] In the first embodiment, the process establishes a trailer sway detection rise threshold trigger for the last (Nth) peak. In this embodiment, at the Nth peak (Pk... N The swing signal exceeds the calibration value multiplied by the swing signal of the (N-1)th peak (K2 * Pk). N-1 The trailer sway is detected at time t1 441 instead of time t2 442. In various embodiments, this allows the control algorithm to apply braking earlier (t2-t1) to improve sway control.

[0122] In the second embodiment, the process establishes swing detection based on swing growth (instability criterion), which is based on Pk. N-1 / Pk N-2 The ratio. In this embodiment, if the ratio exceeds the threshold (K1*Pk) N-2 The algorithm will then... Figure 4 The trailer sway is detected at time t0 440 (rising edge) instead of at time t1 441, thereby further improving the detection time and the controllability of large trailer sway instability. It should be noted that in various embodiments, time t0 440 does not necessarily need to coincide with Pk. N-1 Alignment. For example, in some embodiments, time t0440 may be earlier than the true peak (e.g., if the thresholds are crossed).

[0123] Return to reference Figure 2If it is determined in step 208 that insufficient trailer sway has been identified to warrant mitigation, the process returns to step 206 in a new iteration. Steps 206 and 208 continue in this manner in new iterations (e.g., utilizing updated sensor data) until sufficient trailer sway has been identified to warrant mitigation in a subsequent iteration of step 208. In various embodiments, once it is determined in the iteration of step 208 that sufficient trailer sway has been identified to warrant mitigation, the process proceeds to step 210 as described below.

[0124] During step 210, the trailer sway mitigation implementation begins. In various embodiments, this is achieved via... Figure 1 The processor 142 provides information about Figure 1 The trailer sway easing is initiated by commands from the systems of vehicle 100 and / or trailer 101, as described in more detail below. In various embodiments, trailer sway easing is implemented via one or both of vehicle control path 211 and / or trailer control path 212, as described below. Figure 2 As illustrated in the figures and described below. In some embodiments, trailer sway mitigation is implemented via both vehicle control path 211 and trailer control path 212 (e.g., simultaneously in some embodiments, or at different times in others). In some other embodiments, trailer sway mitigation is implemented via one of vehicle control path 211 or trailer control path 212 instead of the other.

[0125] First, referring to vehicle control path 211, in various embodiments, it is observed that the hook hinge angle and yaw rate have corresponding zero crossover (step 214). Specifically, in various embodiments, it is observed that... Figure 4 The sway signal 406's hook hinge angle and / or yaw rate component along Figure 4 The x-axis intersects with the corresponding zero value. In other words, in various embodiments, these values ​​(representing trailer sway) are observed to be oscillating during step 214. In some embodiments, the process remains in step 214 until such a zero-crossing value (i.e., representing the oscillation of the trailer sway) is observed for at least one of the hook hinge angle and / or yaw rate, after which the process proceeds to step 216 as described below.

[0126] In various embodiments, during step 216, it is determined whether the absolute value of the hook hinge angle (HAA) is greater than 1. Figure 4 The first entry threshold (T1) 411, or (ii) whether the absolute value of the yaw rate is greater than Figure 4The second entry threshold (T2) 412. In various embodiments, if neither of these two conditions is met, the process returns to step 214, and steps 214 and 216 are repeated in subsequent iterations until at least one of these conditions is met. Alternatively, in various embodiments, once one or both of these conditions are met, the process then proceeds to step 218 as described below.

[0127] In various embodiments, a bandpass filter is applied during step 218. Specifically, in various embodiments, during step 218, Figure 1 The processor 142 applies a bandpass filter to the hook articulation angle and yaw rate values. In some embodiments, the bandpass filter may be applied to other parameter values ​​that may also affect trailer sway reduction, such as, for example, rate, longitudinal acceleration, and / or other parameters of the vehicle and / or trailer. In various embodiments, the filtered values ​​may be used to calculate and apply uniform braking (in step 220) or differential braking (in step 222), as described below.

[0128] In various embodiments, uniform braking is calculated and applied (step 220). In various embodiments, the processor 142 calculates the value of automatic uniform braking based on the vehicle speed and vehicle longitudinal value (after applying a bandpass filter) and applies it. Figure 1 The rear wheel (i.e., Figure 1 (The wheels 112 on the rear axle 114). In some other embodiments, differential braking is instead applied. Figure 1 The rear axle 114. In various embodiments, via... Figure 1 The processor 142 provides Figure 1 The command of the braking system 106 of the vehicle 100, via Figure 1 The rear wheels 112 are used to perform uniform and / or differential braking.

[0129] In various other embodiments, differential uniform braking is calculated and applied (step 222). In various embodiments, the processor 142 calculates the value of automatic differential braking according to the following equation and applies it. Figure 1 The front wheel (i.e., Figure 1 Wheel 112 on front axle 114 (and in some embodiments also applied to) Figure 1 (rear wheel)

[0130] T diffbrk =K5(a x )[K3(v x W zfpeak )*K4(v x HAA fpeak )*HAA f (Equation 4)

[0131] Where K3 and K4 are lookup table gains based on the longitudinal rate, peak yaw rate, or peak HAA when sway is detected, respectively, and K5 represents the lookup table gain based on longitudinal deceleration. In various embodiments, via... Figure 1 The processor 142 provides Figure 1 The command of the braking system 106 of the vehicle 100, via Figure 1 The rear wheels 112 are used to perform uniform braking. In some embodiments, when uniform braking is automatically provided on the vehicle, it is used in conjunction with the automatic application of differential braking or uniform braking on the trailer.

[0132] Additionally, in various embodiments, the hook hinge angle (HAA) and yaw rate (W) are determined. Z The absolute values ​​of the peak values ​​of both (step 224). In various embodiments, these determinations are made by... Figure 1 The processor 142 makes decisions based on sensor data.

[0133] In various embodiments, during step 226, it is determined whether the following two conditions are met: (i) the absolute peak value of the filtered hook hinge angle (i.e., |HAA) fpeak |) Less than Figure 4 The first exit threshold T3 421; and (ii) the absolute peak value of the filtered yaw rate (i.e., |W zfpeak |) Less than Figure 4 The second exit threshold T4 421. In various embodiments, these determinations are made by... Figure 1 The processor 142 makes decisions based on sensor data.

[0134] In various embodiments, if it is determined that the two criteria of step 226 are met, the process proceeds to step 228, where vehicle-based trailer sway control is disabled. Specifically, in various embodiments, during step 228, Figure 1 The processor 142 provides instructions to Figure 1 The braking system 106 is used to disable vehicle-based trailer sway control. In various embodiments, the process then proceeds to step 242 (discussed further below), where it is determined whether the process continues.

[0135] Conversely, if it is determined that one or both criteria of step 226 are not met, the process proceeds to step 218 instead. In various embodiments, steps 218-228 are then repeated in new iterations until both conditions of step 226 are met.

[0136] Returning to step 210, and specifically referring to its trailer control path 212, in various embodiments, the initiation is based on trailer sway control (step 230). In various embodiments, the initiation is based on trailer sway control, without referencing the zero crossover of the hook articulation angle or yaw rate.

[0137] Additionally, in various embodiments, a bandpass filter is applied during step 232. Specifically, in various embodiments, during step 232, Figure 1 The processor 142 applies a bandpass filter to the hook articulation angle and yaw rate values. In some embodiments, the bandpass filter may be applied to other parameter values ​​that may also affect trailer sway reduction, such as, for example, trailer brake gain steering, rate, longitudinal acceleration, and / or other parameters of the vehicle and / or trailer. In various embodiments, the filtered values ​​may be used to calculate and apply trailer braking, as further described below in conjunction with step 234.

[0138] In various embodiments, trailer braking is applied (step 234). In various embodiments, the processor 142 calculates the value of automatic trailer braking based on longitudinal acceleration, driver trailer brake gain setting, rate, HAA, and HAA peak amplitude, and applies it to the wheels 162 of trailer 101. Additionally, in some embodiments, the trailer brake application is mapped from existing trailer brake gain settings to address additional lateral slippage on the trailer tires. Furthermore, in various embodiments, longitudinal deceleration is maintained unless a disabling criterion is met.

[0139] In some embodiments, the automatic trailer braking in step 234 is calculated and applied according to the following equation:

[0140] T brk =K6(HAA fpeak )*K7*C2 (Equation 5)

[0141] Where K7 represents the trailer braking gain set by the driver; C2 represents the incremental constant of the trailer braking; and the value of K6 is either zero or one, depending on HAA. fpeak Adaptive braking gain for the trailer wheelbase (where applicable). In various embodiments, via... Figure 1 The processor 142 provides Figure 1 The command of the braking system 168 of the trailer 101, via Figure 1 The tractor wheel 162 performs uniform braking.

[0142] In various embodiments, as part of step 234, the process applies calculated uniform braking based on driver trailer brake gain settings for supplementary yaw rate and hook articulation angle via instructions provided by the processor to the trailer braking system, thereby mitigating trailer sway.

[0143] Additionally, in various embodiments, the hook hinge angle (HAA) and yaw rate (W) are determined. z The absolute value of the peak values ​​of both (step 236). In various embodiments, similar to step 224 described above, these determinations are made by... Figure 1 The processor 142 makes decisions based on sensor data.

[0144] In various embodiments, during step 238, it is determined whether the following two conditions are met: (i) the absolute peak value of the filtered hook hinge angle (i.e., |HAA) fpeak |) Less than Figure 4 The first exit threshold T3 421; and (ii) the absolute value of the yaw rate (i.e., |W zfpeak |) Less than Figure 4 The second exit threshold T4 421. In various embodiments, similar to step 226 described above, these determinations are made by... Figure 1 The processor 142 makes decisions based on sensor data.

[0145] In various embodiments, if it is determined that the two criteria of step 238 are met, the process proceeds to step 240, where trailer-based trailer sway control is disabled. Specifically, in various embodiments, during step 240, Figure 1 The processor 142 provides instructions to Figure 1 The trailer braking system 168 is used to disable trailer-based trailer sway control. In various embodiments, the process then proceeds to step 240 (discussed further below), where it is determined whether the process continues.

[0146] Conversely, if it is determined that one or both criteria of step 226 are not met, the process proceeds to step 232 instead. In various embodiments, steps 232-238 are then repeated in new iterations until both conditions of step 238 are met.

[0147] In various embodiments, during step 242, it is determined whether the process should continue. In some embodiments, Figure 1 The processor 142 determines whether the process should continue, for example, based on whether vehicle driving or ignition cycle is in progress. In various embodiments, if it is determined during step 242 that the process should continue, the process returns to step 204 because updated sensor data is collected and utilized in the new iteration. Conversely, in various embodiments, if it is determined instead during step 242 that the process will not continue, the process terminates at step 244.

[0148] Therefore, methods, systems, and vehicles for mitigating trailer sway in vehicle / trailer systems are provided. In various embodiments, a bandpass filter is applied to the hook articulation angle and vehicle yaw rate to mitigate trailer sway when appropriate. In various embodiments, this can help lead to faster detection of trailer sway and, therefore, can also lead to potentially larger trailer loads in various embodiments.

[0149] It will be understood that the systems, vehicles, and methods may differ from those depicted in the accompanying drawings and described herein. For example, in different embodiments, Figure 1 Vehicle 100 and / or trailer 101, Figure 1 The control system 102 and / or its components may differ. Similarly, it will be understood that the steps of process 200 may differ. Figure 2 The steps described herein, and / or the various steps of process 200, may occur simultaneously and / or in different ways. Figure 2 The sequence described herein occurs. It will be similarly understood that, in various embodiments, Figure 3 and Figure 4 The various implementation methods can also differ.

[0150] 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 configuration 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 disclosure as set forth in the appended claims and their legal equivalents.

Claims

1. A method for controlling a vehicle, comprising: Sensor data is obtained from one or more sensors on the vehicle towing the trailer, the vehicle and the trailer together comprising a vehicle-trailer system; The trailer sway is monitored by using the sensor data based on one or more parameters representing trailer sway based on the sensor data and by applying a bandpass filter to the one or more parameters via a processor located on the vehicle. as well as When the trailer sway is determined to be sufficient to warrant mitigation based on one or more parameters representing the trailer sway from the sensor data and by applying the bandpass filter to the one or more parameters, instructions are provided via the processor to one or more braking systems of the vehicle-trailer system to mitigate the trailer sway. The monitoring includes: using sensor data via the processor on the vehicle to monitor the trailer sway based on the hook hinge angle of the vehicle-trailer system and the yaw rate of the vehicle, along with applying the bandpass filter to the hook hinge angle and the yaw rate; and The mitigation includes: when it is determined, based on the hook hinge angle, the yaw rate, and the application of the bandpass filter to the hook hinge angle and the yaw rate, that the trailer sway is sufficient to warrant mitigation, mitigating the trailer sway via instructions provided by the processor to the one or more braking systems of the vehicle-trailer system. The mitigation of trailer swaying includes: setting a driver trailer braking gain based on a supplementary yaw rate and a hook articulation angle, and providing instructions to the trailer braking system of the trailer via the processor to apply calculated uniform braking to mitigate the trailer swaying.

2. The method according to claim 1, wherein: The monitoring includes: using sensor data based on the hook hinge angle of the vehicle-trailer system and applying the bandpass filter to the hook hinge angle, via the processor on the vehicle, to monitor the trailer sway of the trailer; and The mitigation includes: mitigating the trailer sway by means of instructions provided by the processor to the one or more braking systems of the vehicle-trailer system when it is determined, based on the hook hinge angle and the bandpass filter applied to the hook hinge angle, that the trailer sway is sufficient to warrant mitigation.

3. The method according to claim 1, wherein: The monitoring includes: monitoring the trailer sway of the trailer using the sensor data based on the vehicle's yaw rate and applying the bandpass filter to the yaw rate via the processor on the vehicle; and The mitigation includes: mitigating the trailer sway by means of instructions provided by the processor to the one or more braking systems of the vehicle-trailer system when it is determined, based on the yaw rate and the bandpass filter applied to the yaw rate, that the trailer sway is sufficient to make mitigation necessary.

4. The method according to claim 1, wherein, The mitigation of the trailer sway includes: when it is determined, based on the sway of the trailer sway, that the trailer sway is sufficient to warrant mitigation, mitigating the trailer sway via instructions provided by the processor to the one or more braking systems of the vehicle-trailer system, the sway being represented by a sway signal of the one or more parameters, including multiple peaks of the sway signal.

5. The method according to claim 4, wherein, The mitigation of the trailer sway includes: when it is determined, based on the number of the plurality of peaks of the sway signal and the corresponding amplitude of the plurality of peaks, that the trailer sway of the trailer is sufficient to make mitigation necessary, mitigating the trailer sway by means of instructions provided by the processor to the one or more braking systems of the vehicle-trailer system.

6. The method according to claim 1, wherein, The mitigation of the trailer sway includes: applying the bandpass filter to the vehicle braking system via the processor to apply uniform or differential braking on the rear axle of the vehicle based on the hook hinge angle and the yaw rate.

7. The method according to claim 1, wherein, The mitigation of the trailer sway includes: applying the bandpass filter to the vehicle braking system via the processor to apply differential braking on the front axle of the vehicle based on the instructions provided by the processor to the vehicle braking system for the hook hinge angle and the yaw rate to mitigate the trailer sway.

8. A system for controlling a vehicle, comprising: One or more sensors are configured to provide sensor data from a vehicle towing a trailer, the vehicle and the trailer together comprising a vehicle-trailer system; as well as A processor configured to be coupled to the one or more sensors when the one or more sensors are on the vehicle, and configured to at least facilitate: The trailer sway is monitored by using the sensor data to represent one or more parameters of the trailer sway based on the sensor data and by applying a bandpass filter to the one or more parameters. as well as When the trailer sway is determined to be sufficient to warrant mitigation based on one or more parameters representing the trailer sway from the sensor data and by applying the bandpass filter to the one or more parameters, instructions are provided via the processor to one or more braking systems of the vehicle-trailer system to mitigate the trailer sway. The processor is configured to: The trailer sway is monitored using the sensor data based on the hook hinge angle of the vehicle-to-trailer system and the yaw rate of the vehicle, along with the bandpass filter applied to the hook hinge angle and the yaw rate; and When it is determined, based on the hook hinge angle, the yaw rate, and the application of the bandpass filter to the hook hinge angle and the yaw rate, that the trailer sway is sufficient to warrant mitigation, the trailer sway is mitigated. The mitigation of trailer swaying includes: setting a driver trailer braking gain based on a supplementary yaw rate and a hook articulation angle, and providing instructions to the trailer braking system of the trailer via the processor to apply calculated uniform braking to mitigate the trailer swaying.

9. The system according to claim 8, wherein, The processor is further configured to at least facilitate: The trailer sway is monitored using the sensor data based on the hook hinge angle of the vehicle-trailer system and by applying the bandpass filter to the hook hinge angle; and When it is determined, based on the hook hinge angle and the application of the bandpass filter to the hook hinge angle, that the trailer sway is sufficient to warrant mitigation, the instructions provided by the processor to the one or more braking systems of the vehicle-trailer system are used to mitigate the trailer sway.

10. A vehicle configured to tow a trailer, the vehicle comprising: Braking system; One or more sensors are mounted on the vehicle and configured to provide sensor data; as well as A processor disposed on the vehicle, the processor being coupled to the braking system and the one or more sensors, and configured to at least facilitate: The trailer sway is monitored by using the sensor data to represent one or more parameters of the trailer sway based on the sensor data and by applying a bandpass filter to the one or more parameters. as well as When the trailer sway is determined to be sufficient to mitigate based on one or more parameters representing the trailer sway using the sensor data and by applying the bandpass filter to the one or more parameters, instructions are provided via the processor to one or more braking systems of the vehicle, the trailer, or both to mitigate the trailer sway. The processor is configured to: The trailer sway is monitored using the sensor data based on the hook hinge angle of the vehicle-to-trailer system and the yaw rate of the vehicle, along with the bandpass filter applied to the hook hinge angle and the yaw rate; and When it is determined, based on the hook hinge angle, the yaw rate, and the application of the bandpass filter to the hook hinge angle and the yaw rate, that the trailer sway is sufficient to warrant mitigation, the trailer sway is mitigated. The mitigation of trailer swaying includes: setting a driver trailer braking gain based on a supplementary yaw rate and a hook articulation angle, and providing instructions to the trailer braking system of the trailer via the processor to apply calculated uniform braking to mitigate the trailer swaying.

11. The vehicle according to claim 10, wherein, The processor is configured to at least facilitate: The trailer sway is monitored using the sensor data based on the hook hinge angle of the vehicle, the trailer, or both, and by applying the bandpass filter to the hook hinge angle; and When it is determined, based on the hook hinge angle and the application of the bandpass filter to the hook hinge angle, that the trailer sway is sufficient to warrant mitigation, the instructions provided by the processor to the vehicle, the trailer, or the braking systems of either vehicle or both are used to mitigate the trailer sway.

12. The vehicle according to claim 10, wherein, The processor is configured to at least facilitate: The trailer sway is monitored using the sensor data based on the vehicle's yaw rate and by applying the bandpass filter to the yaw rate. as well as When it is determined, based on the yaw rate and the application of the bandpass filter to the yaw rate, that the trailer sway is sufficient to warrant mitigation, the instructions provided by the processor to the braking systems of the vehicle, the trailer, or both are used to mitigate the trailer sway.

13. The vehicle according to claim 10, wherein, The processor is configured to at least facilitate: when it is determined, based on the sway of the trailer sway, that the trailer sway is sufficient to warrant mitigation, the processor provides instructions to the vehicle, the trailer, or the braking systems of one or more of both to mitigate the trailer sway, the sway being represented by a sway signal of the one or more parameters, including multiple peaks of the sway signal.

14. The vehicle according to claim 13, wherein, The processor is configured to at least facilitate: when it is determined, based on the number of the plurality of peaks of the sway signal and the corresponding amplitude of the plurality of peaks, that the trailer sway is sufficient to warrant mitigation, the processor provides instructions to the vehicle, the trailer, or one or more braking systems of both to mitigate the trailer sway.

15. The vehicle according to claim 10, wherein, The processor is configured to at least facilitate: the instruction provided by the processor to the vehicle braking system of the vehicle to apply uniform or differential braking on the rear axle of the vehicle, based on the application of the bandpass filter to the hook hinge angle and the yaw rate, to mitigate the trailer sway.

16. The vehicle according to claim 10, wherein, The processor is configured to at least facilitate: the instruction provided by the processor to the vehicle braking system of the vehicle to apply differential braking on the front axle of the vehicle based on the bandpass filter applied to the hook hinge angle and the yaw rate, thereby mitigating the trailer sway.

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