Method and system for trailer turning assistance

Abstract

Systems and methods are provided for a vehicle for trailer turning assistance. The system includes a computer system carried on the vehicle and configured to be executed by a processor to: monitor a front turning angle of the vehicle and a hitch angle of the vehicle as the vehicle and the vehicle trailer move in a reverse direction; dynamically adjust a rear turning angle of the vehicle to match the rear turning angle to the front turning angle based on the front turning angle and the hitch angle as the vehicle and the trailer move in the reverse direction while the hitch angle is less than a predetermined hitch angle; and dynamically adjust the rear turning angle of the vehicle to maintain the hitch angle at the predetermined hitch angle based on the front turning angle and the hitch angle as the vehicle and the trailer move in the reverse direction.

Description

Technical Field

[0001] The technical field generally relates to vehicle trailers, and more specifically to methods and systems for automatic and dynamic steering assistance when towing a trailer by a vehicle, especially when maneuvering the trailer in the reverse direction. Background Technology

[0002] Vehicles configured to tow trailers capable of carrying loads are typically equipped with coupling devices, which may include, for example, hooks. When towing a trailer with a vehicle that includes this type of trailer-to-trailer coupling, maneuvering the trailer in the reverse direction can be particularly difficult, especially for inexperienced operators. Specifically, maneuvering the trailer in reverse may require the operator to perform a reverse turn, which may not be intuitive relative to the normal operation of the vehicle.

[0003] Therefore, it is desirable to provide a method or system that facilitates (especially in the reverse direction) easy maneuverability of a towed vehicle. Furthermore, other desirable features and characteristics of the invention will become apparent from the accompanying drawings and the foregoing technical and background information, based on the following detailed description and the appended claims. Summary of the Invention

[0004] Methods, systems, and vehicles including such systems are provided for steering assistance of trailers.

[0005] In one embodiment, a method for operating a vehicle having a trailer pivotally coupled to the vehicle for towing the trailer is provided. The method includes: operating the vehicle to move the vehicle and the trailer in a reversible direction relative to it; turning the vehicle using a steering input device by turning the front wheels of the vehicle in a direction relative to the vehicle's central longitudinal axis to define a non-zero forward steering angle, the forward steering angle being defined between a first geometric line coplanar and perpendicular to the axis of rotation of the front wheels of the vehicle and the vehicle's central longitudinal axis; as the vehicle and the trailer move in the reversible direction, monitoring the forward steering angle of the vehicle and the engagement angle of the vehicle by a processor mounted on the vehicle, the engagement angle being defined between the vehicle's central longitudinal axis and the trailer's central longitudinal axis; and, while the engagement angle is less than a predetermined engagement angle, adjusting the forward steering angle based on the forward steering angle by the processor. The rear steering angle and engagement angle are dynamically adjusted by the processor to match the rear steering angle to the front steering angle. The rear steering angle is defined between a second geometric line coplanar and perpendicular to the axis of rotation of the rear wheels of the vehicle and the central longitudinal axis of the vehicle. Matching the rear steering angle to the front steering angle includes turning the rear wheels relative to the central longitudinal axis of the vehicle in the same direction as the front wheels; continuing to operate the vehicle to move the vehicle and the trailer in a reverse direction until the engagement angle equals a predetermined engagement angle; and dynamically adjusting the rear steering angle of the vehicle by the processor based on the front steering angle and engagement angle to maintain the engagement angle at the predetermined engagement angle by turning the rear wheels relative to the central longitudinal axis of the vehicle in the opposite direction to the direction of the front wheels.

[0006] In one embodiment, the method includes the processor calculating the controller gain between the vehicle and the trailer while dynamically adjusting the rear steering angle.

[0007] In this embodiment, the rear steering angle is dynamically adjusted according to the following:

[0008] δ r =K1δ f +K2θ

[0009] Where, δ r It is the desired rear steering angle, δ f K1 is the front steering angle, K2 is a first constant based on the first controller gain associated with the front wheels of the vehicle and the trailer, K2 is a second constant based on the second controller gain associated with the rear wheels of the vehicle and the trailer, and θ is the engagement angle, wherein adjusting the rear steering angle includes adjusting the rear steering angle to the desired rear steering angle.

[0010] In this embodiment, the rear steering angle is dynamically adjusted according to the following:

[0011] δ r =K1δf +K2θ

[0012] Where, δ r It is the desired rear steering angle, δ f K1 is the front steering angle, K2 is the speed of the vehicle and the size of the trailer and the vehicle associated with the front wheels, K2 is the speed of the vehicle and the size of the trailer and the vehicle associated with the rear wheels, and θ is the engagement angle, wherein adjusting the rear steering angle includes adjusting the rear steering angle to the desired rear steering angle.

[0013] In one embodiment, the method includes: receiving trailer data, including the dimensions of a trailer attached to a vehicle, by a processor; and determining a controller gain between the vehicle and the trailer based on the trailer data.

[0014] In one embodiment, the method includes a processor detecting movement of a vehicle in a reverse direction and attachment of a trailer to the vehicle, wherein in response to detecting movement of the vehicle in the reverse direction with the trailer attached to the vehicle, a dynamic adjustment of the rear steering angle is automatically performed.

[0015] In an embodiment, the method includes: adjusting a steering input device such that the front steering angle is zero while the engagement angle is not zero; operating the vehicle to move the vehicle and the trailer in a reverse direction; and dynamically adjusting the rear steering angle of the vehicle based on the front steering angle and the engagement angle to match the rear steering angle to the engagement angle, wherein adjusting the rear steering angle to match the rear steering angle to the engagement angle includes turning the rear wheels in the same direction as the offset of the central longitudinal axis of the trailer relative to the central longitudinal axis of the vehicle.

[0016] In an embodiment, the method includes: adjusting a steering input device such that the front steering angle is zero while the engagement angle is zero; operating the vehicle to move the vehicle and the trailer in a reverse direction; and dynamically adjusting the rear steering angle of the vehicle based on the front steering angle and the engagement angle to match the rear steering angle to the engagement angle, wherein adjusting the rear steering angle to match the rear steering angle to the engagement angle includes turning the rear wheels in the same direction as the offset of the central longitudinal axis of the trailer relative to the central longitudinal axis of the vehicle.

[0017] In this embodiment, the processor dynamically adjusts the rear steering angle of the vehicle to maintain the engagement angle at a predetermined engagement angle based on the forward steering angle and the engagement angle, including adjusting the rear steering angle according to the following:

[0018]

[0019] In another embodiment, a system for operating a vehicle having a trailer pivotally connected to the vehicle for towing the trailer is provided. The system includes: a computer system mounted on the vehicle and configured by a processor to: monitor, as the vehicle and the trailer move in a reversing direction, a forward steering angle of the vehicle and a engagement angle of the vehicle, the forward steering angle being defined between a first geometric line coplanar and perpendicular to the axis of rotation of the vehicle's front wheels and a central longitudinal axis of the vehicle, and the engagement angle being defined between the central longitudinal axis of the vehicle and the central longitudinal axis of the trailer; and, while the engagement angle is less than a predetermined engagement angle, dynamically adjust the rearward steering angle of the vehicle based on the forward steering angle and the engagement angle as the vehicle and the trailer move in a reversing direction. A steering angle is used to match the rear steering angle to the front steering angle, the rear steering angle being defined between a second geometric line coplanar and perpendicular to the axis of rotation of the vehicle's rear wheels and the vehicle's central longitudinal axis, wherein matching the rear steering angle to the front steering angle includes turning the rear wheels relative to the vehicle's central longitudinal axis in the same direction as the front wheels; and dynamically adjusting the vehicle's rear steering angle based on the front steering angle and the engagement angle as the vehicle and trailer move in the reverse direction to maintain the engagement angle at a predetermined engagement angle by turning the rear wheels relative to the vehicle's central longitudinal axis in the opposite direction to the front wheels.

[0020] In one embodiment, the computer system is configured by a processor to calculate the controller gain between the vehicle and the trailer while dynamically adjusting the rear steering angle.

[0021] In this embodiment, the controller is configured to dynamically adjust the rear steering angle based on the following:

[0022] δ r =K1δ f +K2θ

[0023] Where, δ r It is the desired rear steering angle, δ f K1 is the front steering angle, K2 is a first constant based on the first controller gain associated with the front wheels of the vehicle and the trailer, K2 is a second constant based on the second controller gain associated with the rear wheels of the vehicle and the trailer, and θ is the hook angle, wherein the controller is configured to adjust the rear steering angle to the desired rear steering angle.

[0024] In this embodiment, the controller is configured to dynamically adjust the rear steering angle based on the following:

[0025] δ r =K1δ f +K2θ

[0026] Where, δ r It is the desired rear steering angle, δf K1 is the front steering angle, K2 is the speed of the vehicle and the dimensions of the trailer and the vehicle associated with the front wheels and the trailer, K2 is the speed of the vehicle and the dimensions of the trailer and the vehicle associated with the rear wheels, and θ is the engagement angle, wherein the controller is configured to adjust the rear steering angle to the desired rear steering angle.

[0027] In one embodiment, the system includes a non-transitory computer-readable medium mounted on a vehicle, the medium being configured to store trailer data including parameters associated with a trailer attached to the vehicle, wherein a computer system is configured to have a processor: receive the trailer data, the trailer data including the dimensions of the trailer attached to the vehicle, and determine a controller gain between the vehicle and the trailer based on the trailer data.

[0028] In one embodiment, the computer system is configured by a processor to detect movement of the vehicle in the reverse direction and attachment of a trailer to the vehicle, wherein the controller is configured to automatically and dynamically adjust the rear steering angle in response to detecting movement of the vehicle in the reverse direction when the trailer is attached to the vehicle.

[0029] In one embodiment, the computer system is configured by a processor to dynamically adjust the rear steering angle of the vehicle based on the front steering angle and the engagement angle, in response to the vehicle and trailer moving in a reverse direction, the front steering angle being zero and the engagement angle being non-zero, to match the rear steering angle to the engagement angle, wherein the controller is configured to turn the rear wheels in the same direction as the offset of the central longitudinal axis of the trailer relative to the central longitudinal axis of the vehicle when matching the rear steering angle to the engagement angle.

[0030] In one embodiment, the computer system is configured by a processor to dynamically adjust the rear steering angle of the vehicle based on the front steering angle and the engagement angle, in response to movement of the vehicle and the trailer in a reverse direction, with the front steering angle equal to zero and the engagement angle equal to zero, to match the rear steering angle to the engagement angle, wherein the controller is configured to turn the rear wheels in the same direction as the offset of the central longitudinal axis of the trailer relative to the central longitudinal axis of the vehicle when the rear steering angle is matched to the engagement angle.

[0031] In an embodiment, the controller is configured by the processor to dynamically adjust the rear steering angle of the vehicle based on the forward steering angle and the engagement angle to maintain the engagement angle at a predetermined engagement angle, including adjusting the rear steering angle according to the following:

[0032]

[0033] In another embodiment, a vehicle is provided, including a trailer pivotally coupled to the vehicle for towing the trailer, a computer system mounted on the vehicle, and configured by a processor to: monitor a forward steering angle and a coupling angle of the vehicle as the vehicle and the trailer move in a reversing direction, the forward steering angle being defined between a first geometric line coplanar and perpendicular to the axis of rotation of the vehicle's front wheels and a central longitudinal axis of the vehicle, and the coupling angle being defined between the central longitudinal axis of the vehicle and the central longitudinal axis of the trailer; while the coupling angle is less than a predetermined coupling angle, based on the forward steering angle and the coupling angle, as the vehicle and the trailer move in a reversing direction... Moving in the reverse direction, the rear steering angle of the vehicle is dynamically adjusted to match the front steering angle, the rear steering angle being defined between a second geometric line coplanar and perpendicular to the axis of rotation of the rear wheels of the vehicle and the central longitudinal axis of the vehicle, wherein matching the rear steering angle to the front steering angle includes turning the rear wheels relative to the central longitudinal axis of the vehicle in the same direction as the front wheels; and based on the front steering angle and the engagement angle, as the vehicle and the trailer move in the reverse direction, the rear steering angle of the vehicle is dynamically adjusted to maintain the engagement angle at a predetermined engagement angle by turning the rear wheels relative to the central longitudinal axis of the vehicle in the opposite direction to the direction of the front wheels.

[0034] In one embodiment, the vehicle's computer system is configured by a processor to: dynamically adjust the vehicle's rear steering angle based on the front steering angle and the engagement angle to match the engagement angle, in response to the vehicle and the trailer moving in a reverse direction, the front steering angle being zero and the engagement angle being non-zero, wherein the controller is configured to cause the rear wheels to turn in the same direction as the offset of the trailer's central longitudinal axis relative to the vehicle's central longitudinal axis when the rear steering angle is matched to the engagement angle; and dynamically adjust the vehicle's rear steering angle based on the front steering angle and the engagement angle to match the engagement angle, wherein the controller is configured to cause the rear wheels to turn in the same direction as the offset of the trailer's central longitudinal axis relative to the vehicle's central longitudinal axis when the rear steering angle is matched to the engagement angle. Attached Figure Description

[0035] Exemplary embodiments will now be described in conjunction with the accompanying drawings, wherein the same reference numerals denote similar elements, and wherein:

[0036] Figure 1 This is a functional block diagram of a vehicle including a towed vehicle steering assist system according to various embodiments;

[0037] Figure 2 Various embodiments illustrate aspects of a vehicle and its attached trailer. Figure 1 A top-down view of the vehicle;

[0038] Figure 3 Examples are provided according to various embodiments. Figures 1 to 2 A data flow diagram of the components of the vehicle's trailer steering assist system;

[0039] Figure 4 According to the exemplary embodiments, by Figure 1 and Figure 2 A flowchart illustrating the process performed by the vehicle's trailer steering assist system to manipulate the trailer;

[0040] Figure 5 To operate a trailer attached to a vehicle without a trailer steering assist system. Figures 1 to 2 A top view of the vehicle; and

[0041] Figure 6 It utilizes a trailer steering assist system to control the trailer attached to the vehicle. Figures 1 to 2 A top-down view of a vehicle. Detailed Implementation

[0042] The following detailed description is exemplary in nature only and is not intended to limit application and use. Furthermore, it is not intended to be bound by any express or implied theory set forth in the foregoing technical fields, background art, summary of the invention, or the following detailed description. As used herein, the term "module" individually or in any combination refers to any hardware, software, firmware, electronic control components, processing logic, and / or processor device, including but not limited to: application-specific integrated circuits (ASICs), electronic circuits, processors (shared, dedicated, or grouped) and memories executing one or more software or firmware programs, combinational logic circuits, and / or other suitable components providing the described functionality.

[0043] Embodiments of this disclosure may be described herein in terms of functional and / or logical block components and various processing steps. It should be understood that such block components can be implemented by any number of hardware, software, and / or firmware components configured to perform specified functions. For example, embodiments of this disclosure may employ various integrated circuit components capable of performing various functions under the control of one or more microprocessors or other control devices, such as memory elements, digital signal processing elements, logic elements, lookup tables, etc. Furthermore, those skilled in the art will understand that embodiments of this disclosure can be practiced in conjunction with any number of systems, and the systems described herein are merely exemplary embodiments of this disclosure.

[0044] For the sake of brevity, conventional techniques related to signal processing, data transmission, signaling, control, and other functional aspects of the system (and its various operating components) may not be described in detail herein. Furthermore, the connecting lines shown in the various figures included herein are intended to represent exemplary functional relationships and / or physical connections between various elements. It should be noted that many alternative or additional functional relationships or physical connections may exist in the embodiments of this disclosure.

[0045] Reference Figure 1 According to various embodiments, the tow vehicle steering assist system, generally shown as 100, is associated with vehicle 10. In some embodiments, vehicle 10 can be any of many different types of vehicles, such as, for example, sedans, vans, trucks, or sports 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 10 may also include other types of mobility platforms and is not limited to automobiles.

[0046] In various embodiments, vehicle 10 may be associated with a trailer 12 capable of towing loads. As will be understood, trailer 12 can be any type of towable application having one or more wheels, and is not limited to any one embodiment. Vehicle 10 is configured to be coupled to and connected to trailer 12 via coupling device 11, and is configured to tow trailer 12. In various embodiments, coupling device 11 includes a hook. In various other embodiments, coupling device 11 includes one or more other types of systems, such as a gooseneck for a spare wheel trailer. In various embodiments, coupling device 11 also includes a wiring harness configured to transmit power and / or communication signals to and from components of trailer 12.

[0047] like Figure 1 As illustrated, the exemplary vehicle 10 typically includes a chassis 13, a body 14, front wheels 16, and rear wheels 18. The body 14 is arranged on the chassis 13 and substantially surrounds the components of the vehicle 10. The body 14 and the chassis 13 may together form a frame. The wheels 16-18 are each rotatably connected to the chassis 13 near a corresponding corner of the body 14.

[0048] The vehicle 10 also includes a propulsion system 20, a transmission system 22, a steering system 24, a sensor system 28, an actuator system 30, at least one data storage device 32, and at least one controller 34. In various embodiments, the propulsion system 20 may include an internal combustion engine, an electric motor such as a traction motor, and / or a fuel cell propulsion system. The transmission system 22 is configured to transmit power from the propulsion system 20 to the wheels 16-18 according to a selectable speed ratio. According to various embodiments, the transmission system 22 may include a graded automatic transmission, a continuously variable transmission (CVT), or other suitable transmission. The steering system 24 affects the position of the front wheels 16. Although drawn to include a steering wheel for illustrative purposes, in some embodiments contemplated within the scope of this disclosure, the steering system 24 may not include a steering wheel.

[0049] Sensor system 28 includes one or more sensing devices 40a-40n that sense the external and / or internal environment of vehicle 10 and / or the observable conditions of vehicle 10 itself. Sensing devices 40a-40n may include, but are not limited to, radar, lidar, global positioning system, optical camera, thermal camera, ultrasonic sensor, inertial measurement unit, pressure sensor, position sensor, speed sensor and / or other sensors.

[0050] Actuator system 30 includes one or more actuator devices 42a-42n that control one or more vehicle features, such as, but not limited to, propulsion system 20, transmission system 22, and steering system 24. In various embodiments, vehicle features may also include internal and / or external vehicle features, such as, but not limited to, doors, trunk, mirrors, and cabin features such as air conditioning, music, lighting, etc. (not numbered). In various embodiments, vehicle features include a rear-wheel steering system that affects the position of the rear wheels 18 independently of the position of the front wheels 16. The rear-wheel steering system may be controlled by actuator system 30 or be a component of actuator system 30.

[0051] Data storage device 32 stores data used for controlling vehicle 10. In various embodiments, data storage device 32 stores defined values ​​for controlling vehicle 10 and / or defined values ​​for trailer 12. As will be understood, data storage device 32 may be part of controller 34, separate from controller 34, or part of controller 34 and a separate system.

[0052] The controller 34 includes at least one processor 44, a communication bus 45, and a computer-readable storage device or medium 46. The processor 44 can be any custom or commercially available processor, central processing unit (CPU), graphics processing unit (GPU), auxiliary processor among several processors associated with the controller 34, semiconductor-based microprocessor (in the form of a microchip or chipset), macroprocessor, any combination thereof, or any means generally used for executing instructions. For example, the computer-readable storage device or medium 46 can include volatile and non-volatile memory in the form of read-only memory (ROM), random access memory (RAM), and keep-alive memory (KAM). KAM is a persistent or non-volatile memory that can be used to store various operational variables when the processor 44 is powered off. The computer-readable storage device or medium 46 can be implemented using any of the many known memory devices such as PROM (programmable read-only memory), EPROM (electrical PROM), EEPROM (electrically erasable PROM), flash memory, or any other electrical, magnetic, optical, or combined memory device capable of storing data (some of which represents executable instructions used by the controller 34 in controlling the vehicle 10). Bus 45 is used to transmit programs, data, status, and other information or signals between various components of vehicle 10 and / or trailer 12. Bus 45 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.

[0053] The instructions may include one or more individual programs, each including an ordered list of executable instructions for implementing logical functions. When executed by processor 44, the instructions receive and process signals from sensor system 28, perform logic, calculations, methods, and / or algorithms for automatically controlling components of vehicle 10, and generate control signals for actuator system 30 to automatically control components of vehicle 10 based on logic, calculations, methods, and / or algorithms. Although Figure 1 Only one controller 34 is shown, but embodiments of the vehicle 10 may include any number of controllers 34 that communicate and cooperate via any suitable communication medium or combination of communication media to process sensor signals, perform logic, calculations, methods and / or algorithms, and generate control signals that automatically control the features of the vehicle 10.

[0054] In various embodiments, one or more instructions from controller 34 are included in the trailer steering assist system 100, and when executed by processor 44, it receives data from sensor system 28 and processes the data to generate control data for controlling the position of rear wheels 18. This position is controlled to dynamically assist the operator of vehicle 10 as vehicle 10 moves backward with its coupled trailer 12.

[0055] As can be understood, controller 34 may otherwise differ from... Figure 1 The embodiments illustrated herein. For example, controller 34 may be coupled to or otherwise utilize one or more remote computer systems and / or other control systems, for example, as part of one or more of the aforementioned vehicle apparatuses and systems. It should be understood that although this exemplary embodiment is described in the context of a full-featured computer system, those skilled in the art will recognize that the mechanisms of this disclosure are capable of being distributed as a program product, and one or more types of non-transitory computer-readable signal-bearing media are used to store programs and their instructions and to implement their distribution, such as non-transitory computer-readable media carrying programs and containing the computer instructions stored therein for causing a computer processor (such as processor 44) to execute and implement 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 implementing the distribution. 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 should be understood that cloud-based storage and / or other technologies may also be utilized in some embodiments. Similarly, it should be understood that the computer system of controller 34 may also differ in other ways. Figure 1 The embodiments illustrated herein, such as the computer system of controller 34, may be connected to or may otherwise utilize one or more remote computer systems and / or other control systems.

[0056] Reference Figure 2 The vehicle 10 and the trailer 12 are presented from a top view, illustrating various aspects thereof used herein to describe various embodiments of the invention. Specifically, Figure 2The following parameters are presented: the central longitudinal axis 50 of the vehicle 10, the central longitudinal axis 52 of the trailer 12, the front steering angle 60, the rear steering angle 62, and the engagement angle 64. As used herein, the front steering angle 60 is a first angle measured between a first geometric line 54, coplanar and perpendicular to the central axis of rotation of the front wheels 16, and the central longitudinal axis 50 of the vehicle 10, or a line parallel to it. The rear steering angle 62 is a second angle measured between a second geometric line 56, coplanar and perpendicular to the central axis of rotation of the rear wheels 18 of the vehicle 10, and the central longitudinal axis 50 of the vehicle 10, or a line parallel to it. The engagement angle 64 is a third angle measured between the central longitudinal axis 50 of the vehicle 10 and the central longitudinal axis 52 of the trailer 12.

[0057] Reference Figure 3 And continue to refer to Figures 1 to 2 The data flow diagram illustrates various embodiments. Figure 1 The components of the trailer steering assist system 100. As will be understood, various embodiments of the trailer steering assist system 100 according to this disclosure may include any number of modules embedded within the controller 34, which may be combined and / or further divided to similarly implement the systems and methods described herein. Furthermore, inputs to the trailer steering assist system 100 may be received from the sensor system 28, from other control modules (not shown) associated with the vehicle 10, and / or by… Figure 1 Other submodules (not shown) within the controller 34 are determined / modeled. Furthermore, the input may undergo preprocessing, such as subsampling, noise reduction, normalization, feature extraction, and missing data reduction. In various embodiments, the trailer steering assist system 100 includes a trailer data database 202, a rear steering angle module 204, a rear wheel control module 206, and a controller gain module 208.

[0058] In various embodiments, the trailer data database 202 stores trailer data 218 including information about the trailer 12, such as, but not limited to, size, shape, weight, wheel configuration, and other parameters. In some embodiments, the trailer data 218 includes information relating to gains corresponding to the vehicle 10 and the trailer 12, or one or more general-purpose trailers. In some embodiments, the trailer data 218 may include a trailer profile. In some embodiments, an operator may input information related to the trailer 12 to create a trailer profile specific to the trailer 12, and save this user-input trailer profile to the trailer data database 202 as trailer data 218.

[0059] In various embodiments, the controller gain module 208 may receive trailer data 218 as input and determine the trailer gain associated with the vehicle 10 and the trailer 12. Various methods for determining the controller gain of the vehicle 10 and the trailer 12 are well known in the art and will not be discussed in detail here. The controller gain module 208 may generate gain data 222, which includes information related to the controller gain determined based on the trailer data 218.

[0060] In various embodiments, the rear steering angle module 204 continuously receives vehicle data 210, trailer data 218, and optional gain data 222 as input. Vehicle data 210 includes various data indicating the condition of the vehicle 10, such as vehicle speed, including but not limited to front steering angle 60, rear steering angle 62, engagement angle 64, and / or vehicle characteristic positions input by the user via the steering wheel. The front steering angle 60 can be detected by sensing devices 40a-40n of the sensor system 28 (such as, but not limited to, sensors configured to detect the position of the front wheels 16 and / or the position of the steering wheel of the steering system 24). In some embodiments, the engagement angle 64 can be detected by sensing devices 40a-40n of the sensor system 28 (e.g., ultrasonic sensors, cameras, etc.). In other embodiments, information generated by one or more sensing devices 40a-40n of the sensor system 28 can be used to calculate and / or estimate the engagement angle 64. Non-limiting examples of methods for estimating the hook angle 64 are disclosed in U.S. Patent Application Publication No. 2022 / 0144028 by Saini et al., which is incorporated herein by reference in its entirety.

[0061] As the vehicle 10 and its attached trailer 12 move backward, the steering angle module 204 evaluates vehicle data 210 and / or trailer data 218 to determine whether the rear steering angle 62 of the vehicle 10's rear wheels 18 needs to be adjusted to provide assistance to the operator of the vehicle 10. For example, when the vehicle 10 and its attached trailer 12 move backward, it may be necessary to adjust the rear steering angle 62 to facilitate easy steering of the trailer 12 as the vehicle 10 moves backward. This situation can be automatically detected by the system 100 based on the vehicle data 210 and / or can be indicated by the operator (e.g., manually activating the trailer mode).

[0062] Non-limiting examples of steering assistance provided by system 100 may include, but are not limited to, eliminating counter steering of the operator of vehicle 10, maintaining the engagement angle 64 at a constant value as vehicle 10 moves backward, maintaining a constant orientation of trailer 12 as vehicle 10 moves backward and as vehicle 10 is maneuvered to a position where the longitudinal axis 50 of vehicle 10 is aligned with the longitudinal axis 52 of trailer 12, providing alignment of the longitudinal axis 50 of vehicle 10 and the longitudinal axis 52 of trailer 12 as vehicle 10 moves backward without input from the operator of vehicle 10 to steering system 24, maintaining alignment of the longitudinal axis 50 of vehicle 10 and the longitudinal axis 52 of trailer 12 as vehicle 10 moves backward, and / or maintaining alignment of the longitudinal axis 50 of vehicle 10 and the longitudinal axis 52 of trailer 12 as vehicle 10 moves backward without input from the operator of vehicle 10 to steering system 24.

[0063] When an adjustment to the rear steering angle 62 is required, the rear steering angle module 204 dynamically determines the adjustment to the rear steering angle 62 and generates rear steering angle data 216, which includes information regarding the adjustment of the rear steering angle 62 of the rear wheel 18. In some embodiments, the rear steering angle module 204 determines the adjustment to the rear steering angle 62 at least in part using the following formula 1:

[0064]

[0065] Where, δ r The desired rear steering angle is 62°, δ fK1 is the front steering angle 60°, K2 is a first constant based on a first controller gain associated with the front wheels 16 of the vehicle 10 and the trailer 12, and K2 is a second constant based on a second controller gain associated with the rear wheels 18 of the vehicle 10 and the trailer 12, and θ is the engagement angle 64°. Constants K1 and K2 can be general values ​​applicable to ordinary trailers, or they can be specific to the trailer 12 attached to the vehicle 10. In some embodiments, the system 100 may prompt the operator to input certain parameters (e.g., dimensions) of the trailer 12 manually, for example, via a graphical user interface (GUI) on a display screen, to create a user-input trailer profile specific to the trailer 12, or select from a list of pre-programmed trailer profiles stored in the trailer data database 202. In such embodiments, constants K1 and K2 can be set in a pre-programmed trailer profile, or calculated based on a user-input trailer profile specific to the trailer 12. In some embodiments, K1 and K2 are not merely constants, but functions of the speed of the vehicle 10 and the dimensions of the trailer 12 and the vehicle 10 associated with the front wheels 16 and the rear wheels 18, respectively.

[0066] In various embodiments, the rear wheel control module 206 receives rear steering angle data 216 as input. The rear wheel control module 268 determines control data 220 to control the position of the rear wheels 18 to achieve an adjustment of the rear steering angle 62 indicated by the rear steering angle data 216. For example, the rear wheel control module 206 determines the control data 220 based on the current position of the rear wheels 18, as indicated by vehicle data 210. The rear wheel control module 206 generates the control data 220 and transmits it to the actuator system 30 to achieve the desired position of the rear wheels 18, thereby enabling steering assistance to the operator of the vehicle 10. The control data 220 can be used by the actuator system 30 in a manner consistent with rear steering systems known in the art.

[0067] Now refer to Figure 4 And continue to refer to Figures 1 to 3 According to an exemplary embodiment, the flowchart provides a method 300, performed by a trailer steering assist system 100, for providing steering assistance to the operator of a vehicle 10 while the vehicle 10 and its coupled trailer 12 are moving backward. As will be understood from this disclosure, the sequence of operations within method 300 is not limited to, for example... Figure 4 The method 300 may be executed in one or more different orders, as applicable and in accordance with this disclosure, rather than in the sequential order shown. In various embodiments, method 300 may be scheduled to run based on one or more predetermined events, and / or may run continuously during operation of vehicle 10.

[0068] In one example, method 300 may begin at 302. The trailer mode of vehicle 10 is activated at 304, indicating that vehicle 10 is attached to trailer 12. Trailer mode can be manually activated by an operator (e.g., via interaction with a graphical user interface on a visual display) and / or automatically activated by controller 34 in response to receiving certain information relating to such indication (e.g., signals received from sensor system 28 or communication signals received via the wiring harness that attaches vehicle 10 to trailer 12). Trailer mode can be continuously activated while trailer 12 is attached to vehicle 10, or activated immediately before vehicle 10 is performing a reverse maneuver and continuously performed while vehicle 10 is performing a reverse maneuver, in which vehicle 10 and its attached trailer 12 move in the reverse direction.

[0069] At 306, vehicle data 210 and trailer data 218 are received. At 306, the vehicle data 210 and / or trailer data 218 can be evaluated to determine if a change in the rear steering angle 62 is desired, and if so, an adjustment to the rear steering angle 62 is determined at 308. Once it is determined that an adjustment to the rear steering angle 62 is desired and the adjustment has been determined, method 300 continues at 310 by modifying the position of the rear wheels 18 by generating control data 220 and transmitting the control data 220 to the rear wheel steering system of the actuator system 30. Thereafter, method 300 can terminate at 312.

[0070] Figure 5 and Figure 6 Exemplary comparisons are provided between certain operations performed with and without system 100. First, refer to... Figure 5 This illustrates various maneuvers performed while operating the vehicle 10 without system 100 and without rear-wheel steering. At 410, the operator rotates the steering wheel of the steering system 24 counterclockwise, and the front wheels 16 turn towards the driver's side of the vehicle 10 accordingly. As the operator drives the vehicle 10 backward, the vehicle 10 moves in a direction corresponding to the front steering angle 60 of the front wheels 16 (indicated by the arrow) (i.e., the driver's side direction as shown when viewed from above). This illustrates a simple backward maneuver performed without the trailer 12. The maneuver is performed with the trailer 12 attached to the vehicle 10. Figure 5 The rest of the manipulation.

[0071] At 412, the operator rotates the steering wheel of the steering system 24 clockwise, and the front wheels 16 turn towards the passenger side of the vehicle 10 accordingly. As the operator drives the vehicle 10 backward, the vehicle 10 moves in the direction corresponding to the forward steering angle 60 of the front wheels 16 (i.e., the passenger side direction). However, due to the coupling device 11, the trailer 12 moves in the driver side direction while increasing the engagement angle 64. Once the desired engagement angle 64 is reached, the operator rotates the steering wheel counterclockwise at 414 to maintain the engagement angle 64 as the vehicle 10 and trailer 12 move backward.

[0072] Once the desired orientation of the trailer 12 has been achieved, the operator rotates the steering wheel counterclockwise at 416 to reduce the engagement angle 64 and ultimately align the longitudinal axis 50 of the vehicle 10 with the longitudinal axis 52 of the trailer 12. If the operator wishes to continue reversing in the desired direction, the vehicle 10 and trailer 12 must remain aligned. However, this is often difficult and requires the operator to rotate the steering wheel clockwise and / or counterclockwise for minor corrections, typically resulting in the vehicle 10 and trailer 12 moving along a wavy path (indicated by arrows) with their center generally aligned with the desired orientation.

[0073] Now refer to Figure 6 This illustrates a similar type of operation while using system 100. At 510, the operator rotates the steering wheel of steering system 24 (i.e., the steering input device) counterclockwise, and the front wheels 16 turn towards the driver's side of vehicle 10 accordingly. As the operator drives vehicle 10 backward, vehicle 10 moves in a direction (indicated by the arrow) corresponding to the front steering angle 60 of the front wheels 16 (i.e., the driver's side direction as shown when viewed from above). This illustrates a simple backward operation performed without the trailer 12. The operation is performed with the trailer 12 attached to vehicle 10. Figure 6 The rest of the manipulation.

[0074] At 512, the operator rotates the steering wheel of the steering system 24 counterclockwise, and the front wheels 16 turn in a direction relative to the central longitudinal axis 50 of the vehicle 1 (in this example, toward the driver's side of the vehicle 10) based on the steering input. As the operator drives the vehicle 10 backward, the system 100 turns the rear wheels 18 in the same direction as the front wheels 16 (i.e., toward the driver's side of the vehicle 10) to match the rear steering angle 62 to the front steering angle 60. Thus, the vehicle 10 moves in a lateral direction corresponding to the front steering angle 60 of the front wheels 16 and the rear steering angle 62 of the rear wheels 18, i.e., in the lateral direction in the passenger side direction. Due to the coupling device 11, the trailer 12 moves in the driver's side direction while increasing the engagement angle 64. In various embodiments, the system 100 may set the rear steering angle 62 to be equal to or substantially equal to the front steering angle 60 (e.g., as indicated by user input via the steering wheel), i.e., δ r equal to δ f Relative to the central longitudinal axis 50 of the vehicle 10, the rear wheel 18 turns in the same direction as the front wheel 16.

[0075] If the predetermined attachment angle θ is reached d (At 514), the system 100 automatically adjusts the position of the rear wheels 18 so that the engagement angle 64 is maintained as the vehicle 10 moves backward. That is, the system 100 limits the engagement angle 64 to be equal to or less than a predetermined engagement angle θ. d The value of θ. In various embodiments, the predetermined engagement angle θ can be maintained by turning the rear wheel 18 in a direction opposite to that of the front wheel 16 relative to the central longitudinal axis 50 of the vehicle 10. d It is worth noting that the steering input from the operator remained unchanged at 514 to achieve this result. In various embodiments, the predetermined engagement angle θ d It can be proportional to the front steering angle of 60 degrees, as shown in Equation 2 below:

[0076] θd=Cδf (2)

[0077] Where C is a predetermined constant value. System 100 can maintain the predetermined engagement angle θ by adjusting the steering angle 62 according to the following formula 3. d Constant:

[0078]

[0079] Where L is the wheelbase of the vehicle 10, i.e., the dimension measured between the centers of the front wheel 16 and the rear wheel 18, and D is the dimension measured between the axle of the connecting device 11 and the trailer 12 along the central longitudinal axis 52 of the trailer 12. An approximate solution to Equation 3 is expressed as Equation 4:

[0080]

[0081] Once the operator has achieved the desired orientation of the trailer 12, the operator can release the steering wheel at 516 or turn it clockwise to its null position (i.e., the front steering angle 60 is zero) to reduce the engagement angle 64 and ultimately align the longitudinal axis 50 of the vehicle 10 with the longitudinal axis 52 of the trailer 12 (i.e., achieving an engagement angle 64 of zero). During this maneuver, the system 100 continues to monitor and adjust the rear wheels 18 to provide a smooth transition. In some embodiments, while the front steering angle 60 has a value equal to zero, the engagement angle 64 has a non-zero value (i.e., greater than or less than zero), and the vehicle 10 is moving in the reverse direction, the system 100 dynamically determines a second adjustment to the rear steering angle 62 based on vehicle data 210 and trailer data 218. The second adjustment to the rear steering angle 62 is configured to transition the vehicle 10 to a position where the longitudinal axis 50 of the vehicle 10 is aligned with the longitudinal axis 52 of the trailer 12, while maintaining the direction of movement of the trailer 12. System 100 can generate control data 220 to control the rear-wheel steering system of vehicle 10 based on a second adjustment as vehicle 10 moves in the reverse direction, modifying the rear steering angle 62 of the rear wheels 18 of vehicle 10. In various embodiments, the rear wheels 18 can turn in the same direction as the offset of the central longitudinal axis 52 of the trailer 12 relative to the central longitudinal axis 50 of vehicle 10. In various embodiments, system 100 can continuously adjust the rear steering angle 62 to match or equal the engagement angle 64. In various embodiments, the rear wheels 18 are aligned with the central longitudinal axis 52 of the trailer 12.

[0082] If the operator expects the vehicle 10 and trailer 12 to continue reversing in the desired direction after alignment, the system 100 can maintain the alignment of the vehicle 10 and trailer 12 at 518 by making any small corrections required to allow the trailer 12 to move along a relatively uniform path in the desired direction, by modifying the position of the rear wheels 18 without any steering input from the driver. In some embodiments, while the front steering angle 60 has a value equal to zero, the engagement angle 64 has a value equal to zero, and the vehicle 10 is moving in the reversing direction, the system 100 dynamically determines a third adjustment to the rear steering angle 62 based on vehicle data 210 and trailer data 218. The third adjustment to the rear steering angle 62 is configured to maintain the alignment of the longitudinal axis 50 of the vehicle 10 and the longitudinal axis 52 of the trailer 12. System 100 can generate control data 220 to control the rear wheel steering system of vehicle 10 based on a third adjustment as vehicle 10 moves in the reverse direction, thereby modifying the rear steering angle 62 of the rear wheels 18 of vehicle 10. In various embodiments, system 100 maintains alignment between vehicle 10 and trailer 12 by continuously adjusting the rear steering angle 62 to be equal to the engagement angle 64.

[0083] Figure 5 and Figure 6 The comparative examples illustrate some of the benefits of system 100. For example, in situations such as Figure 5 Without system 100, as shown, the operator needs to perform reverse steering to maneuver the trailer 12 in the desired direction, i.e., turning the steering wheel in the opposite direction to normal movement in the desired direction. Reverse steering is often not intuitive for those who do not routinely perform this action. Instead, as... Figure 6 The system 100 eliminates the need for reverse steering. Instead, the operator can drive the vehicle 10 in essentially the same way as when the trailer 12 is not attached to the vehicle 10. Furthermore, once the trailer 12 is positioned as needed, the system 100 manages all steering as the vehicle 10 moves backward, significantly simplifying the process and reducing the operator's responsibility.

[0084] It should be noted that the description of the embodiments disclosed herein refers to a pair of front steering angles 60 being equal to each other and a pair of rear steering angles 62 being equal to each other during cornering maneuvers. However, the front steering angles 60 between a pair of front wheels 16 may not be equal, and the rear steering angles 62 between a pair of rear wheels 18 may not be equal. For example, during cornering maneuvers, the vehicle 10 may have a turning center point defined by the intersection of the rotation axis of the driver-side front wheel 16, the rotation axis of the passenger-side front wheel 16, and the rotation axis of the rear wheels 18 (assuming that rear steering is not performed during cornering). Each front wheel 16 moves along a corresponding geometric circle around the turning center point. Since the outer front wheel 16 is farther from the turning center point (i.e., has a larger radius), the outer front wheel 16 should turn at a smaller angle than the inner front wheel 16, a phenomenon referred to as "toe-out". Thus, in various embodiments, the example mentioned herein of matching the rear steering angle 62 to the front steering angle 60 can be more accurately interpreted as matching the rear steering angle 62 of the driver's side rear wheel 18 to the front steering angle 60 of the driver's side front wheel 16, and matching the rear steering angle 62 of the passenger's side rear wheel 18 to the front steering angle 60 of the passenger's side front wheel 16.

[0085] As used herein, matching the rear steering angle 62 to the front steering angle 60 or the engagement angle 64 may, in various embodiments, include adjusting the rear steering angle 62 to be equal to the front steering angle 60 or the engagement angle 64, or in various embodiments, include adjusting the rear steering angle 62 to be substantially equal to (e.g., within 3 degrees or less) the front steering angle 60 or the engagement angle 64.

[0086] While 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 exemplary embodiments or multiple 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 the exemplary embodiments or multiple 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 this disclosure as set forth in the appended claims and their legal equivalents.

Claims

1. A method for operating a vehicle, the vehicle having a trailer pivotally connected to the vehicle for towing the trailer, the method comprising: Operate the vehicle to move the vehicle and the trailer in a backward direction relative to it; The vehicle is turned using a steering input device by turning the front wheels of the vehicle in a direction relative to the central longitudinal axis of the vehicle to define a non-zero front steering angle, the front steering angle being defined between a first geometric line coplanar with and perpendicular to the axis of rotation of the front wheels of the vehicle and the central longitudinal axis of the vehicle. As the vehicle and the trailer move in the reverse direction, a processor mounted on the vehicle monitors the vehicle's forward steering angle and the vehicle's engagement angle, which is defined between the vehicle's central longitudinal axis and the trailer's central longitudinal axis. While the engagement angle is less than a predetermined engagement angle, the processor dynamically adjusts the rear steering angle of the vehicle based on the front steering angle and the engagement angle to match the rear steering angle to the front steering angle. The rear steering angle is defined between a second geometric line coplanar with and perpendicular to the rotation axis of the rear wheel of the vehicle and the central longitudinal axis of the vehicle. Matching the rear steering angle to the front steering angle includes turning the rear wheel in the same direction as the front wheel relative to the central longitudinal axis of the vehicle. Continue operating the vehicle to move the vehicle and the trailer in a reverse direction until the engagement angle is equal to the predetermined engagement angle; as well as The processor dynamically adjusts the rear steering angle of the vehicle based on the front steering angle and the engagement angle, so as to maintain the engagement angle at the predetermined engagement angle by turning the rear wheels relative to the central longitudinal axis of the vehicle in the opposite direction to the direction of the front wheels.

2. The method according to claim 1, wherein, The rear steering angle is dynamically adjusted according to the following: in, δ r It is the desired rear steering angle. δ f It is the aforementioned front steering angle. K 1 It is a first constant based on the first controller gain associated with the front wheels of the vehicle and the trailer. K 2 It is a second constant based on the second controller gain associated with the rear wheels of the vehicle and the trailer, and θ The engagement angle is mentioned, wherein adjusting the rear steering angle includes adjusting the rear steering angle to the desired rear steering angle.

3. The method according to claim 1, wherein, The rear steering angle is dynamically adjusted according to the following: in, δ r It is the desired rear steering angle. δ f It is the aforementioned front steering angle. K 1 It is a function of the speed of the vehicle and the dimensions of the trailer and the vehicle associated with the front wheels of the vehicle. K 2 It is a function of the speed of the vehicle and the dimensions of the trailer and the vehicle associated with the rear wheels of the vehicle, and θ The engagement angle is mentioned, wherein adjusting the rear steering angle includes adjusting the rear steering angle to the desired rear steering angle.

4. The method according to claim 1, further comprising: While the engagement angle is not zero, adjust the steering input device so that the front steering angle is equal to zero; Operate the vehicle to move the vehicle and the trailer in a reverse direction; as well as The processor dynamically adjusts the rear steering angle of the vehicle based on the front steering angle and the engagement angle to match the rear steering angle to the engagement angle, wherein adjusting the rear steering angle to match the engagement angle includes turning the rear wheels in the same direction as the offset of the central longitudinal axis of the trailer relative to the central longitudinal axis of the vehicle.

5. The method according to claim 1, further comprising: While the engagement angle is equal to zero, the steering input device is adjusted so that the front steering angle is equal to zero. Operate the vehicle to move the vehicle and the trailer in a reverse direction; as well as The processor dynamically adjusts the rear steering angle of the vehicle based on the front steering angle and the hook-up angle to match the rear steering angle to the hook-up angle, wherein adjusting the rear steering angle to match the hook-up angle includes maintaining alignment between the vehicle and the trailer by continuously adjusting the rear steering angle to be equal to the hook-up angle.

6. A system for operating a vehicle, the vehicle having a trailer pivotally coupled to the vehicle for towing the trailer, the system comprising: A computer system, carried on the vehicle and configured to be powered by a processor: As the vehicle and the trailer move in the reverse direction, the forward steering angle of the vehicle and the engagement angle of the vehicle are monitored. The forward steering angle is defined between a first geometric line that is coplanar with and perpendicular to the rotation axis of the front wheel of the vehicle and the central longitudinal axis of the vehicle. The engagement angle is defined between the central longitudinal axis of the vehicle and the central longitudinal axis of the trailer. While the engagement angle is less than a predetermined engagement angle, based on the front steering angle and the engagement angle, as the vehicle and the trailer move in the reverse direction, the rear steering angle of the vehicle is dynamically adjusted to match the front steering angle. The rear steering angle is defined between a second geometric line coplanar with and perpendicular to the rotation axis of the rear wheels of the vehicle and the central longitudinal axis of the vehicle. Matching the rear steering angle to the front steering angle includes causing the rear wheels to turn in the same direction as the front wheels relative to the central longitudinal axis of the vehicle; and Based on the front steering angle and the engagement angle, as the vehicle and the trailer move in the reverse direction, the rear steering angle of the vehicle is dynamically adjusted to maintain the engagement angle at the predetermined engagement angle by turning the rear wheels relative to the central longitudinal axis of the vehicle in the opposite direction to the front wheels.

7. The system according to claim 6, wherein, The computer system is configured to dynamically adjust the rear steering angle according to the following: in, δ r It is the desired rear steering angle. δ f It is the aforementioned front steering angle. K 1 It is a first constant based on the first controller gain associated with the front wheels of the vehicle and the trailer. K 2 It is a second constant based on the second controller gain associated with the rear wheels of the vehicle and the trailer, and θ It is the mounting angle, wherein the computer system is configured to adjust the rear steering angle to the desired rear steering angle.

8. The system according to claim 6, wherein, The computer system is configured to dynamically adjust the rear steering angle according to the following: in, δ r It is the desired rear steering angle. δ f It is the aforementioned front steering angle. K 1 It is a function of the speed of the vehicle and the dimensions of the trailer and the vehicle associated with the front wheels of the vehicle and the trailer. K 2 It is a function of the speed of the vehicle and the dimensions of the trailer and the vehicle associated with the rear wheels of the vehicle, and θ It is the engagement angle, wherein the computer system adjusts the rear steering angle to the desired rear steering angle.

9. The system according to claim 6, wherein, The computer system is configured to consist of the processor: In response to the vehicle and the trailer moving in a reverse direction, the front steering angle is zero and the engagement angle is not zero, the rear steering angle of the vehicle is dynamically adjusted based on the front steering angle and the engagement angle to match the rear steering angle to the engagement angle, wherein the computer system is configured to cause the rear wheels to turn in the same direction as the offset of the central longitudinal axis of the trailer relative to the central longitudinal axis of the vehicle when matching the rear steering angle to the engagement angle.

10. The system according to claim 6, wherein, The computer system is configured to consist of the processor: In response to the vehicle and the trailer moving in a reverse direction, the forward steering angle is zero and the engagement angle is zero. Based on the forward steering angle and the engagement angle, the rear steering angle of the vehicle is dynamically adjusted to match the rear steering angle to the engagement angle. The computer system is configured to maintain alignment of the vehicle and the trailer by continuously adjusting the rear steering angle to be equal to the engagement angle while matching the rear steering angle to the engagement angle.

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