Visual trailer reversing system

Abstract

Methods and apparatus are provided for performing an aided driving trailer reverse operation, including: a user interface configured to generate an initiation signal in response to a user input; a processor configured to generate a control signal indicative of a reverse steering ratio in response to the initiation signal; a steering angle sensor for detecting a steering direction and a steering angle from a center steering position; a steering controller configured to receive the steering angle and the steering direction from the steering angle sensor, to reverse the steering angle to generate a reversed steering angle such that the reversed steering angle has the same angular magnitude as the steering angle and a direction opposite to the steering direction; and a vehicle control system for controlling movement of the vehicle in response to the reversed steering angle.

Description

Technical Field

[0001] The present disclosure generally relates to systems for providing an automatic trailer back-up system in a motor vehicle. More specifically, aspects of the present disclosure relate to systems, methods, and apparatus for providing user input in towing applications to reverse steering controller input to provide intuitive steering control in motor vehicle towing conditions. Background Art

[0002] Pulling a trailer with a tractor has always been and remains a complex task for many drivers and automated driving systems. A ball hitch is typically used as a trailer connection and provides a joint between the tractor and the trailer. Aiming the trailer involves turning the rear of the tractor in a direction opposite to the desired direction of the trailer. The geometry of backing up the trailer and parking it in the desired position can be a daunting task for many drivers. In addition, the driver's view is often blocked by the trailer, requiring a second person outside the vehicle to obtain visual confirmation and provide feedback to the driver during the back-up operation. In addition, currently employed systems require additional hardware, such as a knob, and increase the cost and visual complexity of the vehicle. It is desirable to provide a vehicle operator with improved trailer control during a back-up towing operation while overcoming the above-mentioned problems.

[0003] The above information disclosed in this Background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art. Summary of the invention

[0004] Disclosed herein are vehicle control methods and systems for providing vehicle systems and associated control logic, methods for manufacturing such systems, and methods for operating such systems, and motor vehicles equipped with onboard control systems. By way of example and not limitation, various embodiments of systems for assisted trailer back-up systems in motor vehicles and methods for intuitive steering control of trailer back-up operations in motor vehicles are presented.

[0005] According to one aspect of the present disclosure, a steering control system includes: a user interface configured to generate an initiation signal in response to user input; a steering angle sensor for detecting a steering direction and a steering angle from a center steering position; a steering controller configured to receive the steering angle and the steering direction from the steering angle sensor to reverse the steering angle in response to the initiation signal, the steering angle and the steering direction to generate a reversed steering angle, so that the reversed steering angle has the same angular magnitude as the steering angle and a direction opposite to the steering direction; and a vehicle control system for controlling the movement of a vehicle in response to the reversed steering angle.

[0006] According to another aspect of the present disclosure, the direction sensor is configured to detect a propulsion direction of the vehicle, and wherein the reversed steering angle is generated in response to the propulsion direction being in a reverse direction.

[0007] According to another aspect of the present disclosure, the trailer interface is configured to detect a trailer connection, and wherein the reversed steering angle is generated in response to the detection of the connected trailer.

[0008] According to another aspect of the present disclosure, the inverted steering angle is calculated in response to multiplying the steering angle by a negative unit value.

[0009] According to another aspect of the present disclosure, wherein the user interface is generated by a software application on the mobile device, and wherein the initiation signal is sent to the steering controller via a wireless network.

[0010] According to another aspect of the present disclosure, a user interface is generated by a software application and displayed on a vehicle infotainment display.

[0011] According to another aspect of the present disclosure, the direction sensor is configured to detect a propulsion direction of the vehicle, and wherein the vehicle control system is configured to control the vehicle in response to a reverse steering angle in response to a detected reverse propulsion direction, and to control the vehicle in response to a steering angle in response to a detected change in propulsion direction from the detected reverse propulsion direction to the detected forward propulsion direction.

[0012] According to another aspect of the present disclosure, the vehicle control system is further configured to detect a propulsion direction and a trailer connection status, and to generate a user alert in response to the propulsion direction being in a forward direction and the trailer connection status indicating that no connected trailer is present.

[0013] According to another aspect of the present disclosure, the steering controller is configured to execute a variable ratio steering algorithm, and wherein the inverted steering angle has an opposite value to the steering angle.

[0014] According to another aspect of the present disclosure, a method for controlling the steering of a vehicle includes: receiving, by a user interface, user input indicating the initiation of a reverse steering feature; detecting, by a steering sensor, a steering angle; generating, by a vehicle control system, a reversed steering angle by reversing the steering angle, so that the reversed steering angle has a steering direction opposite to a steering direction of the steering angle; and controlling, by the vehicle control system, a movement path of the vehicle in response to the reversed steering angle.

[0015] According to another aspect of the present disclosure, the presence of a trailer is detected by a trailer interface, and wherein the reversed steering angle is generated in response to the detection of the connection to the trailer.

[0016] According to another aspect of the present disclosure, a propulsion direction is detected by a vehicle control system, and wherein the reversed steering angle is generated in response to the propulsion direction being in a reverse direction.

[0017] According to another aspect of the present disclosure, a movement path of the vehicle is controlled by a vehicle control system in response to a steering angle in response to detecting a change in propulsion direction state from a reverse direction state to a forward direction state.

[0018] According to another aspect of the present disclosure, a change in capacitance between two of the trailer connections is detected by the trailer interface, and wherein the reversed steering angle is generated in response to the detection of the change in capacitance.

[0019] According to another aspect of the present disclosure, the vehicle is controlled in response to a reversed steering angle in response to the vehicle being used in a towing operation.

[0020] According to another aspect of the present disclosure, wherein the user interface is generated by a software application on the mobile device, and wherein the user input is sent to the vehicle control system via a wireless network.

[0021] According to another aspect of the present disclosure, wherein the user interface is generated by a software application on a vehicle infotainment system, and wherein the user input is sent to the vehicle control system via a controller area network bus.

[0022] According to another aspect of the present disclosure, wherein the user interface is a physical button mounted within a vehicle cabin, and wherein the user input is a voltage change detected by a vehicle control system.

[0023] According to another aspect of the present disclosure, a driver assistance system includes: a sensor configured to generate a trailer control signal in response to detection of a trailer; a vehicle propulsion system for detecting a propulsion direction state; a user interface for receiving user input and for generating an initiation signal in response to the user input; a steering sensor configured to detect a steering wheel position; a vehicle control processor for calculating a steering angle in response to the steering wheel position, and for calculating a reverse steering angle in response to the initiation signal and a trailer control signal indicating a connected trailer; and a steering controller for controlling the steering direction of the vehicle in response to the reverse steering angle in response to the propulsion direction state being in a reverse direction, and controlling the steering direction of the vehicle in response to the steering angle in response to the propulsion direction state being in a forward direction.

[0024] According to another aspect of the present disclosure, the reverse steering angle is such that the reversed steering angle has the same angular magnitude as the steering angle and an opposite direction of the steering angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Exemplary embodiments will be described below with reference to the following drawings, wherein like numerals designate like elements, and wherein:

[0026] Figure 1 An application of a method and apparatus according to an exemplary embodiment of the present disclosure to an intuitive trailer steering system in a motor vehicle is shown.

[0027] Figure 2 An image showing an exemplary user interface for use in an intuitive trailer steering system in a motor vehicle according to an exemplary embodiment of the present disclosure.

[0028] Figure 3 A block diagram is shown of an exemplary system for an intuitive trailer steering system in a motor vehicle according to an exemplary embodiment of the present disclosure.

[0029] Figure 4 A flow chart illustrating a method for controlling an intuitive trailer steering system in a motor vehicle is shown according to an exemplary embodiment of the present disclosure.

[0030] The exemplifications set out herein illustrate preferred embodiments of the invention, and such exemplifications are not to be construed as limiting the scope of the invention in any way. DETAILED DESCRIPTION

[0031] The following detailed description is merely exemplary in nature and is not intended to limit application and use. In addition, it is not intended to be bound by any express or implied theory presented in the aforementioned technical field, background technology, summary of the invention or the detailed description below. As used herein, the term module refers to an application specific integrated circuit (ASIC), an electronic circuit, a processor (shared, dedicated or group) and memory that executes one or more software or firmware programs, a combinational logic circuit, and / or other suitable components that provide the described functions.

[0032] Now turn to Figure 1 , an exemplary system 100 for an intuitive trailer steering system in a motor vehicle is shown. The exemplary system 100 shows a tractor 110, a trailer 120, and a remote device 160 equipped with the exemplary system. The exemplary system 100 also illustrates an expected tractor reverse path 140 and a resulting expected trailer reverse path 150. In addition, the front vehicle tires 130 are shown in a position corresponding to the expected tractor reverse path 140.

[0033] It would be desirable to provide a system for assisting the driver in backing up a trailer with a tractor. Even experienced trailer operators may sometimes have difficulty judging the dimensions and geometry of a trailer backing maneuver and may have to repeat the maneuver several times before the trailer finally reaches the desired position. One of the main issues with backing up a trailer being less than intuitive is that the driver must turn the steering wheel in a direction opposite to the desired direction of travel of the trailer 120. In an exemplary system, the front vehicle tires 130 are turned toward the driver's right and the resulting intended tractor backing path 140 is toward the driver's left.

[0034] In some exemplary embodiments, the user can be provided with a user interface for adopting and abandoning the intuitive trailer steering feature on the remote device 160. In other exemplary embodiments, the user interface can be presented on a user display on a vehicle user interface, a vehicle infotainment system, or can be an application on a remote device 160 (such as a mobile device coupled to a vehicle controller). In some exemplary embodiments, the remote device 160 running the software application can receive user input, such as a virtual button press. Subsequently, the software application can send a command to the tractor control system via a wireless network to reverse the steering angle so that turning the steering wheel to the right will turn the front wheels to the left, and vice versa. When in the intuitive trailer steering mode, the resulting trailer reverse path will be the same as the direction in which the driver turns the steering wheel. Therefore, in order to move the trailer to the left, the driver will turn the steering wheel to the left. Turning the steering wheel to the right in the intuitive trailer steering mode will turn the tractor wheels to the right.

[0035] Modern steering controllers can be all-electronic systems, or "fly by wire" systems, which use electronic signals to control actuators and motors to control the steering angle. Electronic steering controllers allow the vehicle to be steered without a physical connection between the steering wheel and the wheels. Alternatively, the steering wheel can be connected to an electronic steering sensor that can detect the steering wheel position and send the steering wheel position to a computer, which then controls the actuators that turn the wheels in response to the steering wheel position. These electronic steering controllers can allow for a variable steering ratio, which allows the steering controller to adjust the ratio between the rotation of the steering wheel and the angle of the front wheels by adjusting the electronic ratio in the electronic controller. In certain exemplary embodiments, when the intuitive trailer steering feature is enabled, the steering controller can apply a negative steering ratio, such as a ratio of 1:-1.

[0036] Now turn to Figure 2, an exemplary user interface 200 for a method and apparatus for an intuitive trailer steering system in a motor vehicle is shown. The exemplary user interface 200 shows a mobile device 210 having a display 220 for displaying a software application. The software application can be a simple user interface that enables receiving user selections to enable and disable the intuitive trailer steering feature in the host vehicle. In certain exemplary embodiments, a user can launch the software application on the mobile device and be presented with an intuitive trailer steering interface. The user can then select an enable soft button on the display. In response to the user selecting the enable soft button, the software application can then generate a control signal requesting the enablement of the intuitive trailer steering system on the host vehicle. The control signal can be sent to the host tractor via a wireless network, such as a cellular communication network. The host tractor can then enable the intuitive trailer steering system in response to the received control signal.

[0037] Now turn to Figure 3 , a block diagram of an exemplary system 300 for an intuitive trailer backing system in a motor vehicle is shown. The system 300 may include a processor 330, a steering controller 345, a user interface module 320, a trailer interface 350, and a network interface 312.

[0038] The steering controller 345 is configured to control the direction of the vehicle by adjusting the steering angle of the front wheels relative to the centerline of the vehicle. The steering controller 345 is typically configured in a closed loop and receives steering angle feedback from a sensor to adjust the steering control output. The steering controller 345 may be an electronic steering controller that uses a steering processor that executes a steering algorithm to adjust the steering control motor and actuator in response to input received (such as via a steering wheel). The steering algorithm may adjust the steering ratio or other steering parameters in response to driving conditions, vehicle speed, and / or driver preferences.

[0039] Advantageously, the steering ratio can be adjusted by the steering algorithm to enable an intuitive trailer steering feature. In certain exemplary embodiments, a negative steering ratio, such as a 1:-1 ratio, can be applied when the vehicle is used to reverse a trailer. When the steering wheel is turned to the right, the front wheels are turned to the left. This negative steering ratio can be requested by the driver via the user interface. In certain exemplary embodiments, a negative steering ratio can be used when the vehicle transmission is in reverse and a trailer connection is detected at the trailer interface 350.

[0040] The exemplary system 300 may also include a trailer interface 350 for detecting and communicating with the trailer electrical system. The trailer interface 350 may include electrical connections for enabling turn signals, brake lights, running lights, tail lights, and reverse lights. The trailer interface 350 may also be configured to detect the presence of a trailer, such as in response to an electrical connection, a change in resistance and / or capacitance between conductors in the electrical connection, or by depressing a switch when the trailer connector is inserted into a vehicle-side trailer connector socket. In certain exemplary embodiments, the steering controller 345 and / or the processor 330 may receive an indication of a trailer connection, and in response, the towing mode may be enabled. In certain exemplary embodiments, the intuitive trailer steering feature may be limited to being enabled only when the tractor is in towing mode.

[0041] The steering controller 345 and / or the processor 330 may also be communicatively coupled to the vehicle controller 355 for determining the vehicle transmission state or vehicle propulsion direction. In certain exemplary embodiments, the intuitive trailer steering feature may be limited to being enabled only when the tractor and / or vehicle transmission is in reverse mode. Thus, when the driver is backing up with a trailer, the intuitive trailer steering feature is employed, such as applying a negative steering ratio to the steering controller. When the tractor is switched to forward propulsion mode, the intuitive trailer steering feature may be overridden and the tractor will steer as expected in conventional driving mode.

[0042] The user interface 320 may include a touch screen display operable to display a software application for enabling the intuitive trailer steering feature. The software application may include one or more soft buttons displayed on the touch screen display that allow a user to select a soft button associated with enabling the intuitive trailer steering feature. The user interface 350 may be operable to receive user input indicating a request to initiate a towing mode or to initiate the intuitive trailer steering feature and / or to disable the intuitive trailer steering feature. Alternatively, the user interface for adopting and disabling the intuitive trailer steering feature may be a standard mechanical button or dial located on a dashboard, center console, transmission shifter, etc. for coupling a voltage to a vehicle controller or initiating a change in a voltage level to a vehicle controller.

[0043] The processor 330 may be a vehicle control processor, a driver assistance processor, or other vehicle processor, and may execute various vehicle control algorithms. The processor 330 may be communicatively coupled to the user interface 320 for receiving the intuitive trailer steering feature enable command and / or the network interface 312 for receiving the intuitive trailer steering feature enable command via a wireless network.

[0044] In an exemplary embodiment, the processor 330 may execute an intuitive trailer steering algorithm in response to a received enable command. Feature enablement may also be conditional on the vehicle transmission or drive state being in a reverse condition and / or a trailer being detected via the trailer interface 350. In certain exemplary embodiments, the processor may then use a negative steering ratio, etc., when calculating the steering control angles and coupling these steering control angles to the steering controller 345. In certain exemplary embodiments, the processor 330 may couple a steering ratio indicating a reverse steering ratio to the steering controller 345, and the steering controller may control the steering angle in response to the steering ratio and the steering wheel position. In another exemplary embodiment, the processor 330 may include a vehicle controller 355 and / or a steering controller 345, or may communicate directly with a throttle controller, a brake controller, and / or a steering controller 345.

[0045] The vehicle controller 345 is operable to receive control signals from the processor 330 and to control the primary tractor in response to the control signals. The control signals may include specific navigation route information, may include a destination location, or may include specific steering control, throttle control, and brake control instructions.

[0046] Now turn to Figure 4 , a flow chart illustrating an exemplary method 400 for an automatic trailer backing system in a motor vehicle is shown according to an exemplary embodiment of the present disclosure. The method 400 is first initiated in response to a vehicle initiation 410. The vehicle initiation 410 may occur in response to a vehicle control system being initiated, a vehicle propulsion state being transitioned from an off state to a standby state, or from a standby state to a running state. In certain exemplary embodiments, the vehicle control system algorithm may be initiated in response to a control signal from a vehicle remote control key or a control signal generated by a mobile device in response to activation of a software application running on the mobile device. The control signal may be sent from the mobile device to the vehicle via a wireless network to initiate the vehicle control algorithm.

[0047] The method 400 may then be operable to monitor 420 for an initiation control signal for the intuitive trailer steering algorithm. The method 400 may periodically check for receipt of an initiation control signal. In certain exemplary embodiments, the initiation control signal may be generated in response to user input received by a software application on a mobile device, may be received from a vehicle user interface such as an infotainment system, an onboard button or switch, or may be received from a vehicle key fob in response to a user pressing a button on the vehicle key fob. If no initiation control signal for the intuitive trailer steering algorithm is received, the method 400 may return to the periodic monitoring 420 of the initiation control signal.

[0048] If an initiation control signal for an intuitive trailer steering algorithm is received, the method 400 next enables 430 the intuitive trailer steering algorithm. In certain exemplary embodiments, the intuitive trailer steering algorithm may determine 440 whether a trailer is connected. The trailer connection may be determined in response to a change in resistance, voltage, or capacitance between one or more trailer connector pins, may be detected by a pressure sensor coupled to a tractor-mounted trailer hitch or trailer hitch ball, or the presence of the trailer may be detected using a tractor-mounted rear camera. Alternatively, the trailer may include an identifier that can be detected wirelessly or by data sent via the trailer connector. If the trailer is equipped with trailer brakes, the tractor's brake controller may detect the presence of the trailer in response to the application of the tractor's brakes.

[0049] In certain exemplary embodiments, if no trailer is detected, the method 400 may send 435 an error code to a user interface (such as a software application on a mobile device) indicating that no trailer was detected. In some cases, the software application may allow the user to override trailer detection to continue the intuitive trailer steering algorithm. The method 400 may then disable 445 the algorithm and return to periodic monitoring 420 for subsequent initiation control signals.

[0050] If a trailer connection is detected, the method 400 may next be operable to determine 450 whether the tractor propulsion state is in reverse. The propulsion state may be determined in response to the transmission gear selector being in reverse or in a propulsion mode determined by the vehicle controller in response to the current state of the propulsion algorithm. In certain exemplary embodiments, if the vehicle is in a parked state, the method may prompt the user to shift the vehicle into reverse. If the vehicle is not in reverse, or the vehicle is not shifted into reverse within a predetermined time period (such as 5 seconds), or if the vehicle accelerator is pressed while the vehicle propulsion state or the transmission is in a forward mode or gear, the method may send 435 an error code to the user indicating that the vehicle is not in reverse mode. The method 400 may then disable 445 the algorithm and return to periodic monitoring 420 of subsequent initiation control signals.

[0051] If the vehicle propulsion state or the transmission state indicates a reverse mode, the method 400 may then apply 460 a reverse steering ratio to the steering controller. The steering controller then reverses the steering direction of the front wheels compared to the rotation of the steering wheel. If the steering wheel is turned to the left, the wheels are turned to the right. In certain exemplary embodiments, the reverse steering ratio may be indicated by a reversal of the steering control signal or the application of a -1:-1 steering ratio. During the intuitive trailer steering function when the reverse steering ratio is applied, the method 400 may be operable to periodically determine whether the vehicle propulsion state is still in reverse 450. If the tractor's gear is shifted out of reverse, such as into a drive state, the method 400 applies a standard steering ratio, such as 1:1, so that the direction of rotation of the steering wheel is consistent with the steering direction of the tractor's front wheels.

[0052] Although at least one exemplary embodiment has been presented in the foregoing detailed description, it should be understood that there are a large number of variations. It should also be understood that the exemplary embodiment or multiple exemplary embodiments are only examples and are not intended to limit the scope, applicability or configuration of the present disclosure in any way. Specifically, the foregoing detailed description will provide a convenient roadmap for implementing the exemplary embodiment or multiple exemplary embodiments for those skilled in the art. It should be understood that various changes can be made to the functions and arrangements of the elements without departing from the scope of the present disclosure as set forth in the attached claims and their legal equivalents.

Claims

1. A steering control system, comprising: a user interface configured to generate an initiation signal in response to a user input; A steering angle sensor for detecting the steering direction and steering angle from a center steering position; a steering controller configured to receive the steering angle and the steering direction from the steering angle sensor to reverse the steering angle in response to the initiation signal, the steering angle, and the steering direction to generate a reversed steering angle such that the reversed steering angle has the same angular magnitude as the steering angle and a direction opposite to the steering direction; as well as A vehicle control system is provided for controlling movement of the vehicle in response to the reversed steering angle. 2 . The steering control system of claim 1 , comprising a direction sensor configured to detect a propulsion direction of the vehicle, and wherein the reversed steering angle is generated in response to the propulsion direction being in a reverse direction.

3. The steering control system of claim 1 , comprising a trailer interface configured to detect a trailer connection, and wherein the reversed steering angle is generated in response to detection of the connected trailer. 4 . The steering control system of claim 1 , wherein the inverted steering angle is calculated in response to multiplying the steering angle by a negative unity value. 5 . The steering control system of claim 1 , wherein the user interface is generated by a software application on a mobile device, and wherein the initiation signal is sent to the steering controller via a wireless network. 6 . The steering control system of claim 1 , wherein the user interface is generated by a software application and displayed on a vehicle infotainment display.

7. The steering control system of claim 1 , comprising a direction sensor configured to detect a propulsion direction of the vehicle, and wherein the vehicle control system is configured to control the vehicle in response to the reversed steering angle in response to a detected reverse propulsion direction, and to control the vehicle in response to the steering angle in response to a detected change in the propulsion direction from the detected reverse propulsion direction to a detected forward propulsion direction.

8. The steering control system of claim 1 , wherein the vehicle control system is further configured to detect a propulsion direction and a trailer connection status, and to generate a user alert in response to the propulsion direction being in a forward direction and the trailer connection status indicating that there is no connected trailer. 9 . The steering control system of claim 1 , wherein the steering controller is configured to execute a variable ratio steering algorithm, and wherein the reversed steering angle has an opposite value to the steering angle.

10. A method for controlling the steering of a vehicle, comprising: receiving, by the user interface, user input indicating initiation of a reverse steering feature; The steering angle is detected by a steering sensor; generating, by a vehicle control system, a reversed steering angle by reversing the steering angle so that the reversed steering angle has a steering direction opposite to a steering direction of the steering angle; as well as A path of motion of the vehicle is controlled by the vehicle control system in response to the reversed steering angle.

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