Joint angle monitoring system and procedure

Abstract

Joint angle monitoring system (10), comprising: a display (20) to show a depicted view (32) of an articulated connection (34) between a towing vehicle (36) and a trailer (38); a processor (16) configured to display an overlay (40) on the depicted view (32), in which the overlay (40) indicates a joint angle position limit; and a joint angle position indicator (62) shown on the display (20) and visually relates a joint angle position to the joint angle position limit, characterized in that the processor (16) is further configured to display a virtual steering input device (64) on the illustrated view (32) which mimics the physical properties and behavior of an actual steering input device (24) of a trailer reversing assist system, wherein the virtual steering input device (64) displays a virtual steering angle position indicator (66) which reflects the actual position of a rotary knob (26) and a steering angle position limit (68) of the rotary knob (26).

Description

[0001] The disclosure herein relates generally to driver assistance technologies in vehicles and in particular to joint angle monitoring that can be used in conjunction with a trailer reversing assistance system.

[0002] Reversing a vehicle towing a trailer presents a significant challenge for many drivers. If the articulation angle between the towing vehicle and trailer becomes large enough, it can lead to buckling. Therefore, an articulation angle monitoring system is needed to allow the driver to identify when the articulation angle between the towing vehicle and trailer reaches a predefined limit, thus preventing potential buckling.

[0003] German patent application DE 10 2014 005 681 A1 discloses a method for driver assistance during driving, particularly reversing, of a motor vehicle with a trailer attached. According to the invention, it is proposed to visualize an angle value for the driver by displaying a direction and / or a directional range perspectively, as if it were being captured by the camera, and superimposing this representation on the camera image. The direction or directional range can be represented, in particular, by virtual elements that are depicted as lying in a plane parallel to the driving plane of the motor vehicle.

[0004] From publication GB 2 513 392 A1, a system for a towing vehicle, a human-machine interface, a method for controlling a trailer coupled to a vehicle during a reversing maneuver, and a vehicle are known. According to a further aspect of the present invention, a vehicle control system for reversing a trailer coupled to a vehicle is provided, wherein the vehicle control system comprises a processor configured to determine the actual direction of travel of the trailer based on one or more sensor signals; to receive a requested direction of travel of the trailer; and to calculate a maximum permissible coupling angle; wherein the processor is configured to limit the requested direction of travel of the trailer to an angle that is less than or equal to the calculated maximum permissible coupling angle.

[0005] A device for determining and displaying the articulation angle of a vehicle combination is known from German patent application DE 39 24 148 A1. The object underlying the invention is to measure the articulation angle of the trailer relative to the towing vehicle and to display it visually and audibly. The solution to this problem is characterized by the deviation sensor on the trailer coupling head, which is connected to the towing vehicle via the telescopic arm, the display unit with the evaluation electronics, the articulation angle display, and the visual and audible alarm indicators.

[0006] German patent application DE 10 2007 025 969 A1 discloses a method for performing a steering maneuver in a vehicle with a trailer. To perform the steering maneuver in a vehicle to which a trailer is attached while reversing, the current articulation angle is first determined, which represents the angle between the longitudinal axis of the vehicle and the longitudinal axis of the trailer.

[0007] From the publication DE 10 2012 015 435 A1, a method and a device for maneuvering a vehicle combination are known, consisting of a towing vehicle and a trailer, wherein the trailer is connected to the towing vehicle by means of a non-steerable drawbar, and the towing vehicle monitors the rear surroundings including the trailer by means of a reversing camera.

[0008] German patent application DE 10 2005 051 804 A1 discloses a maneuvering aid for vehicles and vehicle combinations with movable sections. When maneuvering a vehicle, the driver's seating position presents the problem that a large portion of the visible area behind the vehicle is obscured by the vehicle body itself. Therefore, the driver is presented with a camera image of the area behind the vehicle on a display, onto which the vehicle's lane and / or towing track have been superimposed using perspective.

[0009] The invention is based on the objective of making it easier for the driver to control the reversing of a towing vehicle connected to a trailer.

[0010] The object is solved according to the invention by a joint angle monitoring system according to claim 1, a joint angle monitoring system according to claim 7 and a joint angle monitoring method according to claim 12.

[0011] These and other aspects, objects and features of the present invention will be understood and recognized by persons skilled in the art upon studying the following description, claims and attached drawings.

[0012] In the drawings shows Fig. 1 a block diagram of a joint angle monitoring system according to an embodiment; is Fig. 2 a diagram of an illustrated view showing a tractor and trailer being reversed clockwise along a curved track; is Fig. 3 a diagram of an illustrated view showing a tractor and trailer being reversed along a curved track in a counterclockwise direction; is Fig. 4 a flowchart of a joint angle monitoring method according to one embodiment.

[0013] As required, detailed embodiments of the present invention are disclosed herein. However, it should be understood that the disclosed embodiments are only examples of the invention, which can be implemented in various and modified forms. The figures are not necessarily detailed, and some circuit diagrams may be exaggerated or reduced in size to show a functional overview. Therefore, specific structural and functional details disclosed herein should not be interpreted as limiting, but only as a representative basis to enable those skilled in the art to use the present invention in various ways.

[0014] As used herein, the term "and / or," when used in a list of two or more elements, means that any one of the listed elements may be used alone, or any combination of two or more of the listed elements may be used. For example, if a composition is described as including components A, B, and / or C, the composition may include A alone; B alone; C alone; A and B in combination; A and C in combination; B and C in combination; or A, B, and C in combination.

[0015] The disclosed subject matter relates to an articulation angle monitoring system and method for use with a trailer reversing assist system (TBA system). In particular, the system and method enable a driver of a towing vehicle to monitor a current articulation angle position relative to an articulation angle position limit between the towing vehicle and an attached trailer. The system and method disclosed herein are particularly useful when used with a trailer reversing assist system that employs a steering input device to allow the driver of the towing vehicle to control the curvature for the travel path of the attached trailer.

[0016] In relation to Fig. Figure 1 shows a block diagram of an articulation angle monitoring system 10. The system 10 comprises an imaging module 12, which includes a camera 14 that communicates with a processor 16. Both of these can be combined with a trailer reversing assistance system. The camera 14 can be mounted on a towing vehicle in a rearward-facing configuration and positioned to image a view 18 of an articulation joint between the towing vehicle and a trailer. The processor 16 analyzes image data from the camera 14 and can output the imaged view on a display 20, which may include an existing display of the trailer reversing assistance system or another display typically positioned in the towing vehicle and made visible to the driver.In one embodiment, the processor 16 can cause the display 20 to automatically display the depicted view when the towing vehicle is put into reverse gear or is otherwise in a parked position.

[0017] As further in Fig. As shown in Figure 1, the processor 16 can communicate with a joint angle measuring device 22, a steering input device 24, and other apparatus 25, whether related to the towing vehicle or independent of it. In one embodiment, the processor 16 receives input from the joint angle measuring device 22, which may include one or more joint angle sensors configured to measure the joint angle between the towing vehicle and the trailer and send the joint angle measurements to the processor 16. Additionally or alternatively, the joint angle can be measured directly using the camera module 12. For example, the camera module 12 can employ object identification techniques to image a fixed target positioned on the trailer (e.g., the trailer drawbar), and the processor 16 can determine the joint angle between the towing vehicle and the trailer based on the target's position within the imaged view.

[0018] The processor 16 can also receive input from the steering input device 24, which can be a rotatable or non-rotatable control input device. For illustrative purposes, the steering input device 24 is shown as a rotary knob 26, which is oriented at an angle in a rest position and coupled to a motion sensing device 28. The motion sensing device 28 is configured to sense movement of the rotary knob 26 and output a corresponding signal (i.e., motion sensing device signal) that can be sent to the processor 16 and used by the trailer reversing assist system to determine a suitable wheel steering angle for the towing vehicle. The motion sensing device signal can be generated as a function of the degree of rotation of the rotary knob 26 relative to the rest position, the velocity of the rotary knob 26, and / or the direction of movement of the rotary knob 26 relative to the rest position.

[0019] The rotary knob 26 includes a steering angle position indicator 30, which has a fixed position on the rotary knob 26 and serves as a visual aid for identifying the rotational position of the rotary knob 26 when it is turned relative to its rest position. In the illustrated embodiment, the rest position can correspond to the angular position of the rotary knob 26 in which the steering angle position indicator 30 is positioned at the twelve o'clock position, indicating that the towing vehicle reverses in a substantially straight path when the rotary knob 26 is not actuated. Assuming that the towing vehicle and trailer are aligned, the driver can turn the rotary knob 26 either to the left or to the right during a reversing maneuver, causing the towing vehicle and trailer to reverse in a curved path, either clockwise or counterclockwise.As the rotary knob 26 is turned further in any direction, the articulation angle between the towing vehicle and the trailer increases, resulting in a rise in track curvature. By recognizing that trailers with different dimensions (e.g., trailer length) react to changes in the position of the rotary knob 26 at varying speeds, the processor 16 can generate one or more overlays, as described in more detail below, which are shown on the display 20 to visually assist a driver in operating the rotary knob 26 during a reversing maneuver.

[0020] Fig. Figure 2 shows a depicted view 32 of a trailer articulated joint 34 between a towing vehicle 36 and a trailer 38. An overlay 40 superimposes the depicted view 32 and can be configured as an inverted triangle defined by a first boundary line 42, a second boundary line 44, and a third boundary line 46. As shown, the first and second boundary lines 42, 44 meet at point 47, which coincides with a central region of the depicted trailer articulated joint 34, and extend up and out of it in opposite directions before joining at one end of the third boundary line 46, which extends horizontally across the depicted view 32. In the illustrated embodiment, the overlay 40 can be divided into a plurality of triangular regions, which may include a central region 48, outer regions 50 and 52, and outermost regions 54 and 56.The position and dimensions of the overlay 40 can be determined by the processor 16 based on vehicle-related information, camera-related information, and / or trailer-related information. Although the overlay 40 and the adjacent regions 48-56 are shown and described herein as triangular, it is evident that other shapes can be used to achieve the same result.

[0021] According to one embodiment, each region 48-56 of the superposition 40 can comprise one or more articulation angle positions, each corresponding to an angular position of a longitudinal center axis 58 of the trailer 38 relative to a fixed longitudinal center axis 60 of the towing vehicle 36. Generally, the longitudinal center axis 60 of the towing vehicle 36 coincides with the longitudinal center axis 58 of the trailer 38 when the towing vehicle 36 is perpendicular to the trailer 38, which typically occurs before a reversing maneuver is performed. Consequently, when a reversing maneuver is performed, the articulation angle position tends to be static if the reversing maneuver occurs along a straight path, or dynamic if the reversing maneuver occurs along a curved path. The in Fig. The illustrated view 32 can be captured, for example, while the towing vehicle 36 and the trailer 38 are reversed along a curved path in a clockwise direction (i.e., when the towing vehicle 36 is steered to the left), which manifests itself in the illustrated view 32 as a clockwise angular displacement of the longitudinal center axis 58 of the trailer 38 about point 47. In contrast, reversing the towing vehicle 36 and the trailer 38 along a curved path in a counterclockwise direction (i.e., when the towing vehicle 36 is steered to the right) manifests itself as a counterclockwise angular displacement of the longitudinal center axis 58 of the trailer 38 about point 47, as exemplified in Fig. 3 shown. In each case, a joint angle γ describes the angular displacement of the longitudinal center axis 58 of the trailer 38 relative to the longitudinal center axis 60 of the towing vehicle 36 and generally increases positively with the clockwise increase in track curvature ( Fig. 2) or negatively with the increase in orbital curvature counterclockwise ( Fig. 3) to.

[0022] In the illustrated embodiment, the central region 48 is symmetrical about the longitudinal axis 60 of the towing vehicle 36 and includes joint angle positions exhibiting relatively small joint angles γ in both the positive and negative directions. The outer regions 50 and 52 are mirror-symmetrical about the longitudinal axis 60 of the towing vehicle 36 and include joint angle positions exhibiting larger joint angles in both the positive and negative directions than those of the central region 48. Finally, the outermost regions 54 and 56 are also mirror-symmetrical about the longitudinal axis 60 of the towing vehicle 36 and include joint angle positions exhibiting the largest joint angles in both the positive and negative directions.

[0023] According to one embodiment, the outermost regions 54, 56 of the superposition 40 are each indicative of a proposed joint angle position limit. The joint angle position limit is not limited to any arbitrary specific joint angle value or a series of values. In one implementation, the joint angle position limit can correspond to, but not be limited to, an operating limit of a vehicle system, such as a trailer reversing assist system. For example, the joint angle position limit can include a maximum joint angle γ that can be achieved by the steering system of the towing vehicle 36. In another case, the joint angle position limit can include a maximum joint angle γ at which a target mounted on the trailer 38 can be accurately detected by an imaging device. In yet another case, the joint angle position can include a maximum joint angle γ before a possible buckling state occurs.In any case, to provide greater visual impact, the overlay 40 can be generated as a color scale, and each region 48-56 of the overlay 40 can be visually distinguished by an associated color. According to one embodiment, the central region 48 can be distinguished using a green color, while the outer regions 50 and 52 can be distinguished using a yellow color, and the outermost regions 54 and 56 can be distinguished using a red color. However, it is evident that the overlay 40 can only be represented using the outermost regions 54 and 56.

[0024] To enable a driver of the towing vehicle 36 to monitor the articulation angle between the towing vehicle 36 and the trailer 38, the system 10 includes an articulation angle position indicator 62, which visually relates the current articulation angle position to the articulation angle position limit. For illustrative purposes, the articulation angle position indicator 62 is shown in Fig. 2 and Fig. Figure 3 shows a trailer drawbar, but may include other visible depicted objects. When selecting the articulation angle position indicator 62, it may be advantageous to use depicted objects that both align with the longitudinal centerline 58 of the trailer 38 and move within the overlay 40 in a consistent manner. Furthermore, if an overlay 40 generated as a color scale is used, the color scale should not be so bright as to prevent the driver from seeing the trailer drawbar or other depicted objects serving as the articulation angle position indicator 62.

[0025] With regard to the illustrated embodiments, which are described in Fig. 2 and Fig. As shown in Figure 3, the articulation angle position indicator 62 coincides with the longitudinal centerline 58 of the trailer 38. In this configuration, the articulation angle position indicator 62 is equidistant from each of the outermost regions 54, 56 when the longitudinal centerline 58 of the trailer 38 coincides with the longitudinal centerline 60 of the towing vehicle 36, and the angle shifts either towards the outermost region 54 or the outermost region 56 as the articulation angle γ increases in either a negative or positive direction. By tracking the position of the articulation angle position indicator 62 within the superimposition 40, a driver of the towing vehicle 36 can therefore quickly determine the current articulation angle position relative to the articulation angle position limit.

[0026] Additionally or alternatively, the joint angle position indicator 62 can be displayed as a virtual object. According to one embodiment that uses coloring, the processor 16 can vary the brightness of the overlay 40 based on the current joint angle position of the towing vehicle 36 and the trailer 38. For example, the current joint angle position in Fig. 2 is shown as being contained within the central region 48 of the overlay 40. In this case, the central region 48, or a part of it (e.g., the right half), can be illuminated in a brighter color than the other regions 50-56. Alternatively, the brightness of the central region 48, or a part of it, can remain the same, while the brightness of the other regions 50-56 is reduced or removed entirely. In each embodiment, the processor 16 can determine, based on joint angle measurements provided by the joint angle measuring device 22, in which region 48-56 the current joint angle position is located, indicating both the joint angle γ and the direction relative to the longitudinal center axis 60 of the towing vehicle 36. By using joint angle measurements to determine the current joint angle position, the overlay 40 can be displayed at a different location on the depicted view 32.

[0027] If the current joint angle position approaches, reaches, and / or exceeds the joint angle position limit, the processor 16 can generate a warning signal. This signal can be used to warn the driver of the towing vehicle 36 in a variety of ways. For example, the signal can issue a visual warning, including the flashing of the outermost regions 54 and 56 of the overlay 40. Additionally or alternatively, the signal can be sent to a vehicle audio system to issue an audible warning to the driver of the towing vehicle 36. Additionally or alternatively, the signal can also issue a haptic warning accessible through a variety of devices, such as, but not limited to, the steering input device 24, a driver's seat, and / or a smartphone or other portable electronic device.

[0028] Still in relation to Fig. 2 and Fig. 3 The processor 16 is further configured to display a virtual steering input device 64 on the illustrated view 32, which has the physical properties and behavior of an actual steering input device of a trailer reversing assist system such as the one in Fig. 1 mimics the rotary knob 26 shown. According to one embodiment, the virtual steering input device 64 is positioned above the overlay 40 in the illustrated view 32 and includes a virtual steering angle position indicator 66 that reflects the actual position of the rotary knob 26. As shown in Fig. Figure 2 shows the position of the virtual steering angle position indicator 66, indicating that the rotary knob 26 has been turned counterclockwise from its rest position to steer the towing vehicle 36 to the left, causing the towing vehicle 36 and the trailer 38 to reverse clockwise in a curve. As shown in Fig. Figure 3 shows the position of the virtual steering angle position indicator 66, indicating that the rotary knob 26 has been turned clockwise from its rest position, causing the towing vehicle 36 and trailer 38 to reverse counterclockwise along a curved path. Additionally, the virtual steering input device 64 displays a steering angle position limit 68 of the rotary knob 26, which may be a suggested limit or correspond to one or more fixed end stops of the rotary knob 26, if applicable. As the steering angle position limit 68 is approached, reached, or exceeded, the processor 16 can generate a signal used to elicit a visual, audible, and / or haptic response. It should be acknowledged that a color scale similar to that described for the overlay 40 can be used to represent a variety of steering angle positions, if desired.

[0029] In relation to Fig.Figure 4 shows a flowchart for a joint angle monitoring method 70 according to one embodiment. The method 70 can be executed as a program stored in a memory of the imaging module 12 and is executed by the processor 16. The program can start in step 72 when a towing vehicle 36 is placed in park or reverse. In step 74, the camera 14 images a view behind the vehicle. In step 76, the imaged view 32 is displayed on a display 20 of a trailer reversing assist system. In step 78, the processor 16 overlays an overlay 40 on the imaged view 32, which indicates a joint angle position limit between the towing vehicle 36 and the trailer 38. In step 80, a joint angle position indicator 62 is displayed on the display 20 and identifies a current joint angle position relative to the joint angle limit position.In step 82, the processor 16 generates a virtual steering input device 64, which is superimposed on the illustrated view 32 and mimics the physical properties and behavior of an actual steering input device 24 of a trailer reversing assist system. In step 84, the processor generates a warning signal if the current joint angle position reaches or exceeds a joint angle position limit. If the towing vehicle 36 is in drive mode or the ignition is switched off, the processor 16 can terminate the program in step 86.

[0030] Accordingly, a joint angle monitoring system 10 and method 70 are advantageously described herein, and they enable a driver of a towing vehicle 36 to which a trailer 38 is attached to effectively monitor a current joint angle position with respect to a joint angle position limit.

Claims

[1] Joint angle monitoring system (10), comprising: a display (20) to show a depicted view (32) of an articulated connection (34) between a towing vehicle (36) and a trailer (38); a processor (16) configured to display an overlay (40) on the depicted view (32), in which the overlay (40) indicates a joint angle position limit; and a joint angle position indicator (62) shown on the display (20) and visually relates a joint angle position to the joint angle position limit, characterized by , that the processor (16) is further configured to display a virtual steering input device (64) on the illustrated view (32) which mimics the physical properties and behavior of an actual steering input device (24) of a trailer reversing assist system, wherein the virtual steering input device (64) displays a virtual steering angle position indicator (66) which reflects the actual position of a rotary knob (26) and a steering angle position limit (68) of the rotary knob (26). [2] Joint angle monitoring system according to claim 1, wherein the joint angle position corresponds to an angular position of a longitudinal central axis (58) of the trailer (38) relative to a longitudinal central axis (60) of the towing vehicle (36). [3] Joint angle monitoring system (10) according to claim 2, wherein the joint angle position indicator is a component of an object depicted in the depicted view (32) and a virtual object superimposed on the depicted view (32). [4] Articulation angle monitoring system (10) according to claim 3, wherein the articulation angle position indicator (62) coincides with the longitudinal center axis (58) of the trailer (38) and is positioned closer to the articulation angle position limit when an articulation angle between the towing vehicle (36) and the trailer (38) increases. [5] Joint angle monitoring system (10) according to claim 4, wherein the superposition (40) comprises a plurality of regions (48, 50, 52, 54, 56), each of which comprises at least one joint angle position and each of which is visibly distinguished by an associated color. [6] Joint angle monitoring system (10) according to claim 4, wherein the processor (16) is further configured to generate a warning signal when the current joint angle position approaches, reaches and / or exceeds a joint angle position limit. [7] Joint angle monitoring system (10), comprising: a display (20) to show a depicted view (32); a processor (16) configured to display an overlay (40) on the depicted view (32) showing a joint angle position limit between a towing vehicle (36) and a trailer (38); and a joint angle position indicator (62) shown on the display (20) which moves in relation to the joint angle position limit based on a change in the joint angle between the towing vehicle (36) and the trailer (38), characterized by , that the processor (16) is further configured to generate a virtual steering input device (64) which is displayed on the illustrated view (32) and which has the physical properties and mimics the behavior of an actual steering input device (24) of a trailer reversing assist system, wherein the virtual steering input device (64) displays a virtual steering angle position indicator (66) which reflects the actual position of a rotary knob (26) and a steering angle position limit (68) of the rotary knob (26). [8] Joint angle monitoring system according to claim 7, wherein the joint angle position corresponds to an angular position of a longitudinal central axis of the trailer relative to a longitudinal central axis of the towing vehicle. [9] Joint angle monitoring system (10) according to claim 8, wherein the joint angle position indicator (62) moves within the superposition (40) based on changes in a joint angle between the towing vehicle (36) and the trailer (38). [10] System according to claim 9, wherein the joint angle position indicator (62) moves by angular displacement and coincides in position with a longitudinal central axis (58) of the trailer (38) while it is being displaced. [11] Joint angle monitoring system (10) according to claim 10, wherein the superposition (40) comprises a plurality of regions (48, 50, 52, 54, 56), each of which comprises at least one joint angle position and each of which is visibly distinguished by an associated color. [12] Joint angle monitoring method (70) comprising the following steps: Depicting a rear vehicle area view; Displaying the illustrated view (32); Displaying an overlay (40) on the depicted view (32) that identifies a joint angle position limit between a towing vehicle (36) and a trailer (38); and Display of a joint angle position indicator (62) that identifies a current joint angle position in relation to the joint angle limit position, characterized bya step (82) of generating a virtual steering input device (64) that overlays the illustrated view (32) and mimics the physical properties and behavior of an actual steering input device (24) of a trailer reversing assist system, wherein the virtual steering input device (64) displays a virtual steering angle position indicator (66) that reflects the actual position of a rotary knob (26) and a steering angle position limit (68) of the rotary knob (26). [13] Joint angle monitoring method according to claim 12, wherein the joint angle position corresponds to an angular position of a longitudinal central axis of the trailer relative to a longitudinal central axis of the towing vehicle. [14] Joint angle monitoring method (70) according to claim 13, wherein the joint angle position indicator (62) coincides with the longitudinal center axis (58) of the trailer (38) and is positioned closer to the joint angle position limit when a joint angle between the towing vehicle (36) and the trailer (38) increases. [15] Joint angle monitoring method (70) according to claim 14, wherein the superposition (40) comprises a plurality of regions (48, 50, 52, 54, 56), each of which comprises at least one joint angle position and each of which is visibly distinguished by an associated color. [16] Joint angle monitoring method (70) according to claim 15, further comprising the step (84) of generating a warning signal when the current joint angle position approaches, reaches and / or exceeds the joint angle position limit.

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