GB2537989A

GB2537989A - Trailer backup assist system with object detection

Info

Publication number: GB2537989A
Application number: GB1605065.0A
Authority: GB
Inventors: G Hochrein Bradley; Abram Rolfes Nate; Jacob Mattern Donald; Michael Lavoie Erick
Original assignee: Ford Global Technologies LLC
Current assignee: Ford Global Technologies LLC
Priority date: 2015-03-26
Filing date: 2016-03-24
Publication date: 2016-11-02
Also published as: GB201605065D0; DE102016105233A1

Abstract

A system 38 for reversing a vehicle 10 and a trailer 12 is provided herein. A sensing system 38 is configured to detect objects O1,O2 located in an operating environment of the vehicle 10 and trailer 12. A backup assist system is configured to communicate with the sensing system and automatically control a braking system of the vehicle to slow or stop the vehicle during a reversing manoeuvre. The system detects a potential obstacle or hazard and applies the brakes 20 during the reversing or backing up to prevent a collision or impact.

Description

TRAILER BACKUP ASSIST SYSTEM WITH OBJECT DETECTION FIELD OF THE INVENTION

[0001] The present invention generally relates to trailer backup assist systems, and more Pa cularly, to a system and method for reversing a trailer with object detection.

BACKGROUND OF THE INVENTION

[0002] Backing or reversing a vehicle with an attached trailer can be very challenging for many drivers. While a reversing maneuver is being executed, the driver may have difficulty keeping track of possible objects in the environment in which the vehicle and trailer are operating. As such, there is a need for a system having object detection capabilities to reduce potential collisions involving the vehicle, trailer, and other objects in the operating environment.

SUMMARY OF THE INVENTION

[0003] According to one aspect of the present invention, there is provided a system for reversing a vehicle and a trailer as set forth in claim 1 of the appended claims.

100041 According to a second aspect of the present invention, there is provided a method of reversing a vehicle and trailer as set forth in claim 7 of the appended claims.

Additionally, there is further provided a system for reversing a vehicle and a trailer, comprising: a sensing system configured to detect objects located in an operating environment of the vehicle and trailer; and a backup assist system configured to communicate with the sensing system and automatically control a braking system of the vehicle to slow or stop the vehicle during a reversing maneuver.

[0005] These and other aspects, objects, and features of the present invention will be understood and appreciated by those skilled in the art upon studying the following specification, claims, and appended drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In the drawings: [0007] FIG. 1 illustrates a schematic diagram of a vehicle and a trailer, according to one embodiment; [0008] FIG. 2 illustrates a vehicle and trailer being backed along a reversing path, according to one embodiment; [0009] FIG. 3 illustrates a reversing scenario according to one embodiment; [0010] FIG. 4 illustrates a reversing scenario according to another embodiment; and [0011] FIG. 5 illustrates a flow chart of a method for reversing a vehicle and trailer, according to one embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] As required, detailed embodiments of the present invention are disclosed herein.

However, it is to be understood that the disclosed embodiments are merely exemplary of the invention that may be embodied in various and alternative forms. The figures are not necessarily to a detailed design and some schematics may be exaggerated or minimized to show function overview. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the present invention.

[0013] As used herein, the term "and/or," when used in a list of two or more items, means that any one of the listed items can be employed by itself, or any combination of two or more of the listed items can be employed. For example, if a composition is described as containing components A, B, and/or C, the composition can contain 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.

[0014] Referring to FIG. I, a schematic diagram of a vehicle 10 and trailer 12 is shown according to one embodiment. The vehicle 10 may be any vehicle with towing capabilities and includes at least the following equipment or systems: a gas pedal 14, a braking system 16 having a brake pedal 18 and brakes 20, a display 22, an audio system 23, a steering system 24 having an electric power assisted steering (EPAS) system 25 and a steering wheel 26, a driveline system 28, a sensing system 32, a powertrain system 34, a GPS system 36, and a backup assist system 38 having a trajectory planner 40. The trailer 12 may be any type of trailer and may include a target 42 disposed thereon that is monitored by the sensing system 32. Additionally, the vehicle and trailer 12 described herein may include other suitable equipment or systems in lieu of those described above.

[0015] Referring to FIG. 2, a schematic diagram is shown of the vehicle 10 and trailer 12 reversing along a reversing path P according to one embodiment. In the illustrated embodiment, the sensing system 32 includes ultrasonic sensors Si-S8 disposed variously on a front F, side S, and rear R portion of the vehicle 10. Ultrasonic sensors S9-16 may also be disposed variously on a front F, side S, and rear R portion of the trailer 12. The sensing system 32 may include one or more cameras disposed on the vehicle 10 and/or trailer 12. As shown, a rear vehicle mounted camera 44 may be provided to monitor the position of the target 42 so that a hitch angle k can be determined between the vehicle 10 and the trailer 12. It should be appreciated, however, that the number and/or location of the ultrasonic sensors Si-S16 may be other than illustrated, if so desired. Additionally or alternatively, the sensing system 32 may include radar, lidar, lasers, thermal sensors, or a combination thereof [0016] In operation, the ultrasonic sensors Si-S12 are configured to detect objects in an operating environment 46 of the vehicle 10 and trailer 12. With respect to the disclosure herein, the operating environment 46 should be seen to correspond to areas surrounding the vehicle 10 and/or trailer 12. The ultrasonic sensors S1-S14 each transmit ultrasonic waves outwardly from the vehicle 10 or trailer 12 and receive ultrasonic waves that are reflected off of neighboring objects in the operating environment 46. Based on the time in which an ultrasonic wave is transmitted and received, the location of an object relative to the current position of the vehicle 10 and/or trailer 12 can be determined. As exemplarily shown in FIG. 2, detectable objects in the operating environment 46 may include objects that are fixed such as building 48 and stop sign 50 in addition to objects that are capable of moving such as vehicle 52. In some instances, fixed objects can also be detected by accessing a location database through the GPS system 36. Furthermore, ultrasonic sensors such as S4, S5, S9, 51 6, or a combination thereof, may be used to detect the relative location between the vehicle 10 and trailer 12.

[0017] Depending on the location of a detected object, the backup assist system 38 may modify the speed in which the vehicle 10 and trailer 12 are travelling. For example, if the detected object is in close proximity to the vehicle 10 or trailer 12, the backup assist system 38 may automatically control the braking system 16 to apply brakes 20 to the vehicle 10 or otherwise limit the allowable speed of the vehicle 10. In alternative embodiments, the backup assist system 38 may instruct the driver to apply brakes (e.g., depress the brake pedal 18) to slow or stop the vehicle 10 and trailer 12. The instruction may be embodied as a text message on the display 22, an audio alert played through the audio system 23, or other suitable means.

[0018] One reversing scenario is depicted in FIG. 3, in which the vehicle 10 and trailer 12 near detected objects Di and 0, while a reversing maneuver is being executed along reversing path P. As the vehicle and 10 and trailer 12 near the detected objects 01, 02, the backup assist system 38 may slowly apply the brakes 20 to reduce the speed of the vehicle 10 or execute a hard brake to quickly stop the vehicle 10 and trailer 12 in the event a collision with one or more of detected objects 01, 07 is imminent. For example, as the vehicle 10 and trailer 12 are backed along reversing path P, a front corner 54 of the vehicle 10 may eventually collide with detected object 01 unless backward progress along the reversing path P is halted. In deciding whether to slow or stop the vehicle 10 and trailer 12, the backup assist system 38 may take into account the location of the detected objects 01, 02 relative to the vehicle 10 and trailer 12 in addition to the trajectory of the vehicle 10 and trailer 12. The trajectory of the vehicle 10 and trailer 12 may be determined based on the angle of the steering wheel 26 and the hitch angle k between the vehicle 10 and trailer 12.

[0019] Another reversing scenario is depicted in FIG. 4, in which the vehicle 10 and trailer 12 are executing a reversing maneuver along a curved section 56 of reversing path P. In such scenarios, the hitch angle k between the vehicle 10 and trailer 12 generally increases with increased path curvature. With respect to some vehicle and trailer configurations, it becomes possible for the front F of the trailer 12 to collide with the rear R of the vehicle 10 when the hitch angle k there between becomes sufficiently large. For example, a front corner 58 of the trailer 12 may ultimately collide with a rear corner 60 of the vehicle 10 unless backward progress along the reversing path P is halted. Recognizing this, the backup assist system 38 may automatically apply the brakes 20 to reduce the speed of the vehicle 10 as the hitch angle between the vehicle 10 and trailer 12 begins to increase and may automatically execute a hard stop of the vehicle 10 should the distance between corners 58 and 60 be below a minimum allowable distance indicative of a potential collision. According to one embodiment, the minimum allowable distance between corners 58 and 60 may be determined based on the dimensions of the vehicle 10 and trailer 12 as well as the time needed in which to execute a hard stop of the vehicle 10 at the current vehicle speed. Additionally, the backup assist system 38 may determine the degree by which to reduce the speed of the vehicle 10 and trailer 12 based on hitch angle measurements received from the rear vehicle mounted camera 44.

[0020] Thus, with respect to the scenarios provided above, it is to be understood that a collision can occur between the vehicle and an object that is not the trailer 12, between the trailer 12 and an object that is not the vehicle 10, and between the vehicle 10 and the trailer 12. Furthermore, if a collision involves the vehicle 10, it should be appreciated that the vehicle 10 may sustain damage to the front F, sides S, rear R, or a combination thereof. Likewise, in trailer related collisions, the trailer may sustain damage to the front F, sides S, rear R, or a combination thereof. As described previously herein, the corners of the vehicle 10 and trailer 12 are especially susceptible to collisions with other objects or with each other while a reversing maneuver is underway.

100211 Referring to FIG. 5, a flow chart of a method 62 for reversing a vehicle and trailer is shown according to one embodiment. The method 62 is described below as being executed using the vehicle 10 and trailer 12 described previously herein with reference to FIGS. 1-4. The method 62 includes step A, where the driver is instructed to place the vehicle ID in reverse and apply gas to the vehicle ID (e.g., depress gas pedal 14) so that the vehicle 10 and trailer 12 can begin executing a reversing maneuver along a reversing path P. According to one embodiment, the reversing path P may be generated by the trajectory planner 40 of the backup assist system 38 based on information received from the sensing system 32, the GPS system 36, and or user inputted waypoints.

[0022] Additional information for generating a reversing path can be found in U.S. Patent Publication No. 2014/0303849 Alto Hafner et al., entitled "TRAILER BACKUP ASSIST SYSTEM WITH TRAJECTORY PLANNER FOR MULTIPLE WAYPOINTS," filed April 21, 2014; and U.S. Patent Publication 2014/0358424 to Lavoie et al., entitled "SYSTEM AND METHOD OF INPUTTING AN INTENDED REVERSING PATH," filed on August 14, 2014, both of which are incorporated herein by reference in their entirety.

[0023] While the vehicle 10 and trailer 12 are executing the reversing maneuver, the backup assist system 38 may automatically steer the vehicle 10 at step B to guide the vehicle 10 and trailer 12 along the reversing path P. Alternatively, the driver may elect to manually steer the vehicle 10 using the steering wheel 26 or other device. Additionally, at step C, the backup assist system 38 may limit the speed of the vehicle 10 by controlling the output of the driveline system 28 thereby ensuring that the vehicle 10 and trailer 12 are backed at manageable speeds. As the vehicle 10 and trailer 12 execute the reversing maneuver, the sensing system 32 detects for objects in the operating environment 46 at step D. If a detected object is in close proximity to the vehicle 10 or trailer 12, the backup assist system 38 may apply the brakes 20 to either reduce the speed of the vehicle 10 and trailer 12 or execute a hard stop at step E. Alternatively, the backup assist system 38 may instruct the driver of the vehicle 10 to do the same. If a hard stop is executed, the driver may be required to reposition the vehicle 10 and trailer 12 in order to resume course along the reversing path P. For example, the driver may be required to pull the vehicle 10 and trailer 12 forward some distance before returning to the reversing maneuver. Once the vehicle 10 and trailer 12 move past the detected object(s), the backup assist system 38 may increase the allowable speed of the vehicle 10 and trailer 12 at step F. Thereafter, any of the steps described above may be repeated as often as necessary until the vehicle 10 and trailer 12 arrive at a final destination.

[0024] Accordingly, a system and method for reversing a vehicle and trailer have been advantageously provided herein. Vehicles and trailers equipped with the features described herein are not only capable of executing semi-autonomous reversing maneuvers, but are also capable of automatically controlling the speed of the vehicle 10 and trailer 12 to avoid collisions with other objects or each other. As a result, the process of executing a reversing maneuver is greatly simplified for the driver.

Claims

CLAIMSA system for reversing a vehicle and a trailer, comprising: a sensing system configured to detect objects in an operating environment of the vehicle and trailer; and a backup assist system configured to receive information from the sensing system and automatically modify a speed of the vehicle to prevent the vehicle or trailer from colliding with a detected object during a reversing maneuver.
2. The system as claimed in claim 1, wherein the sensing system comprises ultrasonic sensors, each disposed on a front, side, or rear portion of the vehicle.
3. The system as claimed in any claim 1 or 2, wherein the backup assist system is configured to automatically slow the vehicle when the vehicle approaches a detected object.
4. The system as claimed in claim 3, wherein the backup assist system is configured to execute a hard stop of the vehicle if a collision between the vehicle and the detected object is imminent.
5. The system as claimed in claim 3 or 4, wherein the detected object is the trailer or another object in the operating environment.
6. The system as claimed in any one of claims I to 5, wherein the backup assist system is further configured to automatically steer the vehicle during the reversing maneuver.
A method of reversing a vehicle and trailer, comprising the steps of: executing a reversing maneuver of the vehicle and trailer; detecting objects in an operating environment of the vehicle and trade and automatically controlling a braking system of the vehicle to modify a speed of the vehicle during the reversing maneuver.
8. The method as claimed in claim 7, wherein the step of executing a reversing maneuver comprises automatically steering the vehicle.
9. The method as claimed in claim 8 or 9, wherein the step of automatically controlling a braking system comprises slowing the vehicle when the vehicle approaches a detected object.
10. The method of claim 9, wherein the step of automatically controlling a braking system further comprises executing a hard stop if a collision between the vehicle and the detected object is imminent, wherein the detected object is the trailer or another object in the operating environment.
11. The method as claimed in claim 9 or 10, wherein the detected object is the trailer or another object in the operating environment.
12. The method as claimed in any one of claims 7 to 11, wherein the sensing system comprises ultrasonic sensors, each disposed on a front, side, or rear portion of the trailer.