WO2019053017A1 - Control system for controlling a trailer - Google Patents

Control system for controlling a trailer Download PDF

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Publication number
WO2019053017A1
WO2019053017A1 PCT/EP2018/074504 EP2018074504W WO2019053017A1 WO 2019053017 A1 WO2019053017 A1 WO 2019053017A1 EP 2018074504 W EP2018074504 W EP 2018074504W WO 2019053017 A1 WO2019053017 A1 WO 2019053017A1
Authority
WO
WIPO (PCT)
Prior art keywords
trailer
control system
route
target position
control
Prior art date
Application number
PCT/EP2018/074504
Other languages
French (fr)
Inventor
Giovanni Strano
Jeremy Greenwood
Original Assignee
Jaguar Land Rover Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jaguar Land Rover Limited filed Critical Jaguar Land Rover Limited
Priority to DE112018005131.5T priority Critical patent/DE112018005131T5/en
Publication of WO2019053017A1 publication Critical patent/WO2019053017A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
    • B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
    • B60S9/205—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams
    • B60S9/21—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams comprising a rotatably driven auxiliary wheel or endless track, e.g. driven by ground wheel
    • B60S9/215—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams comprising a rotatably driven auxiliary wheel or endless track, e.g. driven by ground wheel driven by an auxiliary motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D59/00—Trailers with driven ground wheels or the like
    • B62D59/04—Trailers with driven ground wheels or the like driven from propulsion unit on trailer
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/14—Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains

Definitions

  • the present disclosure relates to a control system for controlling a trailer and particularly, but not exclusively, to a control system for controlling movement of a trailer independently of a vehicle. Aspects of the invention relate to a control system, to a control module, to a trailer system, to a vehicle, and to a method of moving a trailer.
  • GB2447672 describes a system that calculates the hitch angle between a vehicle and a trailer, determines a predicted path for the trailer, and displays the predicted path to the driver as an overlay on a camera view to assist the driver with reversing manoeuvres.
  • a driver may still struggle to control a trailer as desired, particularly when attempting to reverse the trailer into a desired parking location.
  • moving a trailer into certain locations while coupled to a vehicle is not always possible.
  • Caravan mover systems typically include a pair of motors that are arranged to turn left and right side wheels of the caravan, and a remote controller including forward, reverse, clockwise rotation and anticlockwise rotation buttons that may be operated by a user to guide the trailer as desired.
  • This enables the caravan to be manoeuvred into positions that would be difficult or impossible to achieve with the caravan coupled to a vehicle.
  • such systems require skill and constant attention from a user during operation, and user error may result in the caravan colliding with an obstacle or becoming stuck on unsuitable terrain.
  • a control system for controlling movement of a trailer independently of a towing vehicle using an actuation system provided on the trailer, wherein the control system is configured to establish a target position for the trailer, to calculate a route for the trailer between an initial position of the trailer and the target position, and to control the trailer to move along the calculated route from the initial position towards the target position.
  • independent movement of a trailer means movement independently of a towing vehicle to which the trailer may be coupled in use.
  • the present invention allows a trailer to be quickly and efficiently moved into a desired target position with minimal input from a user of the trailer beyond selection or confirmation of the target position.
  • the invention may be particularly advantageous for moving a trailer into a location that may be difficult or impossible to reach while the trailer remains coupled to a vehicle used to tow the trailer.
  • control system may comprise a plurality of separate processing modules configured to perform the various steps associated with establishing the initial position and the target position, and calculating the route between the initial position and the target position. It will further be appreciated that the processing modules forming the control system may be provided at a plurality of separate locations, including locations split between the trailer, a vehicle associated with the trailer, and a portable device separate to the trailer and the vehicle such as a mobile phone or tablet device.
  • the control system may be configured to generate a command signal specifying the calculated route.
  • the control system may be configured to transmit the command signal specifying the calculated route to a trailer controller, which may be configured to control operation of the actuation system provided on the trailer to move the trailer in dependence on the received calculated route.
  • the trailer controller may be provided on the trailer.
  • the command signal specifying the calculated route may be transmitted to the trailer controller from a control module that is configured to calculate the route, which may optionally be located on a vehicle that may be operated to tow the trailer.
  • the control system may be configured to generate a command signal for directly controlling the actuation system provided on the trailer to move the trailer along the calculated route.
  • the command signal for directly controlling the actuation system may be transmitted to the actuation system from a control module that is configured to calculate the route, which may optionally be located on a vehicle that may be operated to tow the trailer.
  • a control module that is configured to calculate the route
  • one or more motor units of the actuation system provided on the trailer may be directly controlled by the control module provided on the vehicle, and a separate trailer controller module on the trailer may not be necessary.
  • the control system may be configured to generate a model of a region in proximity to the trailer.
  • the control system may further be configured to calculate the route between the initial position and the target position through the model.
  • the model may comprise a 3-dimensional model and/or a 2-dimensional map.
  • the control system may be configured to receive sensor data related to the region in proximity to the trailer, and to generate the model in dependence on the received sensor data.
  • the sensor data may include data from one or more sensors located on the trailer and/or one or more sensors located on a vehicle. By using sensor data from existing sensors provided in the trailer and/or the vehicle as originally manufactured it is possible to minimise the cost of the control system, although in some cases one or more sensors may be added to the trailer and/or the vehicle in order to improve performance of the control system.
  • the sensor data may comprise data from one or more parking sensors, proximity sensors, cameras, radar scanning systems and/or Lidar scanning systems.
  • the sensor data may include raw sensor data and/or processed sensor data.
  • the control system may be configured to control a display screen to display the model of the region in proximity to the trailer to a user.
  • the display screen may be provided, for example, in the trailer, in a vehicle associated with the trailer, or in a portable device such as a mobile phone or tablet device.
  • the control system may be configured to establish the initial position of the trailer with respect to the model, and the initial position of the trailer may be displayed to a user as part of the model.
  • the control system may be configured to establish the target position for the trailer in dependence on a position specified by a user.
  • the user-specified position may be set with respect to the model as displayed to the user, for example by operating a control element to highlight the desired position for the trailer with respect to the model.
  • control system may be configured to independently identify possible target positions for the trailer.
  • control system may be configured to recognise a position in which the trailer has previously been parked and to identify the previous parking position as a possible target position.
  • control system may be configured to recognise the position of a marker and to identify a possible target position in dependence on the position of the marker. In this case the control system may be configured to suggest one or more independently identified target positions to a user for selection and/or confirmation before initiating movement of the trailer.
  • the target position may include location and/or orientation data.
  • the control system may be configured to identify impermissible target positions for the trailer.
  • Impermissible target positions may include, for example, locations occupied by one or more obstructions, locations on unsuitable terrain and/or locations that cannot be reached from the trailer's initial position.
  • Unsuitable terrain may include, for example, terrain with a steep gradient and/or terrain with an unacceptably soft or uneven surface.
  • the control system may be configured to inhibit the selection of an impermissible target position.
  • the control system may be configured to identify obstructions and/or unsuitable terrain in the region in proximity to the trailer, and to calculate the route for the trailer between the initial position and the target position to avoid identified obstructions and/or unsuitable terrain.
  • Identifiable obstructions may include, for example, buildings, walls, bollards, vehicles, other trailers, and people.
  • the control system may be configured to control a display screen to display the calculated route to a user.
  • the calculated route may, for example, be displayed as an overlay on the model as displayed to the user.
  • the control system may be configured to require confirmation of the calculated route from a user before initiating movement of the trailer along the calculated route.
  • the control system may be configured to calculate a plurality of possible routes between the initial position and the target position, and to enable a user to select the route to be followed by the trailer from the plurality of calculated routes.
  • the control system may be configured to monitor the position of the trailer and/or movement of the trailer as the trailer is moved towards the target position.
  • the control system may, for example, be configured to monitor the position of the trailer and/or movement of the trailer in dependence on sensor data from one or more sensors such as parking sensors, proximity sensors, cameras, radar scanning systems and/or Lidar scanning systems located on the trailer and/or on a vehicle, and/or in dependence on data related to the operation of an actuation system used to move the trailer.
  • the control system may be configured to stop the trailer, for example by generating a stop signal, if it is determined that the target position is no longer reachable from the trailer's current position and/or if it is determined that the trailer is approaching or has reached an obstruction or unsuitable terrain.
  • the control system may also be configured to control a display screen to display the current position of the trailer to a user during independent movement of the trailer.
  • the control system may be configured to monitor deviations between the actual position of the trailer and the intended route, and to control the trailer to limit deviation from the intended route.
  • the control system may be configured to stop movement of the trailer, for example by generating a stop signal, if it is determined that the deviation between the actual position of the trailer and the intended route exceeds a threshold.
  • Monitoring of the position and/or movement of the trailer, monitoring of deviations, control of the trailer to limit deviation, and/or the generation of stop signals may be performed by a trailer controller provided on the trailer, or alternatively by a control module provided on a vehicle that may be operated to tow the trailer.
  • the control system may comprise a first control module that is configured to calculate the route for the trailer between the initial position and the target position.
  • the first control module may be a control module of or for a vehicle that may be operated to tow the trailer.
  • the processing module(s) forming the first control module may be located on the vehicle (and not on the trailer), and may in some cases be provided at a plurality of separate locations within the vehicle.
  • the first control module may additionally be configured to perform any or all of the additional steps described above in connection with the control system of the first aspect of the present invention. However, in other cases at least some of the additional steps described above may alternatively or additionally be performed by one or more separate control modules, which may be provided at different locations. For example, one or more of the additional steps described above may be performed by a trailer controller provided on the trailer. It will be appreciated that where the control module for calculating the route for the trailer is configured to be operated in combination with one or more separate control modules (for example a trailer controller provided on the trailer) the separate control modules are not required to be present in the control system as supplied.
  • a control module for controlling movement of a trailer independently of a towing vehicle using an actuation system provided on the trailer, wherein the control module is configured to establish a target position for the trailer, to calculate a route for the trailer between an initial position of the trailer and the target position, and to output a command signal for controlling the trailer to move along the calculated route from the initial position towards the target position.
  • the control module may be a control module of or for a vehicle that may be operated to tow the trailer.
  • the control module may be configured to output a command signal specifying the calculated route (for example to a trailer controller provided on a trailer) and/or to output a command signal for directly controlling an actuation system provided on a trailer to move the trailer along the calculated route.
  • the control module may additionally be configured to perform any or all of the steps described above in connection with the control system of the first aspect of the present invention.
  • a vehicle comprising a control system and/or a control module as described above. It will be appreciated that the vehicle is a powered vehicle such as a car that is self-propelling in normal operation. It will further be appreciated that the vehicle may be supplied separately to any trailer that may be controlled by the control system and/or the control module.
  • a trailer system comprising a trailer and a control system and/or a control module as described above, wherein the trailer is provided with an actuation system that is configured to move the trailer independently of a towing vehicle in accordance with the calculated route.
  • a trailer is a towable device that is configured to be towed by a powered vehicle (as opposed to being driven independently) in normal use.
  • the trailer may be, for example, a flatbed trailer or a caravan.
  • the trailer may generally include any number of wheels mounted on any number of axles.
  • the actuation system may comprise one or more motor units, which may be configured to rotate wheels of the trailer.
  • the actuation system may comprise a first motor unit that is configured to rotate a left side wheel of the trailer and a second motor unit that is configured to independently rotate a right side wheel of the trailer in order to control forward and backward movement and rotation of the trailer.
  • the trailer further includes one or more additional side wheels on each side thereof the actuation system may also include additional motor units for operating the additional side wheels.
  • the actuation system may optionally be operable to turn the trailer while the trailer remains at least substantially stationary (for example by rotating left and right side wheels of the trailer in opposite directions), as well as being operable to drive the trailer forwards and backwards along a straight or curved path.
  • the actuation system may comprise a motor unit that is configured to control a steering system provided on the trailer in order to control the direction of travel of the trailer.
  • the motor unit(s) may be configured to be controlled directly by the control module.
  • the motor unit(s) may be configured to be controlled by a separate trailer controller, which may be provided in the trailer and may be configured to control the motor unit(s) to move the trailer in accordance with a calculated route that has been communicated to the trailer controller.
  • a method of moving a trailer independently of a towing vehicle comprising: operating a control module to calculate a route for the trailer between an initial position and an identified target position for the trailer; and operating an actuation system comprising at least one motor unit provided on the trailer to move the trailer along the calculated route towards the identified target position.
  • the control module used to calculate the route may be provided on a vehicle that may be operated to tow the trailer.
  • the method may comprise outputting a command signal for controlling the trailer to move along the calculated route to the trailer, and controlling the actuation system to move the trailer along the calculated route in dependence on the received command signal.
  • the command signal may specify the calculated route and/or directly control the actuation system.
  • the command signal may be sent from a vehicle that may be operated to tow the trailer.
  • the method may be performed using a control system, control module, vehicle or trailer system as described above, and may include any steps associated with the normal operation of such a control system, control module, vehicle or trailer system.
  • Figure 1 schematically illustrates a vehicle and trailer system in accordance with an embodiment of the present invention
  • Figure 2 provides a flow chart of the main steps associated with controlling independent movement of a trailer in accordance with an embodiment of the present invention
  • Figure 3a schematically illustrates a plan view of a trailer in an initial position from which it is desired to move the trailer into a target position;
  • Figures 3b and 3c schematically illustrate a display screen displaying a model of a region surrounding the trailer of Figure 3a;
  • Figure 3d schematically illustrates a plan view of the trailer of Figure 3a having been successfully moved into the target position.
  • FIG. 1 schematically illustrates a powered or self-propelling vehicle 100 (for example a car) and a trailer 200 (for example a caravan).
  • vehicle 100 and the trailer 200 are each provided with conventional hitch elements 101 , 201 via which the trailer 200 may be coupled to the vehicle 100 in use.
  • the trailer 200 has a pair of main wheels 202a, 202b on which the trailer rests in normal use, and a retractable and/or detachable jockey wheel (not illustrated) at the hitch element 201 for supporting the front end of the trailer 200 when the trailer 200 is not coupled to a vehicle.
  • the trailer 200 is designed to be towed by a powered vehicle in normal use. However, the trailer 200 is additionally provided with a trailer mover system or actuation system 203 for facilitating movement of the trailer 200 independently of a towing vehicle.
  • the actuation system 203 includes a pair of motor units 203a, 203b that are each controlled by a trailer controller 20 (described below). Each motor unit 203a, 203b is configured to independently rotate a respective one of the trailer main wheels 202a, 202b.
  • the motor units 203a, 203b may be configured to act directly on the trailer wheels 202a, 202b, for example using powered rollers that are engageable with the radially outer surfaces of the wheels 202a, 202b, or alternatively to drive a pair of axles (not illustrated) on which the wheels 202a, 202b are respectively mounted.
  • the present invention provides a control system 1 for controlling movement of the trailer 200 independently of a towing vehicle in an independent trailer parking mode of operation.
  • the control system 1 is formed by a first control module 10 (hereafter referred to as “the control module 10") provided within the vehicle 100 and a second control module 20 (hereafter referred to as “the trailer controller 20") provided on the trailer 200.
  • the control module 10 is configured to enable a user of the vehicle 100 to specify a target position for the trailer 200, and to calculate a route for the trailer 200 between its initial position and the user-specified target position.
  • the trailer controller 20 is configured to receive a command signal from the control module 10 specifying the calculated route, and to control operation of the motor units 203a, 203b to move the trailer 200 towards the target position in accordance with the received calculated route.
  • the control module 10 may be provided as part of the vehicle 100 as originally manufactured and sold.
  • the trailer controller 20 and/or the actuation system 203 may be provided as part of the trailer 200 as originally manufactured and sold, or alternatively may be supplied separately to the trailer 200 and retrofitted to the trailer 200.
  • the trailer controller 20 (and optionally also the actuation system 203) may be supplied by the manufacturer of the vehicle 100.
  • control system 1 Use of the control system 1 to control independent movement of the trailer 200 will now be described.
  • the main steps associated with controlling movement of the trailer 200 as described below are summarised in the flow chart illustrated in Figure 2.
  • Figure 3a schematically illustrates a plan view of the trailer 200 in an initial position A from which it is desired to move the trailer 200 into a target position B.
  • the region surrounding the trailer 200 and the target position B includes a bush X, a wall Y, and a region of steep terrain Z.
  • a user of the vehicle 100 first activates an independent trailer parking mode for the trailer 200 using the vehicle controls, for example by operating an in-vehicle human machine interface (HMI) unit 102 including a touch screen display 103 (Step 1 ).
  • the control module 10 receives sensor data related to the region surrounding the trailer from a plurality of vehicle sensors 105 located on the vehicle 100 and a plurality of trailer sensors 205 located on the trailer 200 (Step 2).
  • the sensor data may be provided, for example, by one or more parking sensors, proximity sensors, cameras, radar scanning systems and/or Lidar scanning systems, which may be present on the vehicle 100 and/or the trailer 200 as originally manufactured.
  • the control module 10 then processes the received sensor data and generates a model of the region surrounding the trailer 200 in dependence on the received sensor data at a model generation module 1 1 (Step 3).
  • the model may take the form of a 2-dimensional map or alternatively a 3-dimensional model.
  • the control module 10 is configured to establish the initial position of the trailer 100, and also to identify obstructions (such as buildings, walls, bollards, vehicles, people and other trailers) and unsuitable terrain (such as terrain with a steep gradient or an unacceptably soft or rough surface).
  • the control module 10 is therefore able to include the initial position of the trailer 200 and the positions of obstructions X, Y and unsuitable terrain Z in the model.
  • the control module 10 controls the display screen 103 of the HMI unit 102 to display the model to the vehicle user (Step 4).
  • Figure 3b schematically illustrates an example of a model 300 being displayed to a user on the display screen 103, including the position of the vehicle 100, the initial position A of the trailer 200, and the positions of identified obstructions X, Y and unsuitable terrain Z.
  • the user is then able to select a desired destination or target position B for the trailer 200 in the model 300, including a desired location and a desired orientation for the trailer 200, for example by manually selecting a target position on the touch screen display 103 or by operating a separate control element (Step 5).
  • the control module 10 may additionally be configured to independently identify one or more possible target positions for the trailer 200 which the user may select and/or confirm.
  • the desired target position B is highlighted on the model 300, the user then confirms and sets the target position B.
  • the control module 10 is configured to inhibit the selection of a target position B in a location that is occupied by an obstruction X, Y or on unsuitable terrain Z.
  • the control module 10 calculates a route for the trailer 200 through the model 300 from the initial position A to the target position B at a route calculation module 12 (Step 6).
  • the control module 10 calculates the route to avoid any identified obstructions X, Y and unsuitable terrain Z.
  • the calculated route 301 is then displayed to the user as an overlay on the model 300 for confirmation, as schematically illustrated in Figure 3c.
  • the control module 10 may calculate and display a plurality of different possible routes between the initial position A and the target position B, in which case the user may be able to select which of the possible routes should be used.
  • Figure 3c illustrates a calculated route including only straight sections. However, the control module 10 may also be configured to calculate routes including one or more curved sections.
  • the control module 10 then generates a command signal 10' specifying the calculated route, which is transmitted to the trailer controller 20 using a wireless communications protocol, for example Wi-Fi or a protocol based thereon, as illustrated in Figure 1 (Step 7).
  • a wireless communications protocol for example Wi-Fi or a protocol based thereon, as illustrated in Figure 1 (Step 7).
  • wireless communication between the control module 10 and the trailer controller 20 may be performed using any suitable wireless communications protocol, examples of which will be known to the skilled person.
  • the trailer controller 20 receives the command signal 10' generated by the control module 10, and a motor activation module 21 then controls operation of the motor units 203a, 203b of the actuation system 203 to move the trailer 200 towards the target position B in accordance with the route 301 specified in the command signal 10' (Step 8).
  • the trailer controller 20 will control the motor units 203a, 203b to initially rotate the trailer main wheels 202a, 202b together to reverse the trailer 200 away from its initial position A, then rotate the trailer main wheels 202a, 202b in opposite directions to turn the trailer 200 towards the target position B, and then rotate the trailer main wheels 202a, 202b together to reverse the trailer 200 into the target position B.
  • the trailer controller 20 is configured to control movement of the trailer 200 such that a central point of the trailer 200 is kept as close as possible to the calculated route.
  • the trailer controller 20 also monitors the position and/or movement of the trailer 200 using a monitoring module 22 (Step 9).
  • the position of the trailer 200 may be monitored relative to a reference point (for example the initial position A). Monitoring of the position and/or movement of the trailer 200 may be performed based on data related to the operation of the motor units 203a, 203b, and/or based on sensor data from the vehicle sensors 105 and/or trailer sensors 205.
  • the motor controller 20 controls operation of the motor units 203a, 203b to minimise deviations from the intended route 301 in dependence on the movement and/or position of the trailer 200 as determined by the monitoring module 22.
  • the trailer controller 20 may also be configured to automatically stop movement of the trailer 200 if the deviation between the actual position of the trailer 200 and the intended route 301 exceeds a threshold, if it is determined that the trailer 200 is approaching or has reached an obstruction X, Y or unsuitable terrain Z, or if it is determined that the target position B is no longer reachable from the trailer's current position.
  • the trailer controller 20 controls the motor units 203a, 203b to bring the trailer 200 to a stand-still, and may optionally activate a parking brake (not illustrated) provided on the trailer 200 (Step 10).
  • the present invention allows the trailer 200 to be moved quickly and efficiently into a desired position independently of any towing vehicle 100 with minimal input from a user of the trailer 200, including into positions that are difficult or impossible to reach while the trailer 200 remains coupled to a towing vehicle 100.
  • the target position is set manually by a user.
  • the control system may additionally be configured to independently identify one or more possible target positions for the trailer 200.
  • the control system may be configured to recognise a position in the model in which the trailer has previously been parked, and to identify the previous parking position as a possible target position.
  • the control system may be configured to recognise the position of a marker and to identify a possible target position in dependence on the position of the marker.
  • the possible target position may be identified in dependence on the position (including the location and/or orientation) of the marker relative to the vehicle, the trailer or the model of the region adjacent to the trailer.
  • a marker may be pre-arranged in or adjacent to a location in which a user plans to park a trailer in order to facilitate movement of the trailer into the desired location with the minimum required user intervention.
  • the independently identified target position(s) may optionally be displayed to a user for selection and/or confirmation before the independently identified target position is set as the target position for the trailer and independent movement of the trailer is initiated.
  • the automatic trailer parking procedure is initiated after the trailer has already been decoupled from the vehicle.
  • the automatic trailer parking procedure may be initiated while the trailer is still coupled to the vehicle.
  • the control system may be configured to provide an instruction to a user of the vehicle to decouple the trailer from the vehicle before initiating independent movement of the trailer (for example by displaying a decoupling instruction on the display screen of the HMI unit) and/or to automatically decouple the trailer from the vehicle before initiating independent movement of the trailer.
  • the control system may be configured to calculate an intermediate position into which the trailer should be manoeuvred while still coupled to the vehicle before being decoupled from the vehicle for independent movement into the target position.
  • control system may be configured to provide an instruction to a user of the vehicle to manoeuvre the trailer into the intermediate position (for example by displaying the intermediate position on the model and/or by providing steering instructions for manoeuvring the trailer into the intermediate position) and/or to automatically control movement of the vehicle (for example by controlling steering and/or acceleration and braking of the vehicle) in order to automatically move the trailer into the intermediate position.
  • the control system may be configured to recalculate the route for the trailer towards the target position after the trailer has been moved into an intermediate position while coupled to the vehicle.
  • independent steering of the trailer is controlled only by relative rotation of the main wheels of the trailer.
  • the actuation system provided on the trailer may include a steering motor unit that may be operated by the trailer controller to control a steering system provided on the trailer (for example an in-built steering system or a jockey wheel) in order to steer the trailer during independent movement.
  • control system comprises a first control module provided on the vehicle that is configured to generate a model of a region in proximity to the trailer and calculate a route for the trailer; and a separate trailer controller provide on the trailer that is configured to control operation of an actuation system in accordance with the calculated route and monitor the position and/or movement of the trailer.
  • a separate trailer controller provide on the trailer that is configured to control operation of an actuation system in accordance with the calculated route and monitor the position and/or movement of the trailer.
  • one or more of the steps associated with controlling independent movement of the trailer may be performed at a different location.
  • any one of the model generation module, the route calculation module, the motor activation module and the monitoring module may be located on the vehicle, on the trailer or on a portable device separate to the vehicle and the trailer.
  • a vehicle-based control module may be configured to generate a model of a region in proximity to the trailer, to calculate a route for the trailer towards a target position, and to directly control operation of an actuation system provided on the trailer in accordance with the calculated route, for example by sending command signals directly to motor units located on the trailer.
  • the trailer may instead simply include an actuation system that is controlled directly by the vehicle-based control module.
  • model of the region surrounding the trailer may be displayed to a user via a display screen separate to the vehicle, for example on a portable device such as a mobile phone or tablet device.
  • a display screen separate to the vehicle
  • a portable device such as a mobile phone or tablet device.

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Abstract

The present invention provides a control system for controlling movement of a trailer independently of a towing vehicle using an actuation system provided on the trailer. The control system is configured to generate a map or model of a region surrounding the trailer, to establish a user-specified target position for the trailer, to calculate a route for the trailer between an initial position of the trailer and the target position, and to control the trailer to move along the calculated route from the initial position towards the target position.

Description

Control System for Controlling a Trailer
TECHNICAL FIELD The present disclosure relates to a control system for controlling a trailer and particularly, but not exclusively, to a control system for controlling movement of a trailer independently of a vehicle. Aspects of the invention relate to a control system, to a control module, to a trailer system, to a vehicle, and to a method of moving a trailer. BACKGROUND
When a vehicle is used to manoeuvre a trailer, a driver of the vehicle may find it difficult to predict and control movement of the trailer. Various systems are known for assisting a driver with reversing with a trailer. For example, GB2447672 describes a system that calculates the hitch angle between a vehicle and a trailer, determines a predicted path for the trailer, and displays the predicted path to the driver as an overlay on a camera view to assist the driver with reversing manoeuvres. However, a driver may still struggle to control a trailer as desired, particularly when attempting to reverse the trailer into a desired parking location. In addition, moving a trailer into certain locations while coupled to a vehicle is not always possible.
It is known to provide a caravan with a mover system for moving the caravan independently of a vehicle. Caravan mover systems typically include a pair of motors that are arranged to turn left and right side wheels of the caravan, and a remote controller including forward, reverse, clockwise rotation and anticlockwise rotation buttons that may be operated by a user to guide the trailer as desired. This enables the caravan to be manoeuvred into positions that would be difficult or impossible to achieve with the caravan coupled to a vehicle. However, such systems require skill and constant attention from a user during operation, and user error may result in the caravan colliding with an obstacle or becoming stuck on unsuitable terrain.
It is an aim of the present invention to address disadvantages associated with the prior art. SUMMARY OF THE INVENTION
According to an aspect of the present invention there is provided a control system for controlling movement of a trailer independently of a towing vehicle using an actuation system provided on the trailer, wherein the control system is configured to establish a target position for the trailer, to calculate a route for the trailer between an initial position of the trailer and the target position, and to control the trailer to move along the calculated route from the initial position towards the target position. It will be appreciated that independent movement of a trailer means movement independently of a towing vehicle to which the trailer may be coupled in use.
The present invention allows a trailer to be quickly and efficiently moved into a desired target position with minimal input from a user of the trailer beyond selection or confirmation of the target position. The invention may be particularly advantageous for moving a trailer into a location that may be difficult or impossible to reach while the trailer remains coupled to a vehicle used to tow the trailer.
It will be appreciated that the control system may comprise a plurality of separate processing modules configured to perform the various steps associated with establishing the initial position and the target position, and calculating the route between the initial position and the target position. It will further be appreciated that the processing modules forming the control system may be provided at a plurality of separate locations, including locations split between the trailer, a vehicle associated with the trailer, and a portable device separate to the trailer and the vehicle such as a mobile phone or tablet device.
The control system may be configured to generate a command signal specifying the calculated route. The control system may be configured to transmit the command signal specifying the calculated route to a trailer controller, which may be configured to control operation of the actuation system provided on the trailer to move the trailer in dependence on the received calculated route. The trailer controller may be provided on the trailer. The command signal specifying the calculated route may be transmitted to the trailer controller from a control module that is configured to calculate the route, which may optionally be located on a vehicle that may be operated to tow the trailer. Alternatively, or in addition, the control system may be configured to generate a command signal for directly controlling the actuation system provided on the trailer to move the trailer along the calculated route. The command signal for directly controlling the actuation system may be transmitted to the actuation system from a control module that is configured to calculate the route, which may optionally be located on a vehicle that may be operated to tow the trailer. In this case one or more motor units of the actuation system provided on the trailer may be directly controlled by the control module provided on the vehicle, and a separate trailer controller module on the trailer may not be necessary.
The control system may be configured to generate a model of a region in proximity to the trailer. The control system may further be configured to calculate the route between the initial position and the target position through the model. The model may comprise a 3-dimensional model and/or a 2-dimensional map.
The control system may be configured to receive sensor data related to the region in proximity to the trailer, and to generate the model in dependence on the received sensor data. The sensor data may include data from one or more sensors located on the trailer and/or one or more sensors located on a vehicle. By using sensor data from existing sensors provided in the trailer and/or the vehicle as originally manufactured it is possible to minimise the cost of the control system, although in some cases one or more sensors may be added to the trailer and/or the vehicle in order to improve performance of the control system. The sensor data may comprise data from one or more parking sensors, proximity sensors, cameras, radar scanning systems and/or Lidar scanning systems. The sensor data may include raw sensor data and/or processed sensor data.
The control system may be configured to control a display screen to display the model of the region in proximity to the trailer to a user. The display screen may be provided, for example, in the trailer, in a vehicle associated with the trailer, or in a portable device such as a mobile phone or tablet device. The control system may be configured to establish the initial position of the trailer with respect to the model, and the initial position of the trailer may be displayed to a user as part of the model. The control system may be configured to establish the target position for the trailer in dependence on a position specified by a user. The user-specified position may be set with respect to the model as displayed to the user, for example by operating a control element to highlight the desired position for the trailer with respect to the model. Alternatively, or in addition, the control system may be configured to independently identify possible target positions for the trailer. For example, the control system may be configured to recognise a position in which the trailer has previously been parked and to identify the previous parking position as a possible target position. As another example, the control system may be configured to recognise the position of a marker and to identify a possible target position in dependence on the position of the marker. In this case the control system may be configured to suggest one or more independently identified target positions to a user for selection and/or confirmation before initiating movement of the trailer.
The target position may include location and/or orientation data.
The control system may be configured to identify impermissible target positions for the trailer. Impermissible target positions may include, for example, locations occupied by one or more obstructions, locations on unsuitable terrain and/or locations that cannot be reached from the trailer's initial position. Unsuitable terrain may include, for example, terrain with a steep gradient and/or terrain with an unacceptably soft or uneven surface. The control system may be configured to inhibit the selection of an impermissible target position.
The control system may be configured to identify obstructions and/or unsuitable terrain in the region in proximity to the trailer, and to calculate the route for the trailer between the initial position and the target position to avoid identified obstructions and/or unsuitable terrain. Identifiable obstructions may include, for example, buildings, walls, bollards, vehicles, other trailers, and people.
The control system may be configured to control a display screen to display the calculated route to a user. The calculated route may, for example, be displayed as an overlay on the model as displayed to the user. The control system may be configured to require confirmation of the calculated route from a user before initiating movement of the trailer along the calculated route. The control system may be configured to calculate a plurality of possible routes between the initial position and the target position, and to enable a user to select the route to be followed by the trailer from the plurality of calculated routes.
The control system may be configured to monitor the position of the trailer and/or movement of the trailer as the trailer is moved towards the target position. The control system may, for example, be configured to monitor the position of the trailer and/or movement of the trailer in dependence on sensor data from one or more sensors such as parking sensors, proximity sensors, cameras, radar scanning systems and/or Lidar scanning systems located on the trailer and/or on a vehicle, and/or in dependence on data related to the operation of an actuation system used to move the trailer. The control system may be configured to stop the trailer, for example by generating a stop signal, if it is determined that the target position is no longer reachable from the trailer's current position and/or if it is determined that the trailer is approaching or has reached an obstruction or unsuitable terrain. The control system may also be configured to control a display screen to display the current position of the trailer to a user during independent movement of the trailer.
The control system may be configured to monitor deviations between the actual position of the trailer and the intended route, and to control the trailer to limit deviation from the intended route. The control system may be configured to stop movement of the trailer, for example by generating a stop signal, if it is determined that the deviation between the actual position of the trailer and the intended route exceeds a threshold.
Monitoring of the position and/or movement of the trailer, monitoring of deviations, control of the trailer to limit deviation, and/or the generation of stop signals may be performed by a trailer controller provided on the trailer, or alternatively by a control module provided on a vehicle that may be operated to tow the trailer.
The control system may comprise a first control module that is configured to calculate the route for the trailer between the initial position and the target position. The first control module may be a control module of or for a vehicle that may be operated to tow the trailer. In this case the processing module(s) forming the first control module may be located on the vehicle (and not on the trailer), and may in some cases be provided at a plurality of separate locations within the vehicle.
The first control module may additionally be configured to perform any or all of the additional steps described above in connection with the control system of the first aspect of the present invention. However, in other cases at least some of the additional steps described above may alternatively or additionally be performed by one or more separate control modules, which may be provided at different locations. For example, one or more of the additional steps described above may be performed by a trailer controller provided on the trailer. It will be appreciated that where the control module for calculating the route for the trailer is configured to be operated in combination with one or more separate control modules (for example a trailer controller provided on the trailer) the separate control modules are not required to be present in the control system as supplied.
According to a further aspect of the present invention there is provided a control module for controlling movement of a trailer independently of a towing vehicle using an actuation system provided on the trailer, wherein the control module is configured to establish a target position for the trailer, to calculate a route for the trailer between an initial position of the trailer and the target position, and to output a command signal for controlling the trailer to move along the calculated route from the initial position towards the target position. The control module may be a control module of or for a vehicle that may be operated to tow the trailer. The control module may be configured to output a command signal specifying the calculated route (for example to a trailer controller provided on a trailer) and/or to output a command signal for directly controlling an actuation system provided on a trailer to move the trailer along the calculated route. The control module may additionally be configured to perform any or all of the steps described above in connection with the control system of the first aspect of the present invention.
According to a further aspect of the present invention there is provided a vehicle comprising a control system and/or a control module as described above. It will be appreciated that the vehicle is a powered vehicle such as a car that is self-propelling in normal operation. It will further be appreciated that the vehicle may be supplied separately to any trailer that may be controlled by the control system and/or the control module.
According to a further aspect of the present invention there is provided a trailer system comprising a trailer and a control system and/or a control module as described above, wherein the trailer is provided with an actuation system that is configured to move the trailer independently of a towing vehicle in accordance with the calculated route. It will be appreciated that a trailer is a towable device that is configured to be towed by a powered vehicle (as opposed to being driven independently) in normal use. The trailer may be, for example, a flatbed trailer or a caravan. The trailer may generally include any number of wheels mounted on any number of axles. The actuation system may comprise one or more motor units, which may be configured to rotate wheels of the trailer. For example, the actuation system may comprise a first motor unit that is configured to rotate a left side wheel of the trailer and a second motor unit that is configured to independently rotate a right side wheel of the trailer in order to control forward and backward movement and rotation of the trailer. Where the trailer further includes one or more additional side wheels on each side thereof the actuation system may also include additional motor units for operating the additional side wheels. The actuation system may optionally be operable to turn the trailer while the trailer remains at least substantially stationary (for example by rotating left and right side wheels of the trailer in opposite directions), as well as being operable to drive the trailer forwards and backwards along a straight or curved path. In some cases the actuation system may comprise a motor unit that is configured to control a steering system provided on the trailer in order to control the direction of travel of the trailer. The motor unit(s) may be configured to be controlled directly by the control module. Alternatively the motor unit(s) may be configured to be controlled by a separate trailer controller, which may be provided in the trailer and may be configured to control the motor unit(s) to move the trailer in accordance with a calculated route that has been communicated to the trailer controller. According to a further aspect of the present invention there is provided a method of moving a trailer independently of a towing vehicle, the method comprising: operating a control module to calculate a route for the trailer between an initial position and an identified target position for the trailer; and operating an actuation system comprising at least one motor unit provided on the trailer to move the trailer along the calculated route towards the identified target position.
The control module used to calculate the route may be provided on a vehicle that may be operated to tow the trailer.
The method may comprise outputting a command signal for controlling the trailer to move along the calculated route to the trailer, and controlling the actuation system to move the trailer along the calculated route in dependence on the received command signal. The command signal may specify the calculated route and/or directly control the actuation system. The command signal may be sent from a vehicle that may be operated to tow the trailer.
The method may be performed using a control system, control module, vehicle or trailer system as described above, and may include any steps associated with the normal operation of such a control system, control module, vehicle or trailer system.
Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and/or incorporate any feature of any other claim although not originally claimed in that manner. BRIEF DESCRIPTION OF THE DRAWINGS
One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:
Figure 1 schematically illustrates a vehicle and trailer system in accordance with an embodiment of the present invention;
Figure 2 provides a flow chart of the main steps associated with controlling independent movement of a trailer in accordance with an embodiment of the present invention;
Figure 3a schematically illustrates a plan view of a trailer in an initial position from which it is desired to move the trailer into a target position;
Figures 3b and 3c schematically illustrate a display screen displaying a model of a region surrounding the trailer of Figure 3a; and
Figure 3d schematically illustrates a plan view of the trailer of Figure 3a having been successfully moved into the target position.
DETAILED DESCRIPTION
Figure 1 schematically illustrates a powered or self-propelling vehicle 100 (for example a car) and a trailer 200 (for example a caravan). The vehicle 100 and the trailer 200 are each provided with conventional hitch elements 101 , 201 via which the trailer 200 may be coupled to the vehicle 100 in use. The trailer 200 has a pair of main wheels 202a, 202b on which the trailer rests in normal use, and a retractable and/or detachable jockey wheel (not illustrated) at the hitch element 201 for supporting the front end of the trailer 200 when the trailer 200 is not coupled to a vehicle.
The trailer 200 is designed to be towed by a powered vehicle in normal use. However, the trailer 200 is additionally provided with a trailer mover system or actuation system 203 for facilitating movement of the trailer 200 independently of a towing vehicle. The actuation system 203 includes a pair of motor units 203a, 203b that are each controlled by a trailer controller 20 (described below). Each motor unit 203a, 203b is configured to independently rotate a respective one of the trailer main wheels 202a, 202b. The motor units 203a, 203b may be configured to act directly on the trailer wheels 202a, 202b, for example using powered rollers that are engageable with the radially outer surfaces of the wheels 202a, 202b, or alternatively to drive a pair of axles (not illustrated) on which the wheels 202a, 202b are respectively mounted.
The present invention provides a control system 1 for controlling movement of the trailer 200 independently of a towing vehicle in an independent trailer parking mode of operation. In the present embodiment, the control system 1 is formed by a first control module 10 (hereafter referred to as "the control module 10") provided within the vehicle 100 and a second control module 20 (hereafter referred to as "the trailer controller 20") provided on the trailer 200. The control module 10 is configured to enable a user of the vehicle 100 to specify a target position for the trailer 200, and to calculate a route for the trailer 200 between its initial position and the user-specified target position. The trailer controller 20 is configured to receive a command signal from the control module 10 specifying the calculated route, and to control operation of the motor units 203a, 203b to move the trailer 200 towards the target position in accordance with the received calculated route.
The control module 10 may be provided as part of the vehicle 100 as originally manufactured and sold. The trailer controller 20 and/or the actuation system 203 may be provided as part of the trailer 200 as originally manufactured and sold, or alternatively may be supplied separately to the trailer 200 and retrofitted to the trailer 200. In some cases the trailer controller 20 (and optionally also the actuation system 203) may be supplied by the manufacturer of the vehicle 100.
Use of the control system 1 to control independent movement of the trailer 200 will now be described. The main steps associated with controlling movement of the trailer 200 as described below are summarised in the flow chart illustrated in Figure 2.
Figure 3a schematically illustrates a plan view of the trailer 200 in an initial position A from which it is desired to move the trailer 200 into a target position B. The region surrounding the trailer 200 and the target position B includes a bush X, a wall Y, and a region of steep terrain Z.
In use, a user of the vehicle 100 first activates an independent trailer parking mode for the trailer 200 using the vehicle controls, for example by operating an in-vehicle human machine interface (HMI) unit 102 including a touch screen display 103 (Step 1 ). The control module 10 then receives sensor data related to the region surrounding the trailer from a plurality of vehicle sensors 105 located on the vehicle 100 and a plurality of trailer sensors 205 located on the trailer 200 (Step 2). The sensor data may be provided, for example, by one or more parking sensors, proximity sensors, cameras, radar scanning systems and/or Lidar scanning systems, which may be present on the vehicle 100 and/or the trailer 200 as originally manufactured. The control module 10 then processes the received sensor data and generates a model of the region surrounding the trailer 200 in dependence on the received sensor data at a model generation module 1 1 (Step 3). The model may take the form of a 2-dimensional map or alternatively a 3-dimensional model.
The control module 10 is configured to establish the initial position of the trailer 100, and also to identify obstructions (such as buildings, walls, bollards, vehicles, people and other trailers) and unsuitable terrain (such as terrain with a steep gradient or an unacceptably soft or rough surface). The control module 10 is therefore able to include the initial position of the trailer 200 and the positions of obstructions X, Y and unsuitable terrain Z in the model. Once the model of the region surrounding the trailer 200 has been generated, the control module 10 then controls the display screen 103 of the HMI unit 102 to display the model to the vehicle user (Step 4). Figure 3b schematically illustrates an example of a model 300 being displayed to a user on the display screen 103, including the position of the vehicle 100, the initial position A of the trailer 200, and the positions of identified obstructions X, Y and unsuitable terrain Z.
The user is then able to select a desired destination or target position B for the trailer 200 in the model 300, including a desired location and a desired orientation for the trailer 200, for example by manually selecting a target position on the touch screen display 103 or by operating a separate control element (Step 5). In some embodiments the control module 10 may additionally be configured to independently identify one or more possible target positions for the trailer 200 which the user may select and/or confirm. When the desired target position B is highlighted on the model 300, the user then confirms and sets the target position B. The control module 10 is configured to inhibit the selection of a target position B in a location that is occupied by an obstruction X, Y or on unsuitable terrain Z.
Once the target position B for the trailer 200 has been selected and confirmed, the control module 10 then calculates a route for the trailer 200 through the model 300 from the initial position A to the target position B at a route calculation module 12 (Step 6). The control module 10 calculates the route to avoid any identified obstructions X, Y and unsuitable terrain Z. The calculated route 301 is then displayed to the user as an overlay on the model 300 for confirmation, as schematically illustrated in Figure 3c. In some cases the control module 10 may calculate and display a plurality of different possible routes between the initial position A and the target position B, in which case the user may be able to select which of the possible routes should be used. Figure 3c illustrates a calculated route including only straight sections. However, the control module 10 may also be configured to calculate routes including one or more curved sections.
Once the route 301 between the initial position A and the target position B has been confirmed, the control module 10 then generates a command signal 10' specifying the calculated route, which is transmitted to the trailer controller 20 using a wireless communications protocol, for example Wi-Fi or a protocol based thereon, as illustrated in Figure 1 (Step 7). It will be appreciated that wireless communication between the control module 10 and the trailer controller 20 may be performed using any suitable wireless communications protocol, examples of which will be known to the skilled person.
The trailer controller 20 receives the command signal 10' generated by the control module 10, and a motor activation module 21 then controls operation of the motor units 203a, 203b of the actuation system 203 to move the trailer 200 towards the target position B in accordance with the route 301 specified in the command signal 10' (Step 8). For the example route illustrated in Figure 3c, the trailer controller 20 will control the motor units 203a, 203b to initially rotate the trailer main wheels 202a, 202b together to reverse the trailer 200 away from its initial position A, then rotate the trailer main wheels 202a, 202b in opposite directions to turn the trailer 200 towards the target position B, and then rotate the trailer main wheels 202a, 202b together to reverse the trailer 200 into the target position B. The trailer controller 20 is configured to control movement of the trailer 200 such that a central point of the trailer 200 is kept as close as possible to the calculated route. The trailer controller 20 also monitors the position and/or movement of the trailer 200 using a monitoring module 22 (Step 9). The position of the trailer 200 may be monitored relative to a reference point (for example the initial position A). Monitoring of the position and/or movement of the trailer 200 may be performed based on data related to the operation of the motor units 203a, 203b, and/or based on sensor data from the vehicle sensors 105 and/or trailer sensors 205. The motor controller 20 controls operation of the motor units 203a, 203b to minimise deviations from the intended route 301 in dependence on the movement and/or position of the trailer 200 as determined by the monitoring module 22. The trailer controller 20 may also be configured to automatically stop movement of the trailer 200 if the deviation between the actual position of the trailer 200 and the intended route 301 exceeds a threshold, if it is determined that the trailer 200 is approaching or has reached an obstruction X, Y or unsuitable terrain Z, or if it is determined that the target position B is no longer reachable from the trailer's current position. Once the trailer 200 has been manoeuvred into the target position B, as schematically illustrated in Figure 3d, the trailer controller 20 controls the motor units 203a, 203b to bring the trailer 200 to a stand-still, and may optionally activate a parking brake (not illustrated) provided on the trailer 200 (Step 10). In this way the present invention allows the trailer 200 to be moved quickly and efficiently into a desired position independently of any towing vehicle 100 with minimal input from a user of the trailer 200, including into positions that are difficult or impossible to reach while the trailer 200 remains coupled to a towing vehicle 100. In the above-described example the target position is set manually by a user. However, as described above, the control system may additionally be configured to independently identify one or more possible target positions for the trailer 200. For example, the control system may be configured to recognise a position in the model in which the trailer has previously been parked, and to identify the previous parking position as a possible target position. In addition, the control system may be configured to recognise the position of a marker and to identify a possible target position in dependence on the position of the marker. The possible target position may be identified in dependence on the position (including the location and/or orientation) of the marker relative to the vehicle, the trailer or the model of the region adjacent to the trailer. Such a marker may be pre-arranged in or adjacent to a location in which a user plans to park a trailer in order to facilitate movement of the trailer into the desired location with the minimum required user intervention.
Where the control system is configured to independently identify one or more possible target positions for the trailer, the independently identified target position(s) may optionally be displayed to a user for selection and/or confirmation before the independently identified target position is set as the target position for the trailer and independent movement of the trailer is initiated.
Many modifications may be made to the above examples without departing from the scope of the present invention as defined in the accompanying claims.
For example, in the above-described embodiment the automatic trailer parking procedure is initiated after the trailer has already been decoupled from the vehicle. However, in other cases the automatic trailer parking procedure may be initiated while the trailer is still coupled to the vehicle. In this case the control system may be configured to provide an instruction to a user of the vehicle to decouple the trailer from the vehicle before initiating independent movement of the trailer (for example by displaying a decoupling instruction on the display screen of the HMI unit) and/or to automatically decouple the trailer from the vehicle before initiating independent movement of the trailer. In addition, the control system may be configured to calculate an intermediate position into which the trailer should be manoeuvred while still coupled to the vehicle before being decoupled from the vehicle for independent movement into the target position. In this case the control system may be configured to provide an instruction to a user of the vehicle to manoeuvre the trailer into the intermediate position (for example by displaying the intermediate position on the model and/or by providing steering instructions for manoeuvring the trailer into the intermediate position) and/or to automatically control movement of the vehicle (for example by controlling steering and/or acceleration and braking of the vehicle) in order to automatically move the trailer into the intermediate position. The control system may be configured to recalculate the route for the trailer towards the target position after the trailer has been moved into an intermediate position while coupled to the vehicle.
In addition, in the above-described embodiment independent steering of the trailer is controlled only by relative rotation of the main wheels of the trailer. However, in other embodiments the actuation system provided on the trailer may include a steering motor unit that may be operated by the trailer controller to control a steering system provided on the trailer (for example an in-built steering system or a jockey wheel) in order to steer the trailer during independent movement.
In addition, in the above-described embodiment, the control system comprises a first control module provided on the vehicle that is configured to generate a model of a region in proximity to the trailer and calculate a route for the trailer; and a separate trailer controller provide on the trailer that is configured to control operation of an actuation system in accordance with the calculated route and monitor the position and/or movement of the trailer. However, in other embodiments one or more of the steps associated with controlling independent movement of the trailer may be performed at a different location. For example, any one of the model generation module, the route calculation module, the motor activation module and the monitoring module may be located on the vehicle, on the trailer or on a portable device separate to the vehicle and the trailer. In some cases the processors forming one or more of the model generation module, the route calculation module, the motor activation module and the monitoring module may even be split between two or more of the vehicle, the trailer and a portable device separate to the vehicle and the trailer. In one particular alternative embodiment a vehicle-based control module may be configured to generate a model of a region in proximity to the trailer, to calculate a route for the trailer towards a target position, and to directly control operation of an actuation system provided on the trailer in accordance with the calculated route, for example by sending command signals directly to motor units located on the trailer. In this case no control modules are required on the trailer, and the trailer may instead simply include an actuation system that is controlled directly by the vehicle-based control module.
In other embodiments the model of the region surrounding the trailer may be displayed to a user via a display screen separate to the vehicle, for example on a portable device such as a mobile phone or tablet device. Other modifications and variations will also be apparent to the skilled person.

Claims

A control system for controlling movement of a trailer independently of a towing vehicle using an actuation system provided on the trailer, wherein the control system is configured to establish a target position for the trailer, to calculate a route for the trailer between an initial position of the trailer and the target position, and to control the trailer to move along the calculated route from the initial position towards the target position.
A control system according to claim 1 , wherein the control system is configured to generate a command signal specifying the calculated route.
A control system according to claim 1 or claim 2, wherein control system is configured to generate a command signal for directly controlling the actuation system provided on the trailer to move the trailer along the calculated route.
A control system according to any preceding claim, wherein the control system is configured to generate a model of a region in proximity to the trailer, and to calculate the route between the initial position and the target position through the model.
A control system according to claim 4, wherein the control system is configured to receive sensor data related to the region in proximity to the trailer, and to generate the model in dependence on the received sensor data.
A control system according to claim 5, wherein the sensor data includes data from one or more sensors located on the trailer and/or one or more sensors located on a vehicle.
A control system according to claim 5 or claim 6, wherein the sensor data comprises data from one or more parking sensors, proximity sensors, cameras, radar scanning systems and/or Lidar scanning systems. A control system according to any of claims 4 to 7, wherein the control system is configured to control a display screen to display the model of the region in proximity to the trailer to a user.
A control system according to any preceding claim, wherein the control system is configured to establish the target position for the trailer in dependence on a position specified by a user.
A control system according to any preceding claim, wherein the control system is configured to identify impermissible target positions for the trailer.
A control system according to any preceding claim, wherein the control system is configured to identify obstructions and/or unsuitable terrain in the region in proximity to the trailer, and to calculate the route for the trailer between the initial position and the target position to avoid identified obstructions and/or unsuitable terrain.
A control system according to any preceding claim, wherein the control system is configured to control a display screen to display the calculated route to a user.
A control system according to any preceding claim, wherein the control system is configured to require confirmation of the calculated route from a user before initiating movement of the trailer along the calculated route.
A control system according to any preceding claim, wherein the control system is configured to monitor the position of the trailer and/or movement of the trailer as the trailer is moved towards the target position.
A control system according to claim 14, wherein the control system is configured to monitor deviations between the actual position of the trailer and the intended route, and to control the trailer to limit deviation from the intended route.
A control system according to any preceding claim, wherein the control system comprises a control module that is configured to calculate the route for the trailer between the initial position and the target position, wherein the control module is a control module of or for a vehicle that may be operated to tow the trailer.
A control module for controlling movement of a trailer independently of a towing vehicle using an actuation system provided on the trailer, wherein the control module is configured to establish a target position for the trailer, to calculate a route for the trailer between an initial position of the trailer and the target position, and to output a command signal for controlling the trailer to move along the calculated route from the initial position towards the target position.
A vehicle comprising a control system according to any of claims 1 to 16 and/or a control module according to claim 17.
A trailer system comprising a trailer and a control system according to any of claims 1 to 16 and/or a control module according to claim 17, wherein the trailer is provided with an actuation system that is configured to move the trailer independently of a towing vehicle in accordance with the calculated route.
A method of moving a trailer independently of a towing vehicle, the method comprising: operating a control module to calculate a route for the trailer between an initial position and an identified target position for the trailer; and operating an actuation system comprising at least one motor unit provided on the trailer to move the trailer along the calculated route towards the identified target position.
A method according to claim 19, wherein the control module used to calculate the route is provided on a vehicle that may be operated to tow the trailer.
A method according to claim 19 or claim 20, comprising outputting a command signal for controlling the trailer to move along the calculated route to the trailer, and controlling the actuation system to move the trailer along the calculated route in dependence on the received command signal. A non-transitory computer readable storage medium comprising computer readable instructions for a computer processor to carry out the method of any of claims 20 to 22.
PCT/EP2018/074504 2017-09-15 2018-09-11 Control system for controlling a trailer WO2019053017A1 (en)

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GB2566683A (en) 2019-03-27
DE112018005131T5 (en) 2020-06-18
GB201714855D0 (en) 2017-11-01

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