RU2584372C1 - Система и способ калибровки системы помощи при движении задним ходом транспортного средства с прицепом - Google Patents

Система и способ калибровки системы помощи при движении задним ходом транспортного средства с прицепом Download PDF

Info

Publication number
RU2584372C1
RU2584372C1 RU2015107876/28A RU2015107876A RU2584372C1 RU 2584372 C1 RU2584372 C1 RU 2584372C1 RU 2015107876/28 A RU2015107876/28 A RU 2015107876/28A RU 2015107876 A RU2015107876 A RU 2015107876A RU 2584372 C1 RU2584372 C1 RU 2584372C1
Authority
RU
Russia
Prior art keywords
vehicle
trailer
angle
coupling
deviation
Prior art date
Application number
RU2015107876/28A
Other languages
English (en)
Russian (ru)
Inventor
Эрик Майкл ЛАВОУИ
Original Assignee
Форд Глобал Технолоджис, ЛЛК
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
Priority claimed from US14/201,130 external-priority patent/US9290202B2/en
Application filed by Форд Глобал Технолоджис, ЛЛК filed Critical Форд Глобал Технолоджис, ЛЛК
Application granted granted Critical
Publication of RU2584372C1 publication Critical patent/RU2584372C1/ru

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • B62D13/06—Steering specially adapted for trailers for backing a normally drawn trailer
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/14—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by recording the course traversed by the object
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • 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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/22—Articulation angle, e.g. between tractor and trailer
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/14—Yaw

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
RU2015107876/28A 2014-03-07 2015-03-06 Система и способ калибровки системы помощи при движении задним ходом транспортного средства с прицепом RU2584372C1 (ru)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US14/201,130 2014-03-07
US14/201,130 US9290202B2 (en) 2011-04-19 2014-03-07 System and method of calibrating a trailer backup assist system

Publications (1)

Publication Number Publication Date
RU2584372C1 true RU2584372C1 (ru) 2016-05-20

Family

ID=53884205

Family Applications (1)

Application Number Title Priority Date Filing Date
RU2015107876/28A RU2584372C1 (ru) 2014-03-07 2015-03-06 Система и способ калибровки системы помощи при движении задним ходом транспортного средства с прицепом

Country Status (2)

Country Link
DE (1) DE102015204006B4 (de)
RU (1) RU2584372C1 (de)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111272194A (zh) * 2020-02-19 2020-06-12 北京大椽科技有限公司 一种拖挂车上陀螺仪校准方法
CN112074445A (zh) * 2018-06-20 2020-12-11 威伯科有限公司 用于具有拖车耦联器的商用车辆的方法及其设备和商用车辆以及为此的计算机程序产品
CN113815726A (zh) * 2020-06-03 2021-12-21 通用汽车环球科技运作有限责任公司 确定控制具有主动后轮转向的车辆的挂接角的***和方法
CN114981149A (zh) * 2019-10-25 2022-08-30 大陆自动驾驶美国有限责任公司 拖车直线倒车时用于车辆和拖车逆向辅助***的漂移稳定***和方法
RU2811766C1 (ru) * 2023-04-20 2024-01-17 Открытое Акционерное Общество "Российские Железные Дороги" Способ автоматической калибровки датчиков машинного зрения рельсового транспортного средства

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018117353A1 (de) * 2018-07-18 2020-01-23 Man Truck & Bus Se Verfahren zur Knickwinkelbestimmung bei einem Fahrzeuggespann
KR102634362B1 (ko) * 2019-04-22 2024-02-08 현대자동차주식회사 차량의 트레일러 인식 장치 및 방법

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1044534A1 (ru) * 1982-01-27 1983-09-30 Makhnov Evgenij G Рулевое управление многозвенного транспортного средства
US20050206226A1 (en) * 2004-03-18 2005-09-22 Ford Global Technologies, Llc Method and apparatus for controlling an automotive vehicle in a u-turn
WO2012103193A1 (en) * 2011-01-26 2012-08-02 Magna Electronics Inc. Rear vision system with trailer angle detection

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10312548B3 (de) 2003-03-21 2004-05-19 Audi Ag Kraftfahrzeug
DE102005045195B4 (de) 2004-09-24 2019-03-07 Continental Teves Ag & Co. Ohg Winkelmesser zum Messen des Knickwinkels zwischen einem Zugfahrzeug und einem Anhänger
GB2447672B (en) 2007-03-21 2011-12-14 Ford Global Tech Llc Vehicle manoeuvring aids

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1044534A1 (ru) * 1982-01-27 1983-09-30 Makhnov Evgenij G Рулевое управление многозвенного транспортного средства
US20050206226A1 (en) * 2004-03-18 2005-09-22 Ford Global Technologies, Llc Method and apparatus for controlling an automotive vehicle in a u-turn
WO2012103193A1 (en) * 2011-01-26 2012-08-02 Magna Electronics Inc. Rear vision system with trailer angle detection

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112074445A (zh) * 2018-06-20 2020-12-11 威伯科有限公司 用于具有拖车耦联器的商用车辆的方法及其设备和商用车辆以及为此的计算机程序产品
CN112074445B (zh) * 2018-06-20 2023-11-14 威伯科有限公司 用于具有拖车耦联器的商用车辆的方法、设备和商用车辆
CN114981149A (zh) * 2019-10-25 2022-08-30 大陆自动驾驶美国有限责任公司 拖车直线倒车时用于车辆和拖车逆向辅助***的漂移稳定***和方法
CN111272194A (zh) * 2020-02-19 2020-06-12 北京大椽科技有限公司 一种拖挂车上陀螺仪校准方法
CN111272194B (zh) * 2020-02-19 2023-08-25 北京大椽科技有限公司 一种拖挂车上陀螺仪校准方法
CN113815726A (zh) * 2020-06-03 2021-12-21 通用汽车环球科技运作有限责任公司 确定控制具有主动后轮转向的车辆的挂接角的***和方法
CN113815726B (zh) * 2020-06-03 2024-06-04 通用汽车环球科技运作有限责任公司 确定控制具有主动后轮转向的车辆的挂接角的***和方法
RU2811766C1 (ru) * 2023-04-20 2024-01-17 Открытое Акционерное Общество "Российские Железные Дороги" Способ автоматической калибровки датчиков машинного зрения рельсового транспортного средства

Also Published As

Publication number Publication date
DE102015204006B4 (de) 2021-07-29
DE102015204006A1 (de) 2015-09-10

Similar Documents

Publication Publication Date Title
RU2584372C1 (ru) Система и способ калибровки системы помощи при движении задним ходом транспортного средства с прицепом
US9981690B2 (en) Target-based trailer backup collision mitigation
US9233710B2 (en) Trailer backup assist system using gesture commands and method
RU2627219C2 (ru) Система помощи при движении транспортного средства задним ходом с прицепом
US9102272B2 (en) Trailer target monitoring system and method
US9296421B2 (en) Vehicle target identification using human gesture recognition
US9296423B2 (en) Maximum trailer angle determination and control for a trailer backup assist system
US9283892B2 (en) Method and system for monitoring placement of a target on a trailer
US9102271B2 (en) Trailer monitoring system and method
US10266023B2 (en) System to automate hitching a trailer
US8930140B2 (en) Trailer target placement assist system and method
US9926008B2 (en) Trailer backup assist system with waypoint selection
US9248858B2 (en) Trailer backup assist system
US9335162B2 (en) Trailer length estimation in hitch angle applications
US9969428B2 (en) Trailer backup assist system with waypoint selection
US9434414B2 (en) System and method for determining a hitch angle offset
US9290202B2 (en) System and method of calibrating a trailer backup assist system
US9335163B2 (en) Trailer length estimation in hitch angle applications
US9854209B2 (en) Display system utilizing vehicle and trailer dynamics
RU2600178C2 (ru) Система и способ оценки фактического угла сцепки между транспортным средством и прицепом
US20180043933A1 (en) Trailer wheel targetless trailer angle detection
US20140172232A1 (en) Sensor system and method for monitoring trailer hitch angle
US20140297129A1 (en) Trailer length estimation in hitch angle applications
US10112646B2 (en) Turn recovery human machine interface for trailer backup assist
US10962980B2 (en) System and methods for reverse braking during automated hitch alignment

Legal Events

Date Code Title Description
MM4A The patent is invalid due to non-payment of fees

Effective date: 20210307