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1. 发明授权

US11866033B2 Method for estimating an effective length of a first vehicle segment of a vehicle combination 有权
公开(公告)号：US11866033B2
公开(公告)日：2024-01-09
申请号：US17828234
申请日：2022-05-31
申请人： Volvo Truck Corporation
发明人： Daniel Persson
IPC分类号： B60W30/045 , B60W40/12 , G01B11/04 , G01B11/26
CPC分类号： B60W30/045 , B60W40/12 , G01B11/043 , G01B11/26 , B60W2300/145 , B60W2420/42 , B60W2520/22 , B60W2530/201 , B60W2540/18 , B60W2720/22
摘要： A method for estimating an effective length of a first vehicle segment of a vehicle combination, the vehicle combination comprising a towing vehicle which is connected to the first vehicle segment via a first articulation joint and a perception sensor mounted on one of the towing vehicle and the first vehicle segment and arranged to obtain an image of the other one of the towing vehicle and the first vehicle segment; the method comprising identifying that the vehicle combination is provided in a first steady vehicle state, identifying that a turning and driving manoeuvre is initiated, identifying when the vehicle combination reaches a second steady vehicle state, determining a time period required for driving the vehicle combination from the first steady vehicle state to the second steady vehicle state, and estimating the effective length by use of the time period, the specific angular change, and the specific speed.

2. 发明申请

US20180319401A1 TRAILER TOWING ASSISTANT FOR TIGHT SPOT REVERSAL 审中-公开
公开(公告)号：US20180319401A1
公开(公告)日：2018-11-08
申请号：US16032832
申请日：2018-07-11
申请人： Continental Automotive Systems, Inc.
发明人： Brandon Herzog , Jeremy McClain , Ibro Muharemovic
IPC分类号： B60W30/18 , G05D1/00 , G05D1/02
CPC分类号： B60W30/18036 , B60W2300/145 , B60W2530/14 , B60W2540/30 , B60W2720/22 , B62D13/06 , B62D15/0285 , G05D1/0088 , G05D1/0212 , G05D2201/0213
摘要： A method of controlling a vehicle-trailer unit includes recording, with an electronic control unit for a trailer assist system, a plurality of maneuvers of the vehicle-trailer unit as each maneuver is executed in an original direction of travel. The method also includes retrieving the recorded plurality of maneuvers in response to an initiating of a tight spot reversal feature for the trailer assist system. The method further includes instructing vehicle systems to perform the retrieved recorded plurality of maneuvers in the reverse order and direction of travel in which they were recorded.

3. 发明授权

US09026311B1 Trailer sway detection and method for reducing trailer sway utilizing trailer brakes 有权
标题翻译：拖车摇摆检测方法，采用拖车制动方式减少拖车摆动
公开(公告)号：US09026311B1
公开(公告)日：2015-05-05
申请号：US13800885
申请日：2013-03-13
申请人： Donald Pieronek , Alan Hoogenakker
发明人： Donald Pieronek , Alan Hoogenakker
IPC分类号： B60T7/20 , B60W10/18 , B60W10/22 , B62D47/00
CPC分类号： B60T7/20 , B60D1/30 , B60T8/1708 , B60T8/248 , B60T2230/06 , B60W10/18 , B60W10/184 , B60W2300/14 , B60W2520/22 , B60W2720/22 , B60Y2200/147
摘要： When a trailer is pulled by a tow vehicle where the trailer begins to sway to the left and right of the tow vehicle a large sway can result in loss of control of the trailer and or tow vehicle. The field of the present invention is a system and method of controlling a trailer sway which comprises determining the sway of the trailer utilizing an electronic sensor and independently applying the left and or right trailer brakes at varying levels to reduce trailer sway the traditional single braking signal power from the tow vehicle is separated into two independent braking signals for each of the left and right brakes. All brakes are applied whenever the traditional braking signal goes active where trailer battery power is utilized to independently activate the left and or right brakes during trailer sway.
摘要翻译：当拖车被牵引车牵引到牵引车左侧和右侧的拖车时，拖车可能导致拖车和拖车的失控。本发明的领域是一种控制拖车摇摆的系统和方法，其包括使用电子传感器确定拖车的摆动并且以不同的水平独立地施加左右拖车制动器以减少拖车摆动传统的单个制动信号来自拖车的动力被分成用于左右制动器中的每一个的两个独立的制动信号。只要传统的制动信号变得活跃，在拖车电池电力被用来独立地在拖车摆动期间激活左右制动器时，所有制动器都被应用。

4. 发明申请

US20140172232A1 SENSOR SYSTEM AND METHOD FOR MONITORING TRAILER HITCH ANGLE 审中-公开
标题翻译：传感器系统和监测拖车角度的方法
公开(公告)号：US20140172232A1
公开(公告)日：2014-06-19
申请号：US14188213
申请日：2014-02-24
申请人： Ford Global Technologies, LLC
发明人： Matt Y. Rupp , Shane Elwart , Roger Arnold Trombley
IPC分类号： B60W30/00
CPC分类号： B60W30/18036 , B60W2720/22 , B62D13/06
摘要： A sensor system and method for estimating a hitch angle of a trailer attached to a vehicle includes a primary sensor and a secondary sensor. The primary sensor has a camera that monitors a target on the trailer to determine a measured hitch angle. The secondary sensor monitors the trailer to determine an indicator of the hitch angle. The sensor system also includes a controller to steer the vehicle to attain a selected hitch angle when the measured hitch angle correlates with the indicator of the hitch angle.
摘要翻译：用于估计连接到车辆的拖车的牵引角的传感器系统和方法包括主传感器和次传感器。主传感器具有监视拖车上的目标以确定测量的牵引角的照相机。次级传感器监测拖车以确定牵引角度的指示器。传感器系统还包括控制器，当所测量的牵引角度与牵引角度的指标相关时，转向车辆以获得选定的牵引角度。

5. 发明申请

US20170320488A1 METHOD AND ARRANGEMENT FOR IMPROVING MANOEUVRABILITY OF A VEHICLE COMBINATION 审中-公开
公开(公告)号：US20170320488A1
公开(公告)日：2017-11-09
申请号：US15526418
申请日：2014-12-19
申请人： VOLVO TRUCK CORPORATION
发明人： Filip ALM , Andreas JANSSON , Leo LAINE
IPC分类号： B60W30/045 , B60W20/15 , B62D53/00 , B62D13/00 , B60K6/40 , B60K6/52 , B60K6/48
CPC分类号： B60W30/045 , B60K1/00 , B60K6/40 , B60K6/48 , B60K6/52 , B60K2001/001 , B60W20/15 , B60W30/02 , B60W2520/14 , B60W2540/18 , B60W2720/22 , B60W2720/403 , B60Y2200/148 , B60Y2200/92 , B60Y2300/045 , B62D13/00 , B62D53/005 , Y02T10/6221 , Y02T10/6265 , Y10S903/93 , Y10S903/951
摘要： An arrangement for improving manoeuvrability of a vehicle combination that includes a first vehicle unit, a second vehicle unit and a third vehicle unit interconnected by articulated joints, where the vehicle combination includes two driven axles and where each driven axle can be controlled independently, an arrangement for determining the articulation angel between the vehicle units, an arrangement for determining a steering wheel angle of the vehicle combination, an arrangement for determining the speed of the vehicle combination, an arrangement for determining the yaw rate of the vehicle units, and an arrangement for determining a delay value between the steering wheels of the vehicle combination and at least one articulated joint, where the arrangement is adapted to control a desired articulation angle of the articulated joints by coordinating the force ratio between the two driven axles by using the determined yaw rate of the vehicle units and the determined delay value.

6. 发明申请

US20160159348A1 MITIGATION OF INPUT DEVICE FAILURE AND MODE MANAGEMENT 有权
标题翻译：输入设备故障和模式管理的缓解
公开(公告)号：US20160159348A1
公开(公告)日：2016-06-09
申请号：US14562101
申请日：2014-12-05
申请人： Ford Global Technologies, LLC
发明人： Erick Michael Lavoie
IPC分类号： B60W30/10 , B60W10/20 , B60W10/18 , B60W50/02
CPC分类号： B60W30/10 , B60W10/18 , B60W10/20 , B60W30/18036 , B60W50/0205 , B60W2300/14 , B60W2520/22 , B60W2540/12 , B60W2540/18 , B60W2710/18 , B60W2710/20 , B60W2720/22 , B62D13/06
摘要： A trailer backup assist system includes a sensor that senses a hitch angle between a vehicle and a trailer. The trailer backup assist system also includes a steering input device that provides a backing path of the trailer. Further, the trailer backup assist system includes a controller that generates a steering command for the vehicle based on the hitch angle and the backing path. The controller generates a countermeasure for operating the vehicle when the steering input device fails to provide the desired backing path fails or the controller otherwise fails to sense the input signal from the steering input device.
摘要翻译：拖车后备辅助系统包括感测车辆和拖车之间的牵引角的传感器。拖车后备辅助系统还包括提供拖车的后退路径的转向输入装置。此外，拖车备用辅助系统包括基于牵引角度和后退路径生成车辆的转向命令的控制器。当转向输入装置不能提供期望的后退路径失效或控制器否则不能感测到来自转向输入装置的输入信号时，控制器产生用于操作车辆的对策。

7. 发明申请

US20160031482A1 TRAILER BACKUP ASSIST SYSTEM WITH ACTIVE TRAILER BRAKING FOR CURVATURE CONTROL 有权
标题翻译：具有主动拖拉机制动器的TRAILER备用辅助系统用于曲轴控制
公开(公告)号：US20160031482A1
公开(公告)日：2016-02-04
申请号：US14447006
申请日：2014-07-30
申请人： Ford Global Technologies, LLC
发明人： Erick Michael Lavoie
IPC分类号： B62D13/06 , B60W10/20 , B60W10/18
CPC分类号： B62D13/06 , B60W10/18 , B60W10/20 , B60W2520/06 , B60W2520/10 , B60W2520/22 , B60W2710/18 , B60W2710/207 , B60W2720/10 , B60W2720/22 , B62D15/0285
摘要： A trailer backup assist system for a vehicle, according to one embodiment, includes a trailer coupled with the vehicle. The trailer of the trailer backup assist system has a braking system. The trailer backup assist system also includes a sensor that senses a hitch angle between the vehicle and the trailer. In addition, the trailer backup assist system includes a steering input device that provides a desired curvature of the trailer. The trailer backup assist system further includes a controller generating a steering command based on the hitch angle for the vehicle to guide the trailer on the desired curvature and an actuation command for the braking system to reduce a rearward travel distance for the trailer to achieve the desired curvature.
摘要翻译：根据一个实施例，用于车辆的拖车备用辅助系统包括与车辆联接的拖车。拖车后备辅助系统的拖车具有制动系统。拖车后备辅助系统还包括感测车辆和拖车之间的牵引角的传感器。此外，拖车后备辅助系统包括提供拖车所需曲率的转向输入装置。拖车辅助辅助系统还包括一个控制器，该控制器基于车辆的牵引角产生一个转向指令以引导拖车在所需的曲率上，以及用于制动系统的致动指令，以减小拖车的向后行驶距离，以实现所需的曲率。

8. 发明申请

US20150210254A1 Trailer Sway Detection and Method for Reducing Trailer Sway Utilizing Trailer Brakes 有权
标题翻译：拖车摇摆检测及减速拖车制动器拖车制作方法
公开(公告)号：US20150210254A1
公开(公告)日：2015-07-30
申请号：US14681321
申请日：2015-04-08
申请人： Tuson RV Brakes, LLC
发明人： Donald Pieronek , Alan Hoogenakker
IPC分类号： B60T7/20 , B60T8/17 , B60D1/30
CPC分类号： B60T7/20 , B60D1/30 , B60T8/1708 , B60T8/248 , B60T2230/06 , B60W10/18 , B60W10/184 , B60W2300/14 , B60W2520/22 , B60W2720/22 , B60Y2200/147
摘要： When a trailer is pulled by a tow vehicle where the trailer begins to sway to the left and right of the tow vehicle a large sway can result in loss of control of the trailer and or tow vehicle. The field of the present invention is a system and method of controlling a trailer sway which comprises determining the sway of the trailer utilizing an electronic sensor and independently applying the left or right trailer brakes at varying levels to reduce trailer sway. The traditional single braking signal power from the tow vehicle is separated into two independent braking signals for each of the left and right brakes. All brakes are applied whenever the traditional braking signal goes active where trailer battery power is utilized to independently activate the left and or right brakes during trailer sway.
摘要翻译：当拖车被牵引车牵引到牵引车左侧和右侧的拖车时，拖车可能导致拖车和拖车的失控。本发明的领域是一种控制拖车摇摆的系统和方法，其包括利用电子传感器来确定拖车的摆动，并且以不同的水平独立地应用左或右拖车制动器以减少拖车摇摆。来自拖车的传统单制动信号功率被分成用于左右制动器中的每一个的两个独立的制动信号。只要传统的制动信号变得活跃，在拖车电池电力被用来独立地在拖车摆动期间激活左右制动器时，所有制动器都被应用。

9. 发明申请

US20140343793A1 TRAILER BACKUP ASSIST SYSTEM WITH NORMALIZED STEERING INPUT DEVICE FOR DIFFERENT TRAILERS 有权
标题翻译：具有用于不同拖拉机的正规化转向装置的拖车辅助辅助系统
公开(公告)号：US20140343793A1
公开(公告)日：2014-11-20
申请号：US14447102
申请日：2014-07-30
申请人： Ford Global Technologies, LLC
发明人： Erick Michael Lavoie , Bradley G. Hochrein
IPC分类号： B62D13/06
CPC分类号： B62D13/06 , B60K2350/102 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/18036 , B60W2300/14 , B60W2520/22 , B60W2540/04 , B60W2540/18 , B60W2720/22 , B62D13/00 , B62D13/005 , B62D15/027
摘要： A trailer backup assist system for a vehicle reversing a trailer, according to one embodiment, includes a sensor that senses a hitch angle between the vehicle and the trailer. The trailer backup assist system also includes a steering input device movable between a plurality of successive positions that each provide an incremental change to a desired curvature of the trailer. In addition, the trailer backup assist system includes a controller that generates a steering command for the vehicle to guide the trailer on the desired curvature based on the sensed hitch angle and a kinematic relationship with the trailer. The incremental change is substantially equal for a population of trailers to normalize control of the desired curvature.
摘要翻译：根据一个实施例的用于使拖车翻转的车辆的拖车备用辅助系统包括感测车辆和拖车之间的牵引角的传感器。拖车辅助辅助系统还包括可在多个连续位置之间移动的转向输入装置，每个连续位置各自提供对拖车的期望曲率的增量变化。此外，拖车辅助辅助系统包括控制器，该控制器基于所感测的牵引角度和与拖车的运动学关系，生成用于车辆的导向指令，以将拖车引导到期望的曲率上。对于拖车的总体来说，增量变化基本上相等以使所需曲率的控制正常化。

10. 发明申请

US20140145415A1 METHOD FOR CONTROLLING A WORKING MACHINE, AND A WORKING MACHINE 有权
标题翻译：一种控制工作机器的方法和一种工作机器
公开(公告)号：US20140145415A1
公开(公告)日：2014-05-29
申请号：US14115883
申请日：2011-05-06
申请人： Reno Filla , Joakim Unneback , Bobbie Frank , Andreas Nordstrand
发明人： Reno Filla , Joakim Unneback , Bobbie Frank , Andreas Nordstrand
IPC分类号： B62D6/00 , B62D12/00
CPC分类号： B62D6/00 , B60W10/20 , B60W30/18145 , B60W30/18172 , B60W2300/50 , B60W2520/26 , B60W2720/22 , B62D12/00
摘要： A method is provided for controlling a working machine that includes a front section having a frame and a pair of wheels arranged on a geometrical front wheel axis, and a rear section having a frame and a pair of wheels arranged on a first geometrical rear wheel axis and a pair of wheels arranged on a second geometrical rear wheel axis arranged behind the first rear wheel axis. The front section and the rear section are pivotally connected to each other for pivoting about a substantially vertical pivot axis. In a first control mode the wheels of the second geometrical rear wheel axis are steered to substantially follow the same tracks as the wheels of the geometrical front wheel axis when driving the working machine during cornering, and in a second control mode steering the wheels of the second geometrical rear wheel axis follow tracks which are different from the tracks of the wheels of the geometrical front wheel axis.
摘要翻译：提供了一种用于控制工作机器的方法，该工作机器包括具有布置在几何前轮轴上的框架和一对轮子的前部，以及具有布置在第一几何后轮轴线上的框架和一对轮子的后部以及布置在布置在第一后轮轴后面的第二几何后轮轴上的一对轮。前部分和后部部分彼此枢转地连接以围绕基本垂直的枢转轴线枢转。在第一控制模式中，在转弯期间驱动工作机器时，第二几何后轮轴的车轮被转向以基本跟随与几何前轮轴线的车轮相同的轨道，并且在第二控制模式中，转向车轮第二几何后轮轴跟随与几何前轮轴线的轮的轨道不同的轨道。

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