公开(公告)号：US10370030B2

公开(公告)日：2019-08-06

申请号：US14482604

申请日：2014-09-10

Applicant: Ford Global Technologies, LLC ,  The Regents of the University of Michigan

Inventor： Douglas Scott Rhode ,  David Dean Smit ,  Erick Michael Lavoie ,  Martin Fitzpatrick Frey ,  Thomas Edward Pilutti ,  Taehyun Shim ,  Matt Y. Rupp ,  Roger Arnold Trombley

IPC: G06F19/00 ,  B62D13/06 ,  B62D15/02 ,  B62D1/22 ,  B60W30/06 ,  B60W30/18

Abstract: A vehicle has a trailer backup steering input apparatus, a trailer backup assist control module coupled to the a trailer backup steering input apparatus, and an electric power assist steering system coupled to the trailer backup assist control module and. The trailer backup steering input apparatus is configured for outputting a trailer path curvature signal approximating a desired curvature for a path of travel of a trailer towably coupled to the vehicle. The trailer backup assist control module is configured for determining vehicle steering information as a function of the trailer path curvature signal. The electric power assist steering system is configured for controlling steering of steered wheels of the vehicle as a function of the vehicle steering information.

公开(公告)号：US09248858B2

公开(公告)日：2016-02-02

申请号：US14059835

申请日：2013-10-22

Applicant: Ford Global Technologies

Inventor： Erick Michael Lavoie ,  Roger Arnold Trombley ,  Christopher Nave ,  John Shutko ,  Matt Y. Rupp ,  Kenneth Michael Mayer ,  Thomas Edward Pilutti ,  Martin Fitzpatrick Frey ,  Douglas Scott Rhode ,  David Dean Smit

IPC: G06F19/00 ,  B62D13/06 ,  B62D15/02

CPC classification number: B62D13/06 ,  B62D15/02 ,  B62D15/027

Abstract: The trailer backup assist system has a human machine interface coupled to a controller having a setup module, a calibration module, an activation module and a control module configured to receive trailer measurements, apply trailer measurements, activate and control vehicle systems to calibrate and implement a curvature control algorithm that controls the reverse movement of the vehicle-trailer combination in a manner consistent with a driver request.

Abstract translation: 拖车备用辅助系统具有耦合到控制器的人机界面，该控制器具有设置模块，校准模块，激活模块和控制模块，其被配置为接收拖车测量值，应用拖车测量值，激活和控制车辆系统以校准和实现 曲率控制算法，其以与驾驶员请求一致的方式控制车辆 - 拖车组合的反向运动。

公开(公告)号：US20140379217A1

公开(公告)日：2014-12-25

申请号：US14324219

申请日：2014-07-06

Applicant: Ford Global Technologies

Inventor： Matt Y. Rupp ,  David Dean Smit ,  Roger Arnold Trombley ,  Thomas Edward Pilutti ,  Erick Michael Lavoie ,  Christopher Scott Nave ,  John Shutko ,  Kenneth Michael Mayer ,  Martin Fitzpatrick Frey ,  Douglas Scott Rhode

IPC: B62D6/00 ,  B62D13/06

CPC classification number: B62D13/06 ,  B62D15/027

Abstract: The trailer backup assist system has a human machine interface coupled to a controller having a setup module, a calibration module, an activation module and a control module configured to receive trailer measurements, apply trailer measurements, activate and control vehicle systems to calibrate and implement a curvature control algorithm that controls the reverse movement of the vehicle-trailer combination in a manner consistent with a driver request. When incorrect trailer measurements have been entered, the trailer backup assist system recognizes the error, initiates a warning and requests corrective action to correct the trailer measurements. Default values for a maximum controllable curvature limit and a maximum controllable angle replace the limits calculated and applied by the calibration model that used incorrect trailer measurements, until corrected trailer measurements may be entered by the driver.

Abstract translation: 拖车备用辅助系统具有耦合到控制器的人机界面，该控制器具有设置模块，校准模块，激活模块和控制模块，其被配置为接收拖车测量值，应用拖车测量值，激活和控制车辆系统以校准和实现 曲率控制算法，其以与驾驶员请求一致的方式控制车辆 - 拖车组合的反向运动。 当输入不正确的拖车测量时，拖车备用辅助系统识别错误，启动警告并请求纠正措施来更正拖车测量。 最大可控曲率限制和最大可控角度的默认值替代使用不正确的拖车测量的校准模型计算和应用的限制，直到驾驶员可以输入校正的拖车测量值。

公开(公告)号：US20140046545A1

公开(公告)日：2014-02-13

申请号：US14052062

申请日：2013-10-11

Applicant: Ford Global Technologies

Inventor： Matt Y. Rupp ,  David Dean Smit ,  Erick Michael Lavoie ,  Roger Arnold Trombley ,  Thomas Edward Pilutti

IPC: B62D13/06

CPC classification number: G05D1/0212 ,  B62D13/06 ,  B62D15/02 ,  B62D15/027

Abstract: A trailer backup control system includes a jackknife enabling condition detector and a jackknife counter-measures controller. The jackknife counter-measures controller alters a setting of at least one vehicle operating parameter for alleviating an adverse jackknife condition during backing of the trailer by the vehicle when the jackknife enabling condition detector determines that a jackknife enabling condition has been attained at a particular point in time during backing of the trailer by the vehicle, restricts a trailer backup steering input apparatus and issues a warning to the driver using the trailer backup steering input apparatus.

Abstract translation: 拖车备用控制系统包括一个可折叠刀使能状态检测器和一个折刀对策控制器。 折刀对策控制器改变至少一个车辆操作参数的设置，以便当折刀使能状态检测器确定在特定点处已经达到了折刀使能条件时，减轻由车辆在拖车期间的不利的折刀状态 通过车辆支撑拖车的时间限制了拖车备用转向输入装置，并且使用拖车备用转向输入装置向驾驶员发出警告。

公开(公告)号：US09296423B2

公开(公告)日：2016-03-29

申请号：US14324219

申请日：2014-07-06

Applicant: Ford Global Technologies

Inventor： Matt Y. Rupp ,  David Dean Smit ,  Roger Arnold Trombley ,  Thomas Edward Pilutti ,  Erick Michael Lavoie ,  Christopher Scott Nave ,  John Shutko ,  Kenneth Michael Mayer ,  Martin Fitzpatrick Frey ,  Douglas Scott Rhode

IPC: B62D6/00 ,  B62D13/06 ,  B62D15/02

CPC classification number: B62D13/06 ,  B62D15/027

Abstract: The trailer backup assist system has a human machine interface coupled to a controller having a setup module, a calibration module, an activation module and a control module configured to receive trailer measurements, apply trailer measurements, activate and control vehicle systems to calibrate and implement a curvature control algorithm that controls the reverse movement of the vehicle-trailer combination in a manner consistent with a driver request. When incorrect trailer measurements have been entered, the trailer backup assist system recognizes the error, initiates a warning and requests corrective action to correct the trailer measurements. Default values for a maximum controllable curvature limit and a maximum controllable angle replace the limits calculated and applied by the calibration model that used incorrect trailer measurements, until corrected trailer measurements may be entered by the driver.

Abstract translation: 拖车备用辅助系统具有耦合到控制器的人机界面，该控制器具有设置模块，校准模块，激活模块和控制模块，其被配置为接收拖车测量值，应用拖车测量值，激活和控制车辆系统以校准和实现 曲率控制算法，其以与驾驶员请求一致的方式控制车辆 - 拖车组合的反向运动。 当输入不正确的拖车测量时，拖车备用辅助系统识别错误，启动警告并请求纠正措施来更正拖车测量。 最大可控曲率限制和最大可控角度的默认值替代使用不正确的拖车测量的校准模型计算和应用的限制，直到驾驶员可以输入校正的拖车测量值。

公开(公告)号：US09212926B2

公开(公告)日：2015-12-15

申请号：US14088203

申请日：2013-11-22

Applicant: Ford Global Technologies, LLC

Inventor： Christopher Attard ,  Shane Elwart ,  Jeff Allen Greenberg ,  Rajit Johri ,  John P. Joyce ,  Devinder Singh Kochhar ,  Thomas Edward Pilutti ,  Douglas Scott Rhode ,  Matt Y. Rupp ,  John Shutko ,  Roger Arnold Trombley ,  Louis Tijerina ,  Hongtei Eric Tseng ,  Andrew Waldis

IPC: G01C21/36 ,  G08G1/16 ,  B60W30/08 ,  G05D1/02 ,  B60Q1/52

CPC classification number: G01C21/36 ,  B60Q1/525 ,  B60W30/08 ,  B60W30/0956 ,  B60W50/10 ,  B60W2050/146 ,  B62D15/0265 ,  G05D1/021 ,  G05D1/0231 ,  G05D2201/0213 ,  G08G1/16

Abstract: A vehicle is operated at least partially autonomously. A predicted path of the vehicle is monitored to identify an object with which the vehicle is likely to collide. A graphical user interface (GUI) is provided that includes the predicted path, a proposed path for the vehicle to avoid a collision with an object, and the vehicle. A selection is made to follow one of the predicted path and the proposed path. The GUI is updated to include the selected one of the predicted path and the proposed path, along with a location of the vehicle on the selected one of the predicted path and the proposed path.

Abstract translation: 车辆至少部分地自主运行。 监视车辆的预测路径以识别车辆可能碰撞的物体。 提供了图形用户界面（GUI），其包括预测路径，用于车辆避免与对象碰撞的建议路径以及车辆。 选择遵循预测路径和建议路径之一。 GUI被更新为包括预测路径和所提出的路径中的所选择的一个，以及车辆在所选择的预测路径和所提出的路径上的位置。

公开(公告)号：US20140379219A1

公开(公告)日：2014-12-25

申请号：US14482604

申请日：2014-09-10

Applicant: Ford Global Technologies, LLC ,  The Regents of the University of Michigan

Inventor： Douglas Scott Rhode ,  David Dean Smit ,  Erick Michael Lavoie ,  Martin Fitzpatrick Frey ,  Thomas Edward Pilutti ,  Taehyun Shim ,  Matt Y. Rupp ,  Roger Arnold Trombley

IPC: B62D13/06 ,  B62D1/22

CPC classification number: B62D13/06 ,  B60W30/06 ,  B60W30/18036 ,  B60W2300/14 ,  B60W2520/22 ,  B60W2710/207 ,  B60Y2200/147 ,  B62D1/22 ,  B62D15/027

Abstract: A vehicle has a trailer backup steering input apparatus, a trailer backup assist control module coupled to the a trailer backup steering input apparatus, and an electric power assist steering system coupled to the trailer backup assist control module and. The trailer backup steering input apparatus is configured for outputting a trailer path curvature signal approximating a desired curvature for a path of travel of a trailer towably coupled to the vehicle. The trailer backup assist control module is configured for determining vehicle steering information as a function of the trailer path curvature signal. The electric power assist steering system is configured for controlling steering of steered wheels of the vehicle as a function of the vehicle steering information.

Abstract translation: 车辆具有拖车备用转向输入装置，联接到拖车备用转向输入装置的拖车备用辅助控制模块以及耦合到拖车备用辅助控制模块的电动助力转向系统。 拖车备用转向输入装置被配置为输出接近可拖动地联接到车辆的拖车的行进路径的期望曲率的拖车路径曲率信号。 拖车辅助辅助控制模块被配置为根据拖车路径曲率信号来确定车辆操纵信息。 电动助力转向系统构造成根据车辆转向信息来控制车辆的转向轮的转向。

公开(公告)号：US20140379164A1

公开(公告)日：2014-12-25

申请号：US13922535

申请日：2013-06-20

Applicant: FORD GLOBAL TECHNOLOGIES, LLC

Inventor： Peter G. Joh ,  Thomas E. Pilutti ,  Matt Y. Rupp ,  Dorian Jack Spero ,  Brian Wolski

IPC: G01C21/30

CPC classification number: G01C21/30 ,  B60W30/12 ,  B60W2050/0091 ,  B60W2050/0215 ,  B60W2420/42 ,  B60W2550/402 ,  G06K9/00798

Abstract: Apparatus for a vehicle operated on a roadway having lane markers includes an optical sensor providing optical data of the roadway. A first lane model is stored in an electronic memory in response to detected lane markers in the optical data. An electronic horizon system tracks a position of the vehicle and provides roadway data in response to the position. A second lane model is stored in the electronic memory in response to the roadway data. A confidence checker compares a discrepancy between the first and second lane models to a threshold in order to determine a confidence level. An output selector selects the first lane model when lane markers are detected in the optical data, and selects the second lane model if the lane markers are not detected in the optical data and the confidence level is greater than a predetermined level.

Abstract translation: 用于在具有车道标记的道路上操作的车辆的装置包括提供道路的光学数据的光学传感器。 响应于光学数据中检测到的车道标记，将第一车道模型存储在电子存储器中。 电子地平线系统跟踪车辆的位置并响应于位置提供道路数据。 响应于道路数据，第二车道模型存储在电子存储器中。 置信度检查器将第一和第二车道模型之间的差异与阈值进行比较，以便确定置信水平。 如果在光学数据中检测到车道标记，则输出选择器选择第一车道模型，并且如果在光学数据中没有检测到车道标记并且置信水平大于预定水平，则选择第二车道模型。

公开(公告)号：US09552735B2

公开(公告)日：2017-01-24

申请号：US14088232

申请日：2013-11-22

Applicant: Ford Global Technologies, LLC

Inventor： Thomas Edward Pilutti ,  Matt Y. Rupp ,  Roger Arnold Trombley ,  Andrew Waldis ,  Wilford Trent Yopp

IPC: G08G1/00 ,  B60Q1/50 ,  G08G1/0967

CPC classification number: G08G1/22 ,  B60Q1/50 ,  G08G1/096725 ,  G08G1/096741 ,  G08G1/096775 ,  G08G1/096791

Abstract: A computer in a first vehicle is configured to receive data relating to a second vehicle. The computer may use the data to determine that the second vehicle is being operated at least partially autonomously. Further, the computer may cause the first vehicle to take an action to autonomously operate the first vehicle based at least in part on determining that the second vehicle is being operated at least partially autonomously.

Abstract translation: 第一车辆中的计算机被配置为接收与第二车辆相关的数据。 计算机可以使用数据来确定第二车辆至少部分地被自主地操作。 此外，计算机可以使得第一车辆至少部分地基于确定第二车辆至少部分地自主地操作来使动作自动地操作第一车辆。

公开(公告)号：US09229452B2

公开(公告)日：2016-01-05

申请号：US14295294

申请日：2014-06-03

Applicant: Ford Global Technologies ,  The Regents of the University of Michigan

Inventor： Matt Y. Rupp ,  David Dean Smit ,  Roger Arnold Trombley ,  Thomas Edward Pilutti ,  Erick Michael Lavoie ,  Taehyun Shim

IPC: G06F19/00 ,  B62D13/06 ,  G05D1/02 ,  B62D15/02

CPC classification number: G05D1/0212 ,  B62D13/06 ,  B62D15/02 ,  B62D15/027

Abstract: A vehicle comprises a trailer angle detection apparatus and a trailer backup control system coupled to the trailer angle detection apparatus. The trailer angle detection apparatus is configured for outputting a signal generated as a function of an angle between the vehicle and a trailer towably attached to the vehicle. The trailer backup control system includes a jackknife enabling condition detector and a jackknife counter-measures controller. The jackknife counter-measures controller alters a setting of at least one vehicle operating parameter for alleviating an adverse jackknife condition during backing of the trailer by the vehicle when the jackknife enabling condition detector determines that a jackknife enabling condition has been attained at a particular point in time during backing of the trailer by the vehicle.

Abstract translation: 一种车辆包括一个挂车角度检测装置和一个与拖车角度检测装置相连的拖车后备控制系统。 拖车角度检测装置被配置为输出作为车辆和可拖曳地附接到车辆的拖车之间的角度的函数而产生的信号。 拖车后备控制系统包括一个折刀启动状态检测器和一个折刀对策控制器。 折刀对策控制器改变至少一个车辆操作参数的设置，以便当折刀使能状态检测器确定在特定点处已经达到了折刀使能条件时，减轻由车辆在拖车期间的不利的折刀状态 车辆在拖车拖车期间的时间。