Drive assisting method for reversal path with drawn vehicle
The invention relates to a drive assisting method for the reversal path of a vehicle which consists of a tow track and a trailer pivotable with respect thereto and is provided with a conventional mechanical steering device. The inventive method consists in selecting a target point (C), which the vehicle path should pass through, Determination in calculating the steering angle instruction β 0 according to said target point (C) and the vehicle geometry and in displaying said steering angle instruction β 0 in comparison with an actual steering angle β, which corresponds to the position of the member ( 21 ) of the steering device, on a display device accessible to a driver.
1. A method for assisting with backing-up maneuvers of a vehicle comprising a tractor and a trailer that is articulated with respect to said tractor, said vehicle being equipped with a steering assist device in which a steering angle of steered wheels of said vehicle is displayed on a display device as a position within a displayed range of steering angle positions within which said steering angle should be maintained, the method comprising:
in response to selection of a target point (C) through which a path of the vehicle is to pass during said backing-up maneuvers, calculating a steering angle setpoint value (β 0 ) as a function of said target point (C) and of a geometry of the tractor and trailer of the vehicle; and
displaying said steering angle setpoint value (β 0 ) on said display device accessible to the driver of the vehicle, in comparison with said display of an actual steering angle value (β) that corresponds to the position of the steered wheels with respect to a central axis of the vehicle.
2. The method as claimed in claim 1 , wherein the target point (C) is selected using an aiming system that can be actuated by the driver, interfaced with said display device for viewing a field of view behind the vehicle.
3. The method as claimed in claim 1 , wherein the target point (C) is selected automatically by choosing a maneuver that is to be performed.
4. The method as claimed in claim 1 , wherein the steering angle setpoint value (β 0 ) is displayed in a form of a range of values.
5. The method as claimed in claim 1 , wherein calculating the steering angle setpoint value (β 0 ) comprises:
calculating a first setpoint angle value (θ c ) for a measured angle (θ) between a central axis of the trailer and said central axis of the tractor as a function of the target point (C) and of the geometry of the vehicle; and
updating the steering angle setpoint value (β 0 ) as a result of feedback control during said backing-up maneuver so that the measured angle (θ) tends toward said first setpoint angle value (θ c ).
6. The method as claimed in claim 5 , wherein calculating the steering angle setpoint value (β 0 ) is also a function of a component (β 1 ) determined as an optimal steering angle when the measured angle (θ) between the axis of the trailer and the axis of the tractor is equal to the calculated first setpoint angle value (θ c ).
7. The method as claimed in claim 5 , wherein calculating the steering angle setpoint value (β 0 ) is also a function of a component (β 2 ) that is a function of a difference between the measured angle (θ) and said first setpoint angle value (θ c ).
8. The method as claimed in claim 5 , wherein calculating the steering angle setpoint value (β 0 ) is also a function of a component (β 3 ) evaluated when the measured angle (θ) between the axis of the trailer and the axis of the tractor exceeds a predetermined threshold value for said calculated first setpoint angle value and acts to reduce said measured angle (θ) between the axis of the trailer and the axis of the tractor.
9. The method as claimed in claim 1 , wherein the setpoint value (β 0 ) is represented by an angular range within which said steering angle should be maintained.
10. The method as claimed in claim 9 , wherein said angular range is centered on the steering angle setpoint value (β 0 ).
11. The method as claimed in claim 1 , wherein the setpoint value (β 0 ) is displayed on said display device together with a display of a field of view behind said vehicle.
12. The method as claimed in claim 1 , wherein the actual steering angle value (β) is represented on the display device by a slider icon on a representation of steering angle range limits.