Patent Publication Number: US-2023133999-A1

Title: Configurable electromechanical rotatable knob

Description:
FIELD 
     Embodiments presented herein relate to a rotatable electromechanical knob for use in an automotive trailer reverse assistance system. 
     BACKGROUND 
     Vehicles, such as automobiles, trucks, SUVs, vans, recreational vehicles, etc., may be equipped with a multiple camera system. One such camera system may be part of, for example, an automotive trailer reverse assistance system. An automotive trailer reverse system provides a rear view (and, in some systems, trajectory guidance) to a user of the vehicle to aid in steering an automotive coupled to a trailer. Some automotive trailer reverse assistance systems are partially autonomous and may utilize a separate input (for example, a rotatable knob) for a user to command the assistance system to accordingly steer the trailer via the steering wheel. In the case of a rotatable knob, it may be difficult to adaptively convey to the user a relative position of the trailer to the vehicle beyond visual and/or audio warning. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying figures, where like reference numerals refer to identical or functionally similar elements throughout the separate views, together with the detailed description below, are incorporated in and form part of the specification, and serve to further illustrate embodiments of concepts that include the claimed invention, and explain various principles and advantages of those embodiments. 
         FIG.  1    is a block diagram of a rotatable knob module for an automotive trailer system for a vehicle, according to some embodiments. 
         FIG.  2    is a block diagram of the rotatable knob module of  FIG.  1   , according to some embodiments. 
         FIG.  3    is a flowchart illustrating a method of operating the rotatable knob module of  FIG.  2   , according to some embodiments. 
         FIG.  4 A  is a top-down view of the rotatable knob module of  FIG.  2   , according to some embodiments. 
         FIG.  4 B  is a cross-sectional view of the rotatable knob module of  FIG.  2   , according to some embodiments. 
         FIG.  5    is a dual chart including a graph of the rotational torque over rotational position displacement and a graph of the corresponding average current of the related pulsed electrical current of the rotatable knob module of  FIG.  2   , according to some embodiments. 
     
    
    
     Skilled artisans will appreciate that elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of embodiments illustrated. 
     The apparatus and method components have been represented where appropriate by conventional symbols in the drawings, showing only those specific details that are pertinent to understanding the embodiments so as not to obscure the disclosure with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein. 
     SUMMARY 
     As noted, automotive vehicles may be equipped with several driving assistance systems. In some, for example, an automotive trailer reverse assistance system, may utilize an input device separate from the steering wheel for a user of the vehicle  102  to provide input through to the assistance system. While rotatable knobs are normally used to provide such feedback, traditional mechanical knobs may have limited tactile feedback due to their solely mechanical features (for example, mechanical detents and rotational end stops). Such features may not provide enough discernable feedback to the user to aide in communicating information regarding the relative position of the trailer. Additionally, knobs with end stops may require a user to set the knob back to an original position after use. It is therefore advantageous to utilize continuous knobs with tactile feedback including detents and rotational end stops, which are adjustable via software, to provide more customizable, and relative, tactile feedback. 
     Accordingly, systems and methods are provided herein for, among other things, a rotatable electromechanical knob with customizable resistive torque. 
     One embodiment provides a rotatable knob module for an automotive trailer reverse assistance system. The rotatable knob module includes a knob configured to continuously rotate about a center axis and an electronic processor. The electronic processor is configured to determine a current trailer angle, define a virtual center position of the knob based on the current trailer angle, and adjust a rotational torque of the knob when the knob is rotated from a first rotational position to a second rotational position based on a relative virtual rotational distance of the second rotational position from the virtual center position. 
     Another embodiment provides for a rotatable knob module system for an automotive trailer reverse assistance system. The knob module system includes a knob configured to continuously rotate about a center axis and an electronic processor. The electronic processor is configured to determine a current trailer angle, define a virtual center position of the knob based on the current trailer angle, and adjust a rotational torque of the knob when the knob is rotated from a first rotational position to a second rotational position based on a relative virtual rotational distance of the second rotational position from the virtual center position. 
     Another embodiment provides a method of operating a rotatable knob module for an automotive trailer reverse assistance system. The knob module includes a knob configured to continuously rotate about a center axis. The method includes determining a current trailer angle, defining a virtual center position of the knob based on the current trailer angle, and adjusting a rotational torque of the knob when the knob is rotated from a first rotational position to a second rotational position based on a relative virtual rotational distance of the second rotational position from the virtual center position. 
     DETAILED DESCRIPTION 
     Before any embodiments are explained in detail, it is to be understood that the examples presented herein are not limited in their application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. Embodiments may be practiced or carried out in various ways. For example, while the systems and methods are described herein in terms of automotive systems, such systems and methods may be applied to other types of vehicle systems. 
     Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The terms “mounted,” “connected” and “coupled” are used broadly and encompass both direct and indirect mounting, connecting and coupling. Further, “connected” and “coupled” are not restricted to physical or mechanical connections or couplings, and can include electrical connections or couplings, whether direct or indirect. Also, electronic communications and notifications may be performed using any known means including wired connections, wireless connections, etc. 
     It should also be noted that a plurality of hardware and software-based devices, as well as a plurality of different structural components may be used to implement the embodiments presented herein. Some embodiments may include hardware, software, and electronic components or modules that, for purposes of discussion, may be illustrated and described as if the majority of the components were implemented solely in hardware. However, one of ordinary skill in the art, and based on a reading of this detailed description, would recognize that, in at least one embodiment, the electronic based aspects may be implemented in software (for example, stored on non-transitory computer-readable medium) executable by one or more electronic processors. Therefore, it should be noted that a plurality of hardware and software-based devices, as well as a plurality of different structural components may be utilized to implement the embodiments presented. For example, “control units” and “controllers” described in the specification can include one or more electronic processors, one or more memory modules including non-transitory computer-readable medium, one or more input/output interfaces, and various connections (for example, a system bus) connecting the components. 
     For ease of description, some of the example systems presented herein are illustrated with a single exemplar of each of its component parts. Some examples may not describe or illustrate all components of the systems. Other embodiments may include more or fewer of each of the illustrated components, may combine some components, or may include additional or alternative components. 
     It should be noted that, while embodiments of the invention are described particularly for use with automotive trailer reverse assistance programs, other uses with different applications are possible. 
       FIG.  1    is a block diagram of one exemplary embodiment of rotatable knob module  100  for an automotive trailer system  101  for a vehicle  102  coupled to a trailer  103  via a coupling  104  (for example, a trailer hitch). The rotatable knob module  100  may be mounted on, or integrated into, the vehicle  102 . The vehicle  102  may be partially autonomous, meaning that the vehicle  102  is configured to drive itself with limited input from a user of the vehicle  102  or alternatively may have no automation. The systems and methods described herein may be used with any vehicle  102  capable of operating partially, being controlled manually by a user of the vehicle  102 , or some combination of both. 
     In the example illustrated, the vehicle  102  includes, in addition to the automotive trailer reverse assistance system  101  and rotatable knob module  100 , other vehicle systems  105 , sensors  106 , and a display  108 . The systems, such as the automotive trailer reverse assistance system  101 , and the components of the vehicle  102 , including the rotatable knob module  100 , along with other various modules and components, are electrically coupled to each other by or through one or more control or data buses (for example, the bus  110 ), which enable communication therebetween. The use of control and data buses for the interconnection between, and communication among, the various modules and components would be known to a person skilled in the art in view of the invention described herein. In some embodiments, the bus  110  is a Controller Area Network (CAN™) bus. In some embodiments, the bus  110  is an automotive Ethernet™, a FlexRay™ communications bus, or another suitable wired bus. In alternative embodiments, some or all of the components of the vehicle  102  may be communicatively coupled using suitable wireless modalities (for example, Bluetooth™ or another kind of near field communication). 
     The automotive trailer reverse assistance system  101  provides guidance to a user of the vehicle  102  to steer the trailer  103  coupled to the vehicle  102  when the vehicle  102  is in a reverse gear. The automotive trailer reverse assistance system  101  includes an electronic control unit  111 , which is configured to receive measurements or readings (sometimes referred to as sensor telemetry) from the one or more sensors  106  of the vehicle  102 . The electronic control unit  111  is further configured to determine vehicle path data (for example, a predicted trajectory of the vehicle  102  and, thus, the trailer  103 ) based on the sensor telemetry when the vehicle  102  is in a reverse gear. 
     The sensors  106  determine one or more attributes of the vehicle  102  and trailer  103  and their surrounding environment and transmit information regarding those attributes to the automotive trailer reverse assistance system  101 , as well as one or more of the other vehicle systems  105 . The sensors  106  may include, for example, vehicle control sensors (for example, sensors that detect accelerator pedal position, brake pedal position, and steering wheel position), wheel speed sensors, vehicle speed sensors, yaw sensors, force sensors, odometry sensors, and vehicle proximity sensors (for example, camera, radar, LIDAR, and ultrasonic). In some embodiments, the sensors  106  include one or more cameras configured to capture one or more images of the environment surrounding the vehicle  102  and/or trailer  103  according to their respective fields of view. The cameras may include multiple types of imaging devices/sensors, each of which may be located at different positions on the interior or exterior of the vehicle  102  and/or trailer  103 . It should be noted that, in some embodiments, the trailer  103  may also include one or more of the sensors  106 . 
     The electronic control unit  111 , in some embodiments, may transmit the vehicle path data to the one or more other vehicle systems  105  to automatically adjust movement of the vehicle  102  (and thus, the trailer  103 ) while the vehicle  102  is in the reverse gear. For example, the electronic control unit  111  may transmit commands to a braking system  112 , a steering system  113 , and/or a driving system  114 , for example, to brake, accelerate, and/or steer the vehicle  102  respectively. Alternatively (in embodiments where the vehicle  102  has no automation) or additionally, the electronic control unit  111  of the automotive trailer reverse assistance system  101  may utilize the display  108  to generate, from the vehicle path data and sensor telemetry received from the sensors  106 , a visual of a predicted trajectory of the vehicle  102  and trailer  103 . 
     The display  108  provides visual output, for example, a graphic user interface (GUI) having graphical elements or indicators (for example, fixed or animated icons), lights, colors, text, images (for example, from one or more cameras of the sensors  106 ), combinations of the foregoing, and the like. The display  108  includes a suitable display device for displaying the visual output, for example, an instrument cluster, a mirror, a heads-up display, a center console display screen (for example, a liquid crystal display (LCD) touch screen, or an organic light-emitting diode (OLED) touch screen), or through other suitable devices. 
     The rotatable knob module  100  provides an interface between the automotive trailer reverse assistance system  101  and the user of the vehicle  102 . The rotatable knob module  100  is communicatively coupled to the electronic control unit  111  and receives input from the user of the vehicle  102 . The rotatable knob module also provides to and receives electric signals from the electronic control unit  111 . The user of the vehicle  102  provides commands to the automotive trailer reverse assistance system  101  via the rotatable knob module  100  to, for example, affect a desired reverse trajectory of the vehicle  102  and trailer  103  and/or steer the vehicle  102 . The rotatable knob module  100  includes a knob  116  configured to continuously mechanically rotate about a center axis. The knob  116  does not have any mechanical detents and end stops. As explained below in more detail, the rotatable knob module  100  is configured to provide customizable tactile feedback, via the knob  116 , to the user of the vehicle  102  based on the received information. 
       FIG.  2    illustrates an exemplary embodiment of the electronic control unit  111 , which includes an electronic processor  205  (for example, a microprocessor, application specific integrated circuit, etc.), a memory  210 , and an input/output interface  215 . The memory  210  may be made up of one or more non-transitory computer-readable media and includes at least a program storage area and a data storage area. The program storage area and the data storage area can include combinations of different types of memory, such as read-only memory (“ROM”), random access memory (“RAM”) (for example, dynamic RAM (“DRAM”), synchronous DRAM (“SDRAM”), etc.), electrically erasable programmable read-only memory (“EEPROM”), flash memory, or other suitable memory devices. The electronic processor  205  is coupled to the memory  210  and the input/output interface  28 . The electronic processor  205  sends and receives information (for example, from the memory  210  and/or the input/output interface  215 ) and processes the information by executing one or more software instructions or modules, capable of being stored in the memory  210 , or another non-transitory computer readable medium. The software can include firmware, one or more applications, program data, filters, rules, one or more program modules, and other executable instructions. The electronic processor  205  is configured to retrieve from the memory  210  and execute, among other things, software for autonomous vehicle control, and for performing methods as described herein. 
     The input/output interface  215  transmits and receives information from devices external to the electronic control unit  111  over one or more wired and/or wireless connections, for example, components of the vehicle  102  via the bus  110 , including the rotatable knob module  100 . The input/output interface  215  receives user input, provides system output, or a combination of both. The input/output interface  215  may also include other input and output mechanisms (for example, a transceiver, which is not shown), which for brevity are not described herein and which may be implemented in hardware, software, or a combination of both. 
     It should be understood that although  FIG.  2    illustrates only a single electronic processor  205 , memory  210 , and input/output interface  215 , alternative embodiments of the electronic control unit  111  may include multiple processing units, memory modules, and/or input/output interfaces. It should also be noted that the vehicle  102  may include other electronic control units, each including similar components as, and configured similarly to, the electronic control unit  111 . In some embodiments, the electronic control unit  111  is implemented partially or entirely on a semiconductor (for example, a field-programmable gate array [“FPGA”] semiconductor) chip. Similarly, the various modules and control units described herein may be implemented as individual controllers, as illustrated, or as components of a single controller. In some embodiments, a combination of approaches may be used. 
     Some or all of the components of electronic control unit  111  may be dispersed and/or integrated into other devices/components of the system  100  (for example, in the display  108 , the rotatable knob module  100 , and a vehicle control module or VCM, not shown, of the vehicle  102 ). 
       FIG.  3    illustrates an exemplary method  300  of operating the rotatable knob module  100  of the automotive trailer reverse assistance system  101 . As an example, the method  300  is explained in terms of the electronic control unit  111 , in particular the electronic processor  205 . However, portions of the method  300  may be distributed among multiple devices (for example, one or more additional control units/controllers/processors of or connected to the vehicle  102 ). 
     At block  302 , the electronic processor  205  determines a current trailer angle of the trailer  103 . The trailer angle is the yaw angle of the of the trailer  103  relative to the coupling  104  at the rear of the vehicle  102 . The electronic processor  205  may determine the current trailer angle from measurement and information from the sensors  106 . For example, the electronic processor  205  may determine the trailer angle by analyzing one or more images from one or more rear-facing camera sensors of the vehicle  102 . 
     At block  304 , the electronic processor  205  defines a virtual center position of the knob  116  based on the current trailer angle. The virtual center position is a position defined in software that corresponds to an actual original physical rotational position of the knob  116 . For example, when the virtual center position is set at the current physical rotational position of the knob  116 , as the knob  116  is rotated away from the current physical rotational position (for example, rotated 90 degrees), the relative virtual distance (rotational angle) of the virtual rotational position of the knob  116  from the virtual center position is increased (for example, 90 degrees). 
     As the knob  116  is moved from a first rotational position to a second rotational position, the electronic processor  205  adjusts a rotational (resistive) torque of the knob based on the relative virtual rotational distance of the second rotational position from the virtual center position (block  306 ). For example, as the knob  116  is rotated away from the physical position corresponding to the virtual center position (thus increasing the relative virtual distance from the virtual center position) the electronic processor  205  may provide a pulsed electrical current to the rotatable knob module  100  to cause the rotational torque to increase and/or decrease as the knob  116  is rotated away from the virtual center position. The current relative virtual rotational distance may then be computed by the electronic processor  205  to accordingly adjust a reverse steering of the vehicle  102 . 
     The rotational torque of the knob  116 , and patterns thereof, may be adjusted at any rotational angle from the virtual center position via the electronic processor  205 . This allows for various, customizable rotational torque profile configurations of the knob  116 , including those that may provide a tactile simulation (a similar “feel”) to detents and/or end stops. For example, the electronic processor  205  may be further configured to define a virtual rotational limit of the knob  116  based on the virtual center position. The rotational torque of the knob  116  may then be adjusted based on the relative virtual distance of the second rotational position from the virtual rotational limit. For example, as the knob  116  is rotated counterclockwise away from the virtual center position, as the relative virtual distance approaches the defined virtual rotational limit, the rotational torque of the knob  116  increases (for example, to tactilely simulate an end stop of a mechanically non-continuous knob). In some embodiments, there are multiple virtual rotational limits (for example, a virtual clockwise rotational limit, which is approached when the knob  116  is rotated clockwise, and a virtual counterclockwise rotational limit, which is approached when the knob  116  is rotated counterclockwise). 
       FIGS.  4 A  is a top-down view  400 A of an exemplary configuration of the rotatable knob module  100 .  FIG.  4 B  is a cross-section view  400 B of rotatable knob module  100  of  FIG.  4 A  cut through the plane indicated by line  401  of  FIG.  4 A . As shown in the view  400 A of  FIG.  4 A , the rotatable knob module  100  includes the knob  116  enclosed in a housing  402 . In some embodiments, the rotatable knob module  100  includes one or more user inputs and/or one or more visual indication devices. The rotatable knob module  100  may include, for example, one or more pushbuttons and/or light-emitting diodes (LEDs). In the illustrated embodiment, the rotatable knob module  100  includes a pushbutton  404  and a LED  406 . 
     Moving to  FIG.  4 B , the rotatable knob module  100  in the illustrated embodiment includes a metallic ring  407  coupled to the knob  116  and disposed about the center axis of the knob  116 . The metallic ring  407  may be any type of electromagnetically conductive material (for example, steel). The rotatable knob module  100  of  FIG.  4 B  also includes an electromagnet  408 , which is electromagnetically coupled to the metallic ring  407 , and an encoder  409 . The electronic processor  205  may, in the illustrated embodiment, transmit a pulsed electrical signal to the electromagnet  408 . Based on the pulsed electrical signal, the degree of the electromagnetic coupling between the electromagnet  408  and the metallic ring  407  is adjusted, effectively increasing or decreasing the rotational torque. The electronic processor  205  may adjust the rotational torque of the knob  116  by affecting a duty cycle of the pulsed electrical signal, for example, based on the relative virtual rotational distance of the knob  116  from the virtual center position. 
     The encoder  408  is communicatively coupled to the electronic processor  205  and is configured to measure and transmit, to the electronic processor  205 , the rotational position of the knob  116 . The electronic processor  205  may then accordingly, based on the received measurement, determine the relative virtual rotational distance of the knob  116  from the virtual center position. 
     In some embodiments, the virtual center position may be redefined to be at a new virtual center position different from an originally set virtual center position via a user input (for example, the pushbutton  404  or the GUI of the display  108 ). Custom degrees/patterns of rotational torque may also be defined, via user input, at certain virtual rotational distances/rotational positions in some embodiments. 
       FIG.  5    is a dual chart  500  including a graph  502 A of the rotational torque over rotational position displacement from the virtual center position and a corresponding graph  502 B of the average current of the pulsed electrical current of the rotatable knob module  100 . Graph  502 A includes a profile  504 A of the generated rotational torque when rotated in a first rotational direction (for example, clockwise) from a first virtual rotational limit  506 A to a second virtual rotational limit  506 B and a profile  504 B of the generated rotational torque when rotated in a second rotational direction from the second virtual rotational limit  506 B to the first virtual rotational limit  506 A. Graph  502 B includes a profile  505  of the average current of the pulsed electrical signal corresponding to both respective profiles  504 A and  504 B of rotational torque of the graph  502 A which, according to the illustrated embodiment, is the same for both profiles  504 A and  504 B. As illustrated, the rotational torque, for both profiles  504 A and  504 B, is oscillated when the virtual rotational distance of the knob  116  is relatively close to (for example, within 10 degrees of) the virtual center position (point  508 ), tactilely simulating, to a user operating the knob  116 , a mechanical detent. As also illustrated, as the virtual rotational distance of the knob  116  approaches either of the virtual rotational limits  506 A and  506 B, the rotational torque is increased, tactilely simulating, to a user operating the knob  116 , a mechanical end stop. 
     In the foregoing specification, specific embodiments have been described. However, one of ordinary skill in the art appreciates that various modifications and changes can be made without departing from the scope of the invention as set forth in the claims below. Accordingly, the specification and figures are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of present teachings. 
     Moreover, in this document, relational terms such as first and second, top and bottom, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms “comprises,” “comprising,” “has,” “having,” “includes,” “including,” “contains,” “containing” or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises, has, includes, contains a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by “comprises . . . a,” “has . . . a,” “includes . . . a,” or “contains . . . a” does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises, has, includes, contains the element. The terms “a” and “an” are defined as one or more unless explicitly stated otherwise herein. The terms “substantially,” “essentially,” “approximately,” “about” or any other version thereof, are defined as being close to as understood by one of ordinary skill in the art, and in one non-limiting embodiment the term is defined to be within 10%, in another embodiment within 5%, in another embodiment within 1% and in another embodiment within 0.5%. The term “coupled” as used herein is defined as connected, although not necessarily directly and not necessarily mechanically. A device or structure that is “configured” in a certain way is configured in at least that way but may also be configured in ways that are not listed. 
     Thus, embodiments provide, among other things, a rotatable electromechanical knob with customizable resistive torque. Various embodiments are set forth in the following claims.