Enhanced yaw rate trailer angle detection initialization

• US 10,106,193 B2
• Filed: 07/01/2016
• Issued: 10/23/2018
• Est. Priority Date: 07/01/2016
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lavoie, Erick Michael, Mattern, Donald Jacob
• Primary Examiner(s): Beaulieu, Yonel
• Assistant Examiner(s): Weeks, Martin A
• Application Number:
  US15/200,835
• Publication Number:
  US 20180001928A1
• Time in Patent Office: 844 Days
• CPC Class Codes: B60D 1/245 for facilitating push back or parking of trailers
• CPC Class Codes: B60D 1/30 for sway control , e.g. stabilising or anti-fishtail devices; Sway alarm means
• CPC Class Codes: B60D 1/305 Sway alarm means
• CPC Class Codes: B60D 1/62 involving supply lines, electric circuits, or the like
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/021 Determination of steering angle

Abstract

A trailer backup assist system for a vehicle reversing a trailer includes a sensor module adapted to attach to the trailer and generate a trailer yaw rate or a trailer speed. The trailer backup assist system also includes a vehicle sensor system that generates a vehicle yaw rate and a vehicle speed. Further, the trailer backup assist system includes a controller that estimates a hitch angle based on the trailer yaw rate or the trailer speed and the vehicle yaw rate and the vehicle speed in view of a kinematic relationship between the trailer and the vehicle.

Claims

1. A vehicle including a trailer backup assist system, the vehicle comprising:

an authentication device that permits vehicle operation if the authentication device is actuated to an ON state from an OFF state;

a sensor that is configured to provide a signal indicating whether or not a trailer is attached to the vehicle;

a controller configured to;

store trailer data, a vehicle position and hitch angle if the authentication device changes from an ON state to an OFF state to define a power off event;

determine whether the authentication device has changed from an OFF state to an ON state to define a power on event;

determine whether a trailer is connected to the vehicle when a power on event occurs;

if a trailer is connected to the vehicle when a power on event occurs, determine whether a present position of the vehicle has changed since a power off event;

if a present position of the vehicle has not changed since a power off event, and if a trailer is connected to the vehicle when a power on event occurs, retrieve at least one of trailer data and hitch angle for use in the trailer backup assist system;

if a present position of the vehicle has changed since a power off event, and if a trailer is connected to the vehicle when a power on event occurs, provide an indication to a user that trailer data needs to be supplied to the trailer backup assist system.

2. The vehicle of claim 1, wherein:

the controller is configured to retrieve the trailer data only if a trailer is attached to the vehicle.

4. The vehicle of claim 1, wherein:

the controller is configured to store unique trailer identification information prior to a power off event and to retrieve stored unique trailer identification information after a power on event to thereby determine if a trailer detected after a power on event is a different trailer than a trailer connected prior to a power off event.

5. The vehicle of claim 4, wherein:

the unique trailer identification information comprises a unique code.

6. The vehicle of claim 5, wherein:

the unique code comprises a serial number of a sensor mounted to the trailer.

7. The vehicle of claim 1, wherein:

the controller is configured to determine a calculated hitch angle utilizing data from a yaw rate sensor that senses a yaw rate of a trailer relative to the vehicle; and

the controller is configured to store the calculated hitch angle prior to a power off event.

8. The vehicle of claim 7, wherein:

the yaw rate sensor comprises a camera.

9. The vehicle of claim 7, wherein:

the yaw rate sensor comprises a piezoelectric device.

10. The vehicle of claim 1, wherein:

the trailer backup assist system is configured to calculate a hitch angle utilizing data from a yaw rate sensor.

11. The vehicle of claim 10, wherein:

the trailer backup assist system is configured to continuously update a stored hitch angle unless the vehicle has stopped moving or if the vehicle power is turned off.

3. A vehicle including a trailer backup assist system, the vehicle comprising:

an authentication device that permits vehicle operation if the authentication device is actuated to an ON state from an OFF state;

a sensor that is configured to provide a signal indicating whether or not a trailer is attached to the vehicle;

a controller configured to;

store trailer data, a vehicle position and hitch angle if the authentication device changes from an ON state to an OFF state to define a power off event;

determine whether the authentication device has changed from an OFF state to an ON state to define a power on event;

determine whether a trailer is connected to the vehicle when a power on event occurs;

determine whether a present position of the vehicle has changed since a power off event;

if a present position of the vehicle has not changed since a power off event, retrieve at least one of trailer data and hitch angle for use in the trailer backup assist system;

if a present position of the vehicle has changed since a power off event, provide an indication to a user that trailer data needs to be supplied to the trailer backup assist system; and

receive a desired curvature from a steering input device while the vehicle is moving in reverse;

utilize a curvature routine to generate a steering command while the vehicle is moving in reverse;

guide a trailer on the desired curvature while the vehicle is moving in reverse and;

wherein the trailer data comprises a trailer dimension.

12. A vehicle, comprising:

a trailer backup assist system having a controller configured to;

estimate a hitch angle using yaw rate data;

store information including a trailer dimension, vehicle position, trailer connected flag, and hitch angle in non-volatile memory,

retrieve the information; and

utilize the retrieved information for trailer backup assist control only if the vehicle has not moved and if the retrieved trailer connected flag and a current trailer connected flag are both true.

13. The vehicle of claim 12, wherein:

the controller is configured to receive unique trailer identification information from a trailer and store the unique trailer identification information in non-volatile memory.

14. The vehicle of claim 13, wherein:

the controller is configured to;

retrieve unique trailer identification information from non-volatile memory after the vehicle is turned on and compare the retrieved unique trailer identification information to current unique trailer identification information received from a trailer;

utilize the retrieved trailer dimension for trailer backup assist control only if the retrieved unique trailer identification information is substantially identical to the current unique trailer identification information.

15. The vehicle of claim 14, wherein:

the unique trailer identification information comprises at least one of a serial number of a sensor and image data for a trailer.

16. The vehicle of claim 12, wherein:

the controller is configured to generate a signal prompting a user to provide trailer data if the vehicle has moved and the vehicle including;

a mechanical trailer angle measuring device having first and second members that provides a visual indication of a trailer angle.

17. The vehicle of claim 12, wherein:

the controller is configured to receive steering request data from a rotatable knob mounted in an interior of the vehicle as a control input during backup operations with a trailer attached to the vehicle.

18. The vehicle of claim 12, wherein:

the controller is configured to generate a signal prompting a user to perform a calibration maneuver if the vehicle has moved.

19. The vehicle of claim 12, wherein:

the controller is configured to generate a signal prompting a user to provide trailer angle if the vehicle has moved.