Trailer backup offset determination

• US 10,471,989 B2
• Filed: 01/15/2018
• Issued: 11/12/2019
• Est. Priority Date: 04/19/2011
• 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, Raad, Joseph M., Mattern, Donald Jacob
• Primary Examiner(s): Kong, Sze-Hon
• Application Number:
  US15/871,409
• Publication Number:
  US 20180134314A1
• Time in Patent Office: 666 Days
• CPC Class Codes: B60D 1/245 for facilitating push back or parking of trailers
• CPC Class Codes: B60D 1/62 involving supply lines, electric circuits, or the like
• CPC Class Codes: B60Q 9/005 using a video camera
• CPC Class Codes: B60W 2050/0088 Adaptive recalibration
• CPC Class Codes: B60W 2520/22 Articulation angle, e.g. between tractor and trailer
• CPC Class Codes: B60W 50/0098 Details of control systems ensuring comfort, safety or stability not otherwise provided for
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means

Abstract

A system for calibrating a backup assist system for a trailer attached to a vehicle is provided which includes a hitch sensor continuously measuring a hitch angle between the vehicle and the trailer. A controller is configured to determine an offset of the measured hitch angle. The controller is configured to calculate and store in memory a forward offset if no reverse offset is stored.

Claims

1. A system for calibrating a backup assist system for a trailer attached to a vehicle, comprising:

a hitch sensor continuously measuring a hitch angle between the vehicle and the trailer; and

a controller configured to determine an offset of the measured hitch angle, wherein the controller is configured to calculate and store in memory a forward offset if no reverse offset is stored, wherein the controller is further configured to not calculate a forward offset if the reverse offset is stored.

2. The system of claim 1, wherein the offset is determined between the measured hitch angle and an actual hitch angle when the actual hitch angle is substantially zero.

3. The system of claim 1, wherein the forward and reverse offsets are determined during a steady state condition of the vehicle and the trailer.

4. The system of claim 1, further comprising:

a knob sensor continuously sensing a knob angle, wherein the knob angle is substantially zero when the vehicle and trailer are in a substantially standing state, and wherein the reverse offset is determined when the knob angle is substantially zero over a threshold time while the vehicle is driving above a threshold speed.

5. The system of claim 1 further comprising:

a yaw sensor continuously sensing a yaw rate of the vehicle, wherein the yaw rate of the vehicle is substantially zero when the vehicle is steered straight, and wherein the forward and reverse offsets are determined when the angle rate is substantially zero over a threshold time while the vehicle is driving above a threshold speed.

6. The system of claim 1, wherein the controller determines an approximate distance the vehicle must travel straight to place the actual hitch angle at zero based on a length of the trailer and the measured hitch angle.

7. A system for calibrating a backup assist system for a trailer attached to a vehicle, comprising:

a hitch sensor continuously measuring a hitch angle between the vehicle and the trailer;

a controller configured to determine an offset of the measured hitch angle, wherein the controller is configured to calculate and store in memory a forward offset if no reverse offset is stored; and

a knob sensor continuously sensing a knob angle, wherein the knob angle is substantially zero when the vehicle and trailer are in a substantially standing state, and wherein the reverse offset is determined when the knob angle is substantially zero over a threshold time while the vehicle is driving above a threshold speed.

8. The system of claim 7, wherein the offset is determined between the measured hitch angle and an actual hitch angle when the actual hitch angle is substantially zero.

9. The system of claim 7, wherein the controller is further configured to not calculate a forward offset if the reverse offset is stored.

10. The system of claim 9 further comprising:

a yaw sensor continuously sensing a yaw rate of the vehicle, wherein the yaw rate of the vehicle is substantially zero when the vehicle is steered straight, and wherein the forward and reverse offsets are determined when the angle rate is substantially zero over a threshold time while the vehicle is driving above a threshold speed.

11. The system of claim 9, wherein the controller determines an approximate distance the vehicle must travel straight to place the actual hitch angle at zero based on a length of the trailer and the measured hitch angle.

12. The system of claim 7, wherein the forward and reverse offsets are determined during a steady state condition of the vehicle and the trailer.