Trailer articulation angle estimation

• US 20090005932A1
• Filed: 06/27/2007
• Published: 01/01/2009
• Est. Priority Date: 06/27/2007
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations Incorporated (General Motors Company)
• Inventors: Kade, Alexander, Lee, Yong H.
• Granted Patent: US 7,904,222 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B60D 1/30 for sway control , e.g. stabilising or anti-fishtail devices; Sway alarm means
• CPC Class Codes: B60D 1/58 Auxiliary devices
• CPC Class Codes: G01S 13/862 Combination of radar systems with sonar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/87 Combinations of sonar systems
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2015/937 sensor installation details
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

This invention takes the advantage of existing radar, vision and ultrasonic sensors available for side blind spot detection, rear view, rear virtual bumper, and rear parking assist. Using a sensor fusion technique to combine the useful information from these sensors, the trailer articulation angles as well as trailer track width and tongue length is accurately estimated. When an active steering system is present, vehicle and trailer can be controlled with increased stability by applying the trailer information.

Claims

1. A system useful for determining the trailer hitch articulation angle of a trailer that is being towed behind a motorized vehicle, comprising:

at least one non-contacting sensor disposed only on the motorized vehicle;

said at least one sensor having an output signal coupled to a data processor, wherein said data processor calculates the trailer hitch articulation angle based on the output signal of said at least one sensor.

2. A system according to claim 1 wherein said at least one sensor comprises at least one of ultrasonic transducers, short-range radar transducers, LIDAR sensors, cameras and combinations thereof.

3. A system according to claim 1 wherein said at least one sensor comprises a camera and an ultrasonic transducer.

4. A system according to claim 1 wherein said at least one sensor comprises a camera and a short-range radar transducer.

5. A system according to claim 1 wherein said data processor is connected to an I/O unit.

6. A system according to claim 5 wherein said one or more sensing means are connected to said data processor through said I/O unit.

7. A system according to claim 6 further comprising an interface connected to said I/O unit.

8. A system according to claim 1 further comprising a steering-wheel angle sensor having an output which is inputted into said data processor.

9. A system according to claim 1 further comprising a yaw rate sensor having an output which is inputted into said data processor.

10. A process for calculating the trailer hitch articulation angle in a combination comprising a motorized vehicle having a trailer comprising a wheeled axle that is pivotally-connected thereto, said motorized vehicle including at least one non-contacting sensor, said process comprising:

acquiring trailer position and range information from said at least one non-contacting sensor;

conveying said information to a microprocessor;

determining the trailer tongue length of said trailer from the information acquired from said at least one non-contacting sensor;

determining the track width of said trailer from the information acquired from said at least one non-contacting sensor; and

calculating the trailer hitch articulation angle of said trailer based on the determined trailer tongue length and determined track width.

11. A process according to claim 10 wherein a camera is employed as said at least one non-contacting sensor, and said trailer position and range information includes the azimuth angle between the center of the camera on said vehicle and the wheel on said axle of said trailer.

12. A process according to claim 10 wherein a camera having a lens is employed as said at least one non-contacting sensor, and said trailer position and range information includes the angle between the point at which a wheel of the trailer contacts a road surface upon which the trailer resides and a horizontal line disposed substantially parallel to the road surface, which horizontal line intersects the lens of said camera.