Trailer articulation angle estimation

• US 7,904,222 B2
• Filed: 06/27/2007
• Issued: 03/08/2011
• 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 LLC (General Motors Company)
• Inventors: Kade, Alexander, Lee, Yong H.
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US11/769,021
• Publication Number:
  US 20090005932A1
• Time in Patent Office: 1,350 Days
• Field of Search: 701/41, 701/46, 701/29, 701/36, 340/932.2, 340/431, 342/207.25
• 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 constructional features of transducers G01S7/521 and B06B; casing of transducers, e.g. housing, cover or filler details, G10K9/22; mounting of transducers, i.e. fixture, fitting or holder details, G10K11/004
• 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 process for calculating a 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 comprising a camera, said process comprising:

acquiring trailer position and range information including an azimuth angle between a center of the camera on said vehicle and a wheel on said wheeled axle of said trailer from said camera;

conveying said information to a microprocessor;

determining a trailer tongue length of said trailer from the trailer position and range information acquired from said camera;

determining a track width of said trailer from the trailer position and range information acquired from said camera; and

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

2. The process of claim 1, wherein calculating the trailer hitch articulation angle of said trailer based on the determined trailer tongue length and the determined track width of said trailer includes calculating the trailer hitch articulation angle of said trailer in accordance with the following relationship:

3. A process for calculating a 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 comprising a camera having a lens, said process comprising:

acquiring trailer position and range information including an angle between a 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;

conveying said information to a microprocessor;

determining a trailer tongue length of said trailer from the trailer position and range information acquired from said camera;

determining a track width of said trailer from the trailer position and range information acquired from said camera; and

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