System and method of calibrating a trailer backup assist system
First Claim
1. A method of calibrating a backup assist system for a trailer attached to a vehicle, comprising:
- driving the vehicle forward substantially straight above a threshold speed;
sensing a yaw rate of the vehicle with a yaw rate sensor;
sensing a measured hitch angle of the trailer with a hitch angle sensor;
determining an angle rate based on the measured hitch angle;
determining an approximate distance the vehicle needs to travel forward in a substantially straight orientation to place the actual hitch angle at substantially zero, wherein the approximate distance is determined based on a length of the trailer and the measured hitch angle; and
determining with a controller an offset between the measured hitch angle and an actual hitch angle when the yaw rate and angle rate are substantially zero and the actual hitch angle is substantially zero.
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Accused Products
Abstract
A system and a method are provided for calibrating a backup assist system for a trailer attached to a vehicle. The method includes driving the vehicle forward substantially straight above a threshold speed, sensing a yaw rate of the vehicle, and sensing a measured hitch angle of the trailer. A yaw sensor continuously senses the yaw rate of the vehicle and a hitch sensor continuously measures the hitch angle for determining an angle rate based on the measured hitch angle. Further, a controller determines an offset between the measured hitch angle and an actual hitch angle when the yaw rate and angle rate are substantially zero or otherwise the same.
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Citations
15 Claims
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1. A method of calibrating a backup assist system for a trailer attached to a vehicle, comprising:
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driving the vehicle forward substantially straight above a threshold speed; sensing a yaw rate of the vehicle with a yaw rate sensor; sensing a measured hitch angle of the trailer with a hitch angle sensor; determining an angle rate based on the measured hitch angle; determining an approximate distance the vehicle needs to travel forward in a substantially straight orientation to place the actual hitch angle at substantially zero, wherein the approximate distance is determined based on a length of the trailer and the measured hitch angle; and determining with a controller an offset between the measured hitch angle and an actual hitch angle when the yaw rate and angle rate are substantially zero and the actual hitch angle is substantially zero. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of calibrating a backup assist system for a trailer attached to a vehicle, comprising:
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driving the vehicle forward above a threshold speed; steering the vehicle straight; sensing a measured hitch angle of the trailer with a hitch angle sensor; determining an angle rate based on the measured hitch angle; determining an approximate distance the vehicle needs to travel forward in a substantially straight orientation to place the actual hitch angle at zero, wherein the approximate distance is determined based on a length of the trailer and the measured hitch angle; steering the vehicle at a substantially constant steering angle to drive the vehicle substantially straight; and determining with a controller an offset between the measured hitch angle and an actual hitch angle when the angle rate is substantially zero and the actual hitch angle is substantially zero. - View Dependent Claims (8, 9, 10, 11)
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12. A system for calibrating a backup assist system for a trailer attached to a vehicle, comprising:
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a hitch angle sensor continuously measuring a hitch angle for determining an angle rate; a yaw sensor continuously sensing a yaw rate of the vehicle; and a controller determining an offset of the measured hitch angle when the vehicle is driving forward above a threshold speed and the yaw and angle rates are substantially zero, wherein the controller determines an approximate distance the vehicle must travel straight forward to place the actual hitch angle at zero based on a length of the trailer and the measured hitch angle, and wherein the offset is determined when the angle rate is substantially constant while the vehicle travels straight forward beyond the approximate distance. - View Dependent Claims (13, 14, 15)
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Specification