Trailer sensor module and associated method of wireless trailer identification and motion estimation

• US 9,315,212 B1
• Filed: 12/08/2014
• Issued: 04/19/2016
• Est. Priority Date: 10/13/2014
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Kyrtsos, Christos, Pilutti, Thomas Edward, Lavoie, Erick Michael
• Primary Examiner(s): Zanelli, Michael J
• Application Number:
  US14/563,086
• Publication Number:
  US 20160101811A1
• Time in Patent Office: 498 Days
• US Class Current: 1/1
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00

Abstract

A method of identifying a trailer with a vehicle includes a step of transmitting a unique identifier with a wireless transmitter attached to the trailer. The wireless transmitter may be housed as part of a sensor module with a sensor that senses a parameter of the trailer for operating a trailer backup assist system. The housing of the sensor module may be adapted to be removably attached to the trailer. The unique identifier emitted by the wireless transmitter is received with a wireless receiver on the vehicle. After the unique identifier is recognized by a controller on the vehicle, a parameter of the trailer may be accessed for autonomously guiding the trailer along a desired backing path.

Claims

1. A method of identifying a trailer with a vehicle, comprising:

transmitting a unique identifier with a wireless transmitter attached to the trailer;

receiving the unique identifier with a wireless receiver on the vehicle;

determining that the trailer associated with the unique identifier is coupled with a hitch of the vehicle based on the wireless receiver consistently receiving signals from the wireless transmitter; and

accessing a parameter of the trailer based on the received unique identifier for autonomously guiding the trailer along a desired backing path.

2. The method of claim 1, wherein the parameter is a dimension of the trailer saved in a memory unit accessible by a controller, and wherein the controller recognizes the unique identifier from a database before accessing the parameter of the trailer.

3. The method of claim 1, wherein the parameter is a variable of a kinematic relationship used to generate steering commands for the vehicle to guide the trailer along the desired backing path.

4. The method of claim 1, wherein the parameter is a sensed yaw rate of the trailer generated by a yaw rate sensor attached to the trailer.

5. The method of claim 1, wherein the unique identifier includes a radio frequency with a coded signal configured for a controller to decode and associate with the trailer.

6. The method of claim 1, wherein the wireless receiver is configured to receive the unique identifier within a proximity distance from a rear portion of the vehicle.

7. A trailer sensor module for communicating with a vehicle, comprising:

a yaw rate sensor sensing a yaw rate of a trailer; and

a wireless transmitter emitting a unique identifier configured to be recognized by the vehicle and, upon recognition, transmitting the yaw rate of the trailer to the vehicle.

8. The trailer sensor module of claim 7, wherein the yaw rate is used by the vehicle to determine a hitch angle between the trailer and the vehicle for autonomously guiding the trailer with the vehicle along a desired backing path.

9. The trailer sensor module of claim 7, further comprising a housing enclosing the wireless transmitter and the yaw rate sensor and adapted to be removably attached to the trailer.

10. The trailer sensor module of claim 9, wherein the housing includes a fluid seal to prevent the wireless transmitter and the yaw rate sensor from being exposed to liquid.

11. The trailer sensor module of claim 9, further comprising:

a solar element coupled with the housing for providing electricity to the yaw rate sensor and the wireless transmitter.

12. The trailer sensor module of claim 7, wherein the unique identifier includes a radio frequency with a coded signal emitted to be received by the vehicle within a proximity distance from a rear portion of the vehicle.

13. The trailer sensor module of claim 7, wherein the wireless transmitter consistently emits a radio frequency transmission, and wherein the vehicle determines that the trailer associated with the unique identifier is detached from a hitch of the vehicle when the vehicle fails to receive the radio frequency transmission for a threshold period of time.

14. A trailer backup assist system for a vehicle reversing a trailer, comprising:

a wireless transmitter coupled with the trailer and emitting a unique identifier;

a wireless receiver coupled with the vehicle for receiving the unique identifier; and

a controller on the vehicle identifying the trailer based on the unique identifier and accessing a parameter of the identified trailer for autonomously guiding the trailer with the vehicle along a desired backing path, wherein the parameter includes a yaw rate of the trailer generated by a yaw rate sensor attached to the trailer, and wherein upon identification of the trailer, the wireless transmitter emits the yaw rate of the trailer for determining a hitch angle between the vehicle and the trailer.

15. The trailer backup assist system of claim 14, wherein the wireless transmitter is removably coupled with the trailer.

16. The trailer backup assist system of claim 14, further comprising:

a protective housing enclosing the wireless transmitter and adapted to be removably attached to the trailer.

17. The trailer backup assist system of claim 16, wherein the protective housing includes a fluid seal to prevent the wireless transmitter from being exposed to liquid and a solar element for providing electricity to the wireless transmitter.

18. The trailer backup assist system of claim 14, wherein the parameter includes a dimension of the trailer saved in a memory unit of the controller.

19. The trailer backup assist system of claim 14, wherein the wireless transmitter consistently emits a radio frequency transmission, and wherein the controller determines that the trailer associated with the unique identifier is detached from a hitch of the vehicle when the wireless receiver fails to receive the radio frequency transmission for a threshold period of time.