Trailer backup offset determination

• US 9,937,953 B2
• Filed: 10/19/2015
• Issued: 04/10/2018
• 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): Black, Thomas G
• Assistant Examiner(s): Kong, Sze-Hon
• Application Number:
  US14/886,668
• Publication Number:
  US 20160039456A1
• Time in Patent Office: 904 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 for determining an angle rate, a yaw sensor continuously sensing a yaw rate of the vehicle, and a controller configured to determine an offset of the measured hitch angle when vehicle is driving forward and/or rearward.

Claims

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

a hitch angle sensor continuously measuring a hitch angle for determining a hitch angle rate;

and

a controller configured to determine an offset of the measured hitch angle when the vehicle is driving forward and rearward above a threshold speed and the hitch angle rate is substantially zero and prioritize the driving rearward offset over the driving forward offset.

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 controller determines the hitch angle rate based on changes in the measured hitch angle over time, and wherein the hitch angle sensor includes a video imaging camera on the vehicle that continuously monitors a target on the trailer.

4. The system of claim 1, wherein the controller determines the offset while the vehicle is moving rearward when a steering angle rate is substantially zero.

5. The system of claim 1, wherein the controller determines the offset while the vehicle is moving forward when a yaw rate of the vehicle is substantially constant.

6. The system of claim 1, wherein the controller is configured to replace a forward offset when a reverse offset is determined.

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

a hitch angle sensor continuously measuring a hitch angle for determining a hitch angle rate; and

a controller configured to determine an offset of the measured hitch angle when the vehicle is driving forward and rearward above a threshold speed and the hitch angle rate is substantially zero and prioritize the driving rearward offset over the driving forward offset, wherein the controller is configured to replace the driving forward offset when the driving rearward offset is determined.

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 determines the angle rate based on changes in the measured hitch angle over time, and wherein the hitch sensor includes a video imaging camera on the vehicle that continuously monitors a target on the trailer.

10. The system of claim 7, wherein the controller determines the offset while the vehicle is moving rearward when a steering angle rate is substantially zero.

11. The system of claim 7, wherein the controller determines the offset while the vehicle is moving forward when a yaw rate of the vehicle is substantially constant.