Determining an angle between a tow vehicle and a trailer

Patent metadata

Field	Value
Publication number	US-11714192-B2
Application number	US-202117187088-A
Country	US
Kind code	B2
Filing date	Feb 26, 2021
Priority date	Oct 30, 2018
Publication date	Aug 1, 2023
Grant date	Aug 1, 2023

Abstract

The angle of a trailer with respect to a tow vehicle is an important parameter to the stability of the vehicle and trailer. A tow vehicle pulling a trailer in a straight line is generally more stable than when the vehicle is turning. While turning, the angle between the tow vehicle and the trailer is not a straight line but is another angle depending on how sharply the tow vehicle is turning. To safely operate a vehicle towing a trailer, for a given steering input and speed, there is a maximum angle between the tow vehicle and trailer whereby exceeding the angle causes instability and may cause the trailer or tow vehicle to roll over or jackknife. Accordingly, the angle between the trailer and tow vehicle must be determined to ensure the vehicle and trailer will continue to be in control.

First claim

What is claimed is:

1. A system for determining a trailer angle between a trailer and a vehicle, comprising:
one or more ultrasonic sensors, wherein each ultrasonic sensor is mountable to the vehicle to determine a distance from the ultrasonic sensor to a front-end surface of the trailer attached to the vehicle, and wherein the distance is oriented normal to the vehicle; and
an ultrasonic control unit configured to receive the distance from each of the one or more ultrasonic sensors via a communications interface, wherein the ultrasonic control unit determines one or more angles, each angle corresponding to a distance received from the one or more ultrasonic sensors, wherein each angle is between the vehicle and the trailer, and wherein the ultrasonic control unit determines the trailer angle from the one or more angles, wherein a first angle corresponding to a first ultrasonic sensor is determined based on one or more geometrical relationships between a position of the first ultrasonic sensor and the front-end surface of the trailer.

2. The system of claim 1 , wherein the first angle is determined from:
a first neutral distance between the first ultrasonic sensor and the front-end surface of the trailer when the trailer is in line with the vehicle,
a first angled distance when the trailer is angled with respect to the vehicle, and
a first offset distance between a center of the first ultrasonic sensor and a center of the vehicle.

3. The system of claim 2 , wherein the first neutral distance is determined when a steering angle of the vehicle is about zero degrees and the first neutral distance is averaged or filtered over a period of time.

4. The system of claim 3 , wherein the ultrasonic control unit comprises:
at least one processor; and
at least one memory storing executable instructions that when executed by the at least one processor perform at least:
determining the first angle corresponding to a first ultrasonic sensor as:
A 1 =arctangent(( D 1-1 −D 1-2 )/ Dis 1),

wherein A 1 is the first angle between the vehicle and the trailer,
wherein D 1-1 is a first neutral distance between the first ultrasonic sensor and the front-end surface of the trailer, wherein the first neutral distance is determined when the trailer is in line with the vehicle,
wherein D 1-2 is a first angled distance between the first ultrasonic sensor and the front-end surface of the trailer, wherein the first angled distance is determined when the trailer is angled with respect to the vehicle, and
wherein Dis1 is a first offset distance, wherein the first offset distance is between the center of the first ultrasonic sensor and the center of the vehicle.

5. The system of claim 2 , wherein the first neutral distance is determined when:
a steering angle of the vehicle is about zero degrees, and
the vehicle is travelling about 10 kilometers per hour or more.

6. The system of claim 1 , wherein the trailer angle is determined as an average angle of the one or more angles.

7. The system of claim 6 , wherein the average angle is weighted based on a standard deviation for distance values received at the ultrasonic control unit from each of the one or more ultrasonic sensors.

8. The system of claim 7 , wherein the ultrasonic control unit determines an error interval and a confidence level based on the standard deviation for distance values received at the ultrasonic control unit from each of the one or more ultrasonic sensors.

9. The system of claim 1 , wherein the one or more ultrasonic sensors comprise a plurality of ultrasonic transducers mounted to the vehicle in an inverted “V” pattern, a “W” pattern, or an inverted “W” pattern.

10. A method for determining a trailer angle between a trailer and a vehicle, comprising:
receiving, from each of one or more ultrasonic sensors attached to the vehicle, information about a distance between each ultrasonic sensor and a front-end surface of the trailer attached to the vehicle, and wherein the distance is oriented normal to the vehicle; and
determining one or more angles, each angle corresponding to the information about the distance received from the one or more ultrasonic sensors, wherein each angle is an estimate of alignment between the vehicle and the trailer, and wherein a trailer angle is determined from the one or more angles.

11. The method of claim 10 , wherein a first angle corresponding to a first ultrasonic sensor is determined based on one or more geometrical relationships between a position of the first ultrasonic sensor and the front-end surface of the trailer.

12. The method of claim 11 , wherein the first angle is determined from:
a first neutral distance between the first ultrasonic sensor and the front-end surface of the trailer when the trailer is in line with the vehicle;
a first angled distance when the trailer is angled with respect to the vehicle; and
a first offset distance between a center of the first ultrasonic sensor and a center of the vehicle.

13. The method of claim 12 , wherein the first neutral distance is determined when a steering angle of the vehicle is about zero degrees and the vehicle is travelling at about 10 kilometers per hour or more.

14. The method of claim 11 , further comprising:
determining the first angle corresponding to a first ultrasonic sensor as:
A 1 =arctangent(( D 1-1 −D 1-2 )/ Dis 1),

wherein A 1 is the first angle between the vehicle and the trailer,
wherein D 1-1 is a first neutral distance between the first ultrasonic sensor and the front-end surface of the trailer, wherein the first neutral distance is determined when the trailer is in line with the vehicle,
wherein D 1-2 is a first angled distance between the first ultrasonic sensor and the front-end surface of the trailer, wherein the first angled distance is determined when the trailer is angled with respect to the vehicle, and
wherein Dis1 is a first offset distance, and wherein the first offset distance is between a center of the first ultrasonic sensor and a center of the vehicle.

15. The method of claim 11 , wherein the one or more ultrasonic sensors are in a two-dimensional pattern in a plane that is perpendicular to an axis between the vehicle and the trailer.

16. The method of claim 10 , wherein the trailer angle is determined as an average angle of the one or more angles.

17. The method of claim 16 , wherein the average angle is weighted based on a standard deviation for distance values received from each of the one or more ultrasonic sensors.

18. The method of claim 17 , wherein an error interval and a confidence level is determined based on the standard deviation for the distance values received from each of the one or more ultrasonic sensors.

19. A non-transitory computer readable medium storing executable instructions for determining a trailer angle between a trailer and a vehicle that when executed by at least one processor perform at least:
receiving, from each of one or more ultrasonic sensors, a distance between each ultrasonic sensor and a front-end surface of the trailer attached to the vehicle, and wherein the distance is oriented normal to the vehicle;
determining one or more angles, each angle corresponding to a distance received from the one or more ultrasonic sensors, wherein each angle is between the vehicle and the trailer, and
determining a first angle corresponding to a first ultrasonic sensor based on one or more geometrical relationships between a position of the first ultrasonic sensor and the front-end surface o

Assignees

• Tusimple Inc

Inventors

• Han Xiaoling
• Price Charles A
• Skinner Todd
• Zheng Kaixin

Classifications

• G01S15/42 Primary

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S15/46) · CPC title

• G01S15/931

  of land vehicles · CPC title

• B62D53/06

  Semi-trailers · CPC title

• B62D63/08

  Component parts or accessories · CPC title

• G01S2015/937

  sensor installation details · CPC title