Trailer backup offset determination

Patent metadata

Field	Value
Publication number	US-9937953-B2
Application number	US-201514886668-A
Country	US
Kind code	B2
Filing date	Oct 19, 2015
Priority date	Apr 19, 2011
Publication date	Apr 10, 2018
Grant date	Apr 10, 2018

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.

First claim

What is claimed is:

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.

Assignees

• Ford Global Tech Llc

Inventors

• Lavoie Erick Michael
• Raad Joseph M
• Mattern Donald Jacob

Classifications

• B60W2050/0088

  Adaptive recalibration · CPC title

• B60D1/62

  involving supply lines, electric circuits or the like · CPC title

• B60W50/0098

  Details of control systems ensuring comfort, safety or stability not otherwise provided for · CPC title

• B60W2520/22

  Articulation angle, e.g. between tractor and trailer · CPC title

• B62D13/06 Primary

  for backing a normally drawn trailer · CPC title