# US 10,370,030 B2 · Trailer backup assist curvature control

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- Number: US 10,370,030 B2
- Document ID: US10370030B2
- Status: Granted
- Kind: B2
- Application number: 14/482,604
- Filed: 2014-09-10
- Published: 2014-12-25
- Granted: 2019-08-06
- Earliest claimed: 2011-04-19
- Assignees: Ford Global Technologies, LLC; The Regents of the University of Michigan Office Tech. Transfer, University of Michigan
- Applicants: Ford Global Technologies, LLC; The Regents of the University of Michigan
- Inventors: Douglas Scott Rhode; David Dean Smit; Erick Michael Lavoie; Martin Fitzpatrick Frey; Thomas Edward Pilutti; Taehyun Shim; Matt Y. Rupp; Roger Arnold Trombley
- Web page: https://patentgrep.com/patent/US10370030B2

## CPC

- B62D 13/06: for backing a normally drawn trailer
- B62D 1/22: Alternative steering-control elements, e.g. for teaching purposes
- B62D 15/027: {Parking aids, e.g. instruction means}
- B60W 30/06: Automatic manoeuvring for parking
- B60W 30/18036: {Reversing}
- B60W 2300/14: Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
- B60W 2520/22: Articulation angle, e.g. between tractor and trailer
- B60W 2710/207: Steering angle of wheels
- B60Y 2200/147: Trailers, e.g. full trailers or caravans
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY

## Abstract

A vehicle has a trailer backup steering input apparatus, a trailer backup assist control module coupled to the a trailer backup steering input apparatus, and an electric power assist steering system coupled to the trailer backup assist control module and. The trailer backup steering input apparatus is configured for outputting a trailer path curvature signal approximating a desired curvature for a path of travel of a trailer towably coupled to the vehicle. The trailer backup assist control module is configured for determining vehicle steering information as a function of the trailer path curvature signal. The electric power assist steering system is configured for controlling steering of steered wheels of the vehicle as a function of the vehicle steering information.

## Claims

### Claim 1

A method of reversing a trailer connected to a vehicle, comprising:
determining a kinematic relationship between the vehicle and the trailer based on at least a trailer length of the trailer, a wheel base distance of the vehicle and a steering angle of the vehicle;
determining a hitch angle between the vehicle and the trailer;
commanding a path of the trailer based on a user input, wherein commanding the path includes providing a desired curvature of the path of the trailer relative to a longitudinal centerline axis of the trailer;
generating a steering command for guiding the trailer on the path based on the hitch angle and the kinematic relationship; and
controlling steered wheels of the vehicle with a power-steering system based on the steering command.

### Claim 2 (depends on 1)

The method of claim 1, wherein the desired curvature of the path is provided by a position of a rotatable knob.

### Claim 3 (depends on 1)

The method of claim 1, wherein the user input commands a curvature path of the trailer that allows continuous backup of the trailer that is always below a calculated theoretical jackknife point.