Enhanced yaw rate trailer angle detection initialization
AssigneeFord Global Technologies, LLC
InventorsErick Michael Lavoie, Donald Jacob Mattern
Life of this patent
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Abstract
A trailer backup assist system for a vehicle reversing a trailer includes a sensor module adapted to attach to the trailer and generate a trailer yaw rate or a trailer speed. The trailer backup assist system also includes a vehicle sensor system that generates a vehicle yaw rate and a vehicle speed. Further, the trailer backup assist system includes a controller that estimates a hitch angle based on the trailer yaw rate or the trailer speed and the vehicle yaw rate and the vehicle speed in view of a kinematic relationship between the trailer and the vehicle.
Claims20
A trailer backup assist system comprising:
- a trailer sensor module configured to be mounted to a trailer, the trailer sensor module including a module structure, and a yaw rate sensor and an inclinometer mounted to the module structure whereby the yaw rate sensor and the inclinometer move together with the module structure;
- a controller configured to:
- utilize data from the yaw rate sensor to generate vehicle control signals to control at least one of a vehicle speed and vehicle direction while a vehicle is backing up with the trailer attached thereto;
- utilize data from the inclinometer to determine if the trailer sensor module is properly mounted to a trailer within a predefined tolerance;
- and
- generate a signal to a Human Machine Interface (HMI) indicating that an orientation of the trailer sensor module on a trailer is not proper if the trailer sensor module is mounted on a trailer outside of the predefined tolerance.
A vehicle, comprising:
- a trailer backup assist system having a controller configured to:
- determine an incline of a yaw rate sensor mounted to a trailer utilizing data from an inclinometer mounted to the trailer;
- generate a signal to an HMI of the vehicle to inform a user of the incline and adjustments required for proper incline;
- estimate a hitch angle using yaw rate data.
A trailer backup assist system comprising:
- a trailer sensor module configured to be mounted to a trailer, the trailer sensor module including a yaw rate sensor;
- a controller configured to:
- utilize data from the yaw rate sensor to generate vehicle control signals to control at least one of a vehicle speed and vehicle direction while a vehicle is backing up with the trailer attached thereto;
- determine if yaw rate data from the yaw rate sensor meets validity criteria;
- and
- generate a signal to a Human Machine Interface (HMI) concerning an orientation of the yaw rate sensor on the trailer if the yaw rate data does not meet the validity criteria.
Dependencies are inferred from the claim text.