# US 10,766,525 B2 · Enhanced yaw rate trailer angle detection initialization > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,766,525 B2 - Document ID: US10766525B2 - Status: Granted - Kind: B2 - Application number: 16/130,277 - Filed: 2018-09-13 - Published: 2019-01-10 - Granted: 2020-09-08 - Earliest claimed: 2016-07-01 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Erick Michael Lavoie; Donald Jacob Mattern - Web page: https://patentgrep.com/patent/US10766525B2 ## CPC - B62D 6/005: {treating sensor outputs to obtain the actual yaw rate} - B60W 40/105: Speed - B60W 40/114: Yaw movement - B62D 6/00: Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) - B62D 13/06: for backing a normally drawn trailer - B62D 15/027: {Parking aids, e.g. instruction means} - B62D 15/0285: {Parking performed automatically} - 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 2540/18: Steering angle - 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 ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The trailer backup assist system of claim 1, wherein: the yaw rate sensor comprises a camera. ### Claim 3 (depends on 1) The trailer backup assist system of claim 1, wherein: the yaw rate sensor comprises a piezoelectric device. ### Claim 4 (depends on 1) The trailer backup assist system of claim 1, wherein: the trailer backup assist system is configured to calculate a hitch angle utilizing data from the yaw rate sensor. ### Claim 5 (depends on 1) The vehicle of claim 1, wherein: the controller is configured to store unique trailer identification information prior to a power off event and to retrieve stored unique trailer identification information after a power on event to thereby determine if a trailer detected after a power on event is a different trailer than a trailer connected prior to a power off event. ### Claim 6 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. ### Claim 7 (depends on 6) The vehicle of claim 6, wherein: the yaw rate sensor and the inclinometer form a trailer sensor module. ### Claim 8 (depends on 7) The vehicle of claim 7, wherein: the trailer sensor module includes a magnet configured to retain the trailer sensor module on a trailer. ### Claim 9 (depends on 7) The vehicle of claim 7, wherein: the controller is configured to generate a signal to the HMI and cause the HMI to provide instructions to correct an orientation of the trailer sensor module if the trailer sensor module is mounted to a trailer at an orientation that is outside of predefined tolerance criteria. ### Claim 10 (depends on 7) The vehicle of claim 7, wherein: the controller is configured to generate an orientation error message if the trailer sensor module is mounted to the trailer at an orientation that is outside of predefined tolerance criteria. ### Claim 11 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. ### Claim 12 (depends on 11) The trailer backup assist system of claim 11, wherein: the validity criteria comprises an acceptable range of yaw rate data. ### Claim 13 (depends on 12) The trailer backup assist system of claim 12, wherein: the controller is configured to determine if yaw rate data from the yaw rate sensor meets validity criteria while the vehicle is moving. ### Claim 14 (depends on 11) The trailer backup assist system of claim 11, wherein: the controller is configured to determine if yaw rate data from the yaw rate sensor meets validity criteria when at least one predefined vehicle operating condition is met. ### Claim 15 (depends on 14) The vehicle of claim 14, wherein: the at least one predefined vehicle operating condition comprises one or more of vehicle speed and vehicle steering angle. ### Claim 16 (depends on 15) The vehicle of claim 15, wherein: the at least one predefined vehicle operating condition comprises one or more of a minimum vehicle speed and a predefined range of vehicle steering angles. ### Claim 17 (depends on 16) The vehicle of claim 16, wherein: the at least one predefined vehicle operating condition comprises a minimum vehicle speed and a predefined range of vehicle steering angles. ### Claim 18 (depends on 17) The vehicle of claim 17, wherein: the acceptable range of yaw rate data comprises a range defined about vehicle yaw rate. ### Claim 19 (depends on 16) The vehicle of claim 16, wherein: the vehicle steering angle criteria includes a predefined time delay in addition to a predefined range of steering angles such that the vehicle steering angle criteria is only met if the vehicle steering angle is within the predefined range of steering angles for time equal to or greater than the predefined time delay. ### Claim 20 (depends on 11) The vehicle of claim 11, wherein; the trailer sensor module further includes an inclinometer; and the controller is configured to utilize data from the inclinometer to determine if an orientation of the trailer sensor module, when mounted to the trailer, is within predefined orientation tolerance limits.