# US 11,077,730 B2 · Sensor mounting height estimation using load sensors > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,730 B2 - Document ID: US11077730B2 - Status: Granted - Kind: B2 - Application number: 16/394,058 - Filed: 2019-04-25 - Published: 2020-07-02 - Granted: 2021-08-03 - Earliest claimed: 2018-12-27 - Assignees: Continental Automotive Systems, Inc. - Applicants: Continental Automotive Systems Inc. - Inventors: Dominik Froehlich - Web page: https://patentgrep.com/patent/US11077730B2 ## CPC - B60D 1/36: for facilitating connection, e.g. hitch catchers - B60D 1/62: involving supply lines, electric circuits or the like - B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle - B60W 40/13: Load or weight - G01G 19/08: for incorporation in vehicles - B60C 23/02: Signalling devices actuated by tyre pressure {(hand-held tyre pressure gauges G01L17/00)} - B60W 2530/10: Weight - B60D: VEHICLE CONNECTIONS - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - 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 - G01G: WEIGHING (sorting by weighing B07C5/16) - B60C: VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES ## Abstract A method and apparatus for a method that includes providing at least one sensor mounted to a structure on a vehicle. The at least one sensor is located at a sensor height relative to ground level. A first object is located on the vehicle at a fixed distance from the at least one sensor and at a variable distance from ground level. The variable distance estimated as a function of a vehicle load. The sensor height adjusted based on the variable distance to account for any changes in the vehicle load. A second object is spaced at a vertical distance from ground level. An adjusted sensor height used for comparison to the vertical distance of the second object from ground level. ## Claims ### Claim 1 A method comprising: providing at least one sensor mounted to a structure on a vehicle, the at least one sensor being located at a sensor height relative to ground level; locating a first object on the vehicle at a fixed distance from the at least one sensor and at a variable distance from ground level; estimating the variable distance as a function of a vehicle load; adjusting the sensor height based on the variable distance to account for any changes in the vehicle load; spacing a second object at a vertical distance from ground level; and using an adjusted sensor height for comparison to the vertical distance of the second object from ground level. ### Claim 2 (depends on 1) The method according to claim 1, wherein the first object comprises a trailer hitch and the second object comprises a trailer receiver, and wherein the method includes comparing the variable distance of the first object to the vertical distance of the second object. ### Claim 3 (depends on 1) The method according to claim 1, wherein the at least one sensor comprises at least one camera. ### Claim 4 (depends on 1) The method according to claim 1, wherein the structure comprises a tailgate or a liftgate. ### Claim 5 (depends on 1) The method according to claim 1, including a controller that is configured to estimate the variable distance as a function of the vehicle load by determining a weight of the vehicle load. ### Claim 6 (depends on 5) The method according to claim 5, wherein determining a weight of the vehicle load is accomplished by using at least one tire load or pressure sensor that is in communication with the controller. ### Claim 7 (depends on 6) The method according to claim 6, wherein the at least one tire load or pressure sensor is part of an electronic tire information system. ### Claim 8 (depends on 7) The method according to claim 7, wherein the vehicle load is located in a cargo area that is supported by rear tires of the vehicle, and wherein the at least one tire load sensor comprises a plurality of tire load sensors with at least one tire load sensor being associated with each rear tire, and wherein the method includes using the tire load or pressure sensors in the rear tires to estimate a load per rear tire, and using an average load on the rear tires to estimate the variable distance. ### Claim 9 (depends on 7) The method according to claim 7, wherein the vehicle load is located in a cargo area that is supported by rear tires of the vehicle, and wherein the at least one tire load sensor comprises a plurality of tire load sensors with at least one tire load sensor being associated with each rear tire, and wherein the method includes using the tire load or pressure sensors in the rear tires to estimate a load per rear tire, and using a measured load for all rear tires to estimate the variable distance. ### Claim 10 An apparatus comprising: at least one sensor mounted to a structure on a vehicle, the at least one sensor being located at a sensor height relative to ground level; a first object located on the vehicle at a fixed distance from the at least one sensor and at a variable distance from ground level; a second object spaced at a vertical distance from ground level; and a controller configured to estimate the variable distance as a function of a vehicle load, adjust the sensor height based on the variable distance to account for any changes in the vehicle load, and using an adjusted sensor height for comparison to the vertical distance. ### Claim 11 (depends on 10) The apparatus according to claim 10, wherein the first object comprises a trailer hitch and the second object comprises a trailer receiver, and wherein the controller compares the variable distance to the vertical distance to determine whether the trailer hitch and trailer receiver are in alignment with each other in a longitudinal direction. ### Claim 12 (depends on 11) The apparatus according to claim 11, wherein the structure comprises a tailgate or a liftgate. ### Claim 13 (depends on 12) The apparatus according to claim 12, wherein the at least one sensor is positioned near an upper edge of the tailgate or liftgate, and wherein the trailer hitch is located on a lower edge of the tailgate or liftgate, and wherein the fixed distance the variable distance are added together to determine a distance of the at least one sensor from ground level. ### Claim 14 (depends on 13) The apparatus according to claim 13, wherein the controller is configured to estimate the variable distance as a function of the vehicle load by determining a weight of the vehicle load. ### Claim 15 (depends on 14) The apparatus according to claim 14, including at least one tire load or pressure sensor, and wherein the controller is configured to determine a weight of the vehicle load by using data from the at least one tire load or pressure sensor. ### Claim 16 (depends on 15) The apparatus according to claim 15, wherein the at least one tire load or pressure sensor is part of an electronic tire information system that is in communication with the controller. ### Claim 17 (depends on 16) The apparatus according to claim 16, wherein the vehicle load is located in a cargo area that is supported by rear tires of the vehicle, and wherein the at least one tire load or pressure sensor comprises a plurality of tire load or pressure sensors with at least one tire load or pressure sensor being associated with each rear tire, and wherein the controller uses the data from the tire load or pressure sensors in the rear tires to estimate a load per rear tire, and uses an average load on the rear tires to estimate the variable distance. ### Claim 18 (depends on 16) The apparatus according to claim 16, wherein the vehicle load is located in a cargo area that is supported by rear tires of the vehicle, and wherein the at least one tire load or pressure sensor comprises a plurality of tire load or pressure sensors with at least one tire load or pressure sensor being associated with each rear tire, and wherein the controller uses the data from the tire load or pressure sensors in the rear tires to estimate a load per rear tire, and uses a measured load for all rear tires to estimate the variable distance. ### Claim 19 (depends on 15) The apparatus according to claim 15, wherein the controller adjusts the variable distance based on changes in the vehicle load to provide an adjusted distance of the at least one sensor from ground level, and subsequently compares the vertical distance of the second object from ground level to an adjusted variable distance. ### Claim 20 (depends on 10) The apparatus according to claim 10, wherein the at least one sensor comprises at least one camera.