Trailer motion and parameter estimation system
AssigneeFord Global Technologies, LLC
InventorsLi Xu, Eric Hongtei Tseng, Thomas Edward Pilutti, Steven Yellin Schondorf, Davor David Hrovat, John P. Joyce
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.
Claims19
A trailer backup assist system comprising:
- a trailer sensor module generating at least one of a trailer yaw rate or a trailer speed;
- a vehicle sensor system generating a vehicle yaw rate and a vehicle speed;
- and
- a controller estimating a hitch angle based on the vehicle yaw rate, vehicle speed, and one of the trailer yaw rate or the trailer speed in view of a kinematic relationship.
A system for estimating a hitch angle between a vehicle and a trailer, comprising:
- a first sensor coupled with the trailer for determining a trailer yaw rate;
- a second sensor coupled with the vehicle for determining a vehicle yaw rate;
- and
- a controller estimating a hitch angle based on the trailer yaw rate, the vehicle yaw rate, and a vehicle speed in view of a kinematic relationship between the trailer and the vehicle.
A method for estimating a hitch angle between a vehicle and a trailer, comprising:
- sensing a first yaw rate of the trailer;
- sensing a second yaw rate of the vehicle;
- sensing a speed of the vehicle;
- determining an instantaneous hitch angle based on the first and second yaw rates and the speed of the vehicle in view of a kinematic relationship between the trailer and the vehicle;
- and
- generating a steering command for the vehicle to guide the trailer on a desired backing path, wherein the desired backing path is determined by an input received from a steering input device of a trailer backup assist system.
19-20. (canceled)
Dependencies are inferred from the claim text.