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 vehicle including a trailer backup assist system, the vehicle comprising:
- an authentication device that permits vehicle operation if the authentication device is actuated to an ON state from an OFF state;
- a sensor that is configured to provide a signal indicating whether or not a trailer is attached to the vehicle;
- a controller configured to:
- store trailer data, a vehicle position and hitch angle if the authentication device changes from an ON state to an OFF state to define a power off event;
- determine if the authentication device has changed from an OFF state to an ON state to define a power on event;
- determine if a trailer is connected to the vehicle if a power on event occurs;
- determine if a present position of the vehicle has changed since a power off event;
- determine if a present position of the vehicle has not changed, retrieve at least one of trailer data and hitch angle for use in the trailer backup assist system;
- determine if a present position of the vehicle has not changed since a power off event, to provide an indication to a user that trailer data needs to be supplied to the trailer backup assist system.
A vehicle, comprising:
- a trailer backup assist system having a controller configured to:
- estimate a hitch angle using yaw rate data;
- store information including a trailer dimension, vehicle position, trailer connected flag, and hitch angle in non-volatile memory, and retrieve the information when the vehicle is turned on;
- compare the retrieved information to corresponding current information and utilize the retrieved information for trailer backup assist control if the vehicle has not moved.
Dependencies are inferred from the claim text.