System and method of calibrating a trailer backup assist system

摘要

A system and a method are provided for calibrating a backup assist system for a trailer attached to a vehicle. The method includes driving the vehicle forward substantially straight above a threshold speed, sensing a yaw rate of the vehicle, and sensing a measured hitch angle of the trailer. A yaw sensor continuously senses the yaw rate of the vehicle and a hitch sensor continuously measures the hitch angle for determining an angle rate based on the measured hitch angle. Further, a controller determines an offset between the measured hitch angle and an actual hitch angle when the yaw rate and angle rate are substantially zero or otherwise the same.

主权项

1. A method of calibrating a backup assist system for a trailer attached to a vehicle, comprising:
driving the vehicle forward substantially straight above a threshold speed; sensing a yaw rate of the vehicle with a yaw rate sensor; sensing a measured hitch angle of the trailer with a hitch angle sensor; determining an angle rate based on the measured hitch angle; determining an approximate distance the vehicle needs to travel forward in a substantially straight orientation to place the actual hitch angle at substantially zero, wherein the approximate distance is determined based on a length of the trailer and the measured hitch angle; and determining with a controller an offset between the measured hitch angle and an actual hitch angle when the yaw rate and angle rate are substantially zero and the actual hitch angle is substantially zero.