US 11,724,736 B2
Trailer backup assist curvature control
Douglas Scott Rhode, Farmington Hills, MI (US); David Dean Smit, Ann Arbor, MI (US); Erick Michael Lavoie, Van Buren Township, MI (US); Martin Fitzpatrick Frey, Saline, MI (US); Thomas Edward Pilutti, Ann Arbor, MI (US); Taehyun Shim, Ann Arbor, MI (US); Matt Y. Rupp, Canton, MI (US); and Roger Arnold Trombley, Ann Arbor, MI (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US); and The Regents of the University of Michigan, Ann Arbor, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US); and The Regents of the University of Michigan, Ann Arbor, MI (US)
Filed on Jun. 8, 2021, as Appl. No. 17/341,598.
Application 17/341,598 is a continuation of application No. 16/419,193, filed on May 22, 2019, granted, now 11,066,100.
Application 16/419,193 is a continuation of application No. 14/482,604, filed on Sep. 10, 2014, granted, now 10,370,030, issued on Aug. 6, 2019.
Application 14/482,604 is a continuation of application No. 13/336,060, filed on Dec. 23, 2011, granted, now 8,909,426, issued on Dec. 9, 2014.
Claims priority of provisional application 61/477,132, filed on Apr. 19, 2011.
Prior Publication US 2021/0291901 A1, Sep. 23, 2021
Int. Cl. G06F 17/00 (2019.01); B62D 13/06 (2006.01); B62D 15/02 (2006.01); B62D 1/22 (2006.01); B60W 30/06 (2006.01); B60W 30/18 (2012.01)
CPC B62D 13/06 (2013.01) [B62D 1/22 (2013.01); B62D 15/027 (2013.01); B60W 30/06 (2013.01); B60W 30/18036 (2013.01); B60W 2300/14 (2013.01); B60W 2520/22 (2013.01); B60W 2710/207 (2013.01); B60Y 2200/147 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a hitch configured to tow a trailer;
one or more steered wheels;
a steering wheel configurable to steer the one or more steered wheels; and
a trailer backup assist system for backing the trailer, the trailer backup assist system comprising:
a hitch angle detecting apparatus determining a hitch angle between the vehicle and the trailer;
a steering input apparatus providing a path of travel for the trailer during backing of the trailer;
a control module generating a steering command for the vehicle to guide the trailer on the path based on the hitch angle and a kinematic relationship determined between the vehicle and the trailer; and
a power-steering system for steering the vehicle based on the steering command.