Method and system of controlling a vehicle in the presence of a disturbance
First Claim
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1. A method of controlling a towing vehicle adapted to be connected to a trailer, the method comprising:
- sensing a plurality of vehicle conditions indicative of at least a movement of the towing vehicle, and an angle of the towing vehicle;
determining a disturbance caused by the trailer based on data including at least the movement of the vehicle and the angle of the vehicle; and
generating a compensation signal based on the determined disturbance.
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Abstract
A system and method of controlling a towing vehicle adapted to be connected to a trailer at a hitch. The method includes sensing a plurality of vehicle conditions indicative of at least a movement of the towing vehicle, and an angle of the towing vehicle, determining a disturbance at the hitch based on data including at least the movement of the vehicle and the angle of the vehicle, and generating a compensation signal based on the determined disturbance at the hitch.
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Citations
41 Claims
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1. A method of controlling a towing vehicle adapted to be connected to a trailer, the method comprising:
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sensing a plurality of vehicle conditions indicative of at least a movement of the towing vehicle, and an angle of the towing vehicle;
determining a disturbance caused by the trailer based on data including at least the movement of the vehicle and the angle of the vehicle; and
generating a compensation signal based on the determined disturbance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for controlling a towing vehicle adapted to be used with a trailer at a hitch, the system comprising:
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at least one sensor configured to sense vehicle conditions including a movement and a speed of the towing vehicle;
an estimating module configured to receive the sensed vehicle conditions including the movement of the towing vehicle and the speed of the towing vehicle, and to estimate a disturbance at the hitch based on data including the sensed vehicle conditions; and
a compensation module configured to receive the estimated disturbance from the estimating module, and to generate a compensation signal based on the estimated disturbance at the hitch. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A method of controlling a towing vehicle adapted to be connected to a trailer, the method comprising:
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modeling a plurality of dynamics of the towing vehicle;
determining a disturbance caused by the vehicle trailer from the modeled dynamics of the towing vehicle; and
compensating at least one of a wheel torque and a steering angle based on the determined disturbance. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33)
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34. A system for controlling a towing vehicle adapted to be connected to a trailer at a hitch, the system comprising:
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means for modeling a plurality of dynamics of the towing vehicle;
means for determining a hitch force based at least in part on the modeled dynamics; and
means for compensating at least one of an engine torque, a brake torque, a front steering torque, and a rear steering based on the force at the hitch. - View Dependent Claims (35, 36, 37, 38, 39, 40, 41)
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Specification