METHOD AND SYSTEM FOR ESTIMATING A TRAILER POSITION OF A TRAILER ASSOCIATED WITH A VEHICLE
First Claim
1. A method for estimating a trailer position of a trailer associated with a vehicle, the method comprising:
- determining a vehicle heading of a vehicle with reference to a reference heading;
entering or detecting a hitch length and a tongue length, where the hitch length extends from a rear axis of the vehicle to a hitch point and where the tongue length extends from a trailer axis to the hitch point;
selecting a position solution from a first position solution and a second position solution based on a comparison between a turning radius at the hitch point, Rp, and the tongue length, where Rp=Vp/(α
′
−
δ
′
), where Vp is a velocity at the hitch point, α
′
is the vehicle yaw rate, and δ
′
is the change in a vehicle slip angle; and
estimating a trailer position of the trailer in accordance with the position solution based on the determined vehicle heading, the hitch length and the tongue length.
2 Assignments
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Accused Products
Abstract
A data processor determines a position solution or selects a position solution from a first position solution and a second position solution based on a comparison between the turning radius at a hitch point, Rp, and the tongue length, where Rp=Vp/(α′−δ′), where Vp is a velocity at the hitch point, α′ is the vehicle yaw rate, and δ′ is the change in a vehicle slip angle. A trailer position of a trailer is estimated in accordance with a position solution (e.g., determined or selected position solution) based on the determined vehicle heading, the hitch length, and the tongue length.
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Citations
24 Claims
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1. A method for estimating a trailer position of a trailer associated with a vehicle, the method comprising:
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determining a vehicle heading of a vehicle with reference to a reference heading; entering or detecting a hitch length and a tongue length, where the hitch length extends from a rear axis of the vehicle to a hitch point and where the tongue length extends from a trailer axis to the hitch point; selecting a position solution from a first position solution and a second position solution based on a comparison between a turning radius at the hitch point, Rp, and the tongue length, where Rp=Vp/(α
′
−
δ
′
), where Vp is a velocity at the hitch point, α
′
is the vehicle yaw rate, and δ
′
is the change in a vehicle slip angle; andestimating a trailer position of the trailer in accordance with the position solution based on the determined vehicle heading, the hitch length and the tongue length. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for estimating a trailer position of a trailer associated with a vehicle with a trailer, the system comprising:
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a first location determining receiver for determining a vehicle heading of a vehicle with reference to a reference heading; a user interface for entering or an optical measuring device for detecting a hitch length and a tongue length, where the hitch length extends from a rear axis of the vehicle to a hitch point and where the tongue length extends from a trailer axis to the hitch point; a data processor for selecting a position solution from a first position solution and a second position solution based on a comparison between a turning radius at hitch pivot point, Rp, and the tongue length, where Rp=Vp/(α
′
−
δ
′
), where Vp is a velocity at the hitch point, α
′
is the vehicle yaw rate, and δ
′
is the change in a vehicle slip angle; andthe data processor for estimating a trailer position of the trailer in accordance with the selected position solution based on the determined vehicle heading, the hitch length and the tongue length. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification