TRAILER LENGTH ESTIMATION METHOD USING TRAILER YAW RATE SIGNAL
First Claim
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1. A backup assist system for a vehicle reversing a trailer, comprising:
- a trailer sensor module generating a trailer yaw rate;
a vehicle sensor system generating a vehicle yaw rate and a vehicle speed; and
a controller determining an estimated length of the trailer based on an estimated hitch angle, the vehicle yaw rate, the vehicle speed, and the trailer yaw rate in view of a kinematic relationship.
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Abstract
A backup assist system for a vehicle reversing a trailer includes a trailer sensor module generating a trailer yaw rate and a vehicle sensor system generating a vehicle yaw rate and a vehicle speed. The system further includes a controller determining an estimated length of the trailer based on an estimated hitch angle, the vehicle yaw rate, the vehicle speed, and the trailer yaw rate in view of a kinematic relationship.
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Citations
20 Claims
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1. A backup assist system for a vehicle reversing a trailer, comprising:
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a trailer sensor module generating a trailer yaw rate; a vehicle sensor system generating a vehicle yaw rate and a vehicle speed; and a controller determining an estimated length of the trailer based on an estimated hitch angle, the vehicle yaw rate, the vehicle speed, and the trailer yaw rate in view of a kinematic relationship. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for estimating the length of a trailer towed by a vehicle, comprising
a first sensor coupled with the trailer for determining a trailer yaw rate; -
a second sensor coupled with the vehicle for determining a vehicle yaw rate; and a controller determining an estimated length of the trailer based on an estimated hitch angle, the vehicle yaw rate, the vehicle speed, and the trailer yaw rate in view of a kinematic relationship between the trailer and the vehicle. - View Dependent Claims (13, 14, 15, 16)
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17. A method for estimating the length of a trailer towed by a vehicle, comprising:
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receiving a trailer yaw rate signal; receiving a vehicle yaw rate signal; receiving a vehicle speed signal; and determining an estimated length of the trailer based on an estimated hitch angle, the vehicle yaw rate signal, the vehicle speed signal, and the trailer yaw rate signal in view of a kinematic relationship between the trailer and the vehicle. - View Dependent Claims (18, 19, 20)
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Specification