TRAILER LENGTH AND HITCH ANGLE BIAS ESTIMATION
First Claim
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1. A backup assist system for a vehicle and trailer combination, comprising:
- a steering system;
a first sensor detecting a first dynamic condition of the combination; and
a controller;
receiving a value for the first dynamic condition from the first sensor at a plurality of instances;
solving for a corresponding plurality of parameters in a kinematic model of the combination; and
controlling the steering system using the plurality of parameters in the kinematic model.
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Abstract
A backup assist system for a vehicle and trailer combination includes a steering system and a first sensor detecting a first dynamic condition of the combination. The system further includes a controller receiving a value for the first dynamic condition from the first sensor at a plurality of instances. The controller further solves for a corresponding plurality of parameters in a kinematic model of the combination and controls the steering system using the plurality of parameters in the kinematic model.
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Citations
20 Claims
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1. A backup assist system for a vehicle and trailer combination, comprising:
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a steering system; a first sensor detecting a first dynamic condition of the combination; and a controller; receiving a value for the first dynamic condition from the first sensor at a plurality of instances; solving for a corresponding plurality of parameters in a kinematic model of the combination; and controlling the steering system using the plurality of parameters in the kinematic model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A vehicle, comprising:
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a steering system; a first sensor detecting a first dynamic condition of at least one of the vehicle and the vehicle in a combination with a trailer; and a trailer backup assist system, comprising a controller; receiving a value for the first dynamic condition from the first sensor in at least one instance; solving for at least one parameter corresponding in number to the at least one instance in a kinematic model of the combination; and controlling the steering system using the at least one parameter in the kinematic model. - View Dependent Claims (12, 13, 14, 15)
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16. A method for assisting a vehicle in reversing a trailer, comprising:
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determining unknown values for a plurality of parameters in a combination of the vehicle and the trailer, including; receiving a first measurement for a first dynamic condition of the combination at a plurality of instances; and solving for the parameters in a kinematic model of the combination; and implementing a reversing operation including controlling a vehicle steering system using the plurality of parameters. - View Dependent Claims (17, 18, 19, 20)
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Specification