Trailer motion and parameter estimation system
First Claim
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1. A trailer backup assist system comprising:
- a trailer sensor module generating at least one of a trailer yaw rate or a trailer speed;
a vehicle sensor system generating a vehicle yaw rate and a vehicle speed; and
a controller estimating a hitch angle based on the vehicle yaw rate, vehicle speed, and one of the trailer yaw rate or the trailer speed in view of a kinematic relationship.
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Abstract
A trailer backup assist system for a vehicle reversing a trailer includes a sensor module adapted to attach to the trailer and generate a trailer yaw rate or a trailer speed. The trailer backup assist system also includes a vehicle sensor system that generates a vehicle yaw rate and a vehicle speed. Further, the trailer backup assist system includes a controller that estimates a hitch angle based on the trailer yaw rate or the trailer speed and the vehicle yaw rate and the vehicle speed in view of a kinematic relationship between the trailer and the vehicle.
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Citations
18 Claims
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1. A trailer backup assist system comprising:
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a trailer sensor module generating at least one of a trailer yaw rate or a trailer speed; a vehicle sensor system generating a vehicle yaw rate and a vehicle speed; and a controller estimating a hitch angle based on the vehicle yaw rate, vehicle speed, and one of the trailer yaw rate or the trailer speed in view of a kinematic relationship. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for estimating a hitch angle between a vehicle and a trailer, comprising:
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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 estimating a hitch angle based on the trailer yaw rate, the vehicle yaw rate, and a vehicle speed in view of a kinematic relationship between the trailer and the vehicle. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. A method for estimating a hitch angle between a vehicle and a trailer, comprising:
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sensing a first yaw rate of the trailer; sensing a second yaw rate of the vehicle; sensing a speed of the vehicle; determining an instantaneous hitch angle based on the first and second yaw rates and the speed of the vehicle in view of a kinematic relationship between the trailer and the vehicle; and generating a steering command for the vehicle based on the instantaneous hitch angle to guide the trailer on a desired backing path, wherein the desired backing path is determined by an input received from a steering input device of a trailer backup assist system. - View Dependent Claims (17, 18)
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Specification