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Trailer oscillation detection and compensation method for a vehicle and trailer combination

  • US 8,165,770 B2
  • Filed: 06/28/2011
  • Issued: 04/24/2012
  • Est. Priority Date: 10/05/2007
  • Status: Expired due to Fees
First Claim
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1. A method of controlling a vehicle that is pulling a trailer, wherein the tow point of the trailer is rearward of all vehicle axles, the method comprising:

  • determining an angular position of the trailer relative to the vehicle using a trailer sensor during forward motion of the vehicle;

    generating an oscillation signal indicative of trailer swaying relative to the vehicle, said oscillation signal being generated by a controller having an oscillation detector as a function of the angular position;

    generating an initial weighted dynamic control signal in a controller having a neural network;

    supplying the weighted dynamic control signal output from the neural network to a vehicle dynamic control system in response to the oscillation signal;

    operating at least one vehicle dynamic system according to the weighted dynamic control signal;

    during subsequent neural network outputs to the vehicle dynamic control signal, iteratively generating a penalty function in the oscillation detector to be applied to the weighted dynamic control signal as a function of the oscillation signal;

    for a weighted dynamic control signal which mitigates trailer sway, reducing the penalty function in the oscillation detector and maintaining the weighted dynamic control signal supplied by the neural network to the vehicle dynamic control system; and

    for a weighted dynamic control signal which does not mitigate trailer sway, increasing the penalty function in the oscillation detector and modifying the weighted dynamic control signal supplied by the neural network to the vehicle dynamic control system.

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