Method and system for estimating a trailer position of a trailer associated with a vehicle

• US 9,227,474 B2
• Filed: 06/29/2012
• Issued: 01/05/2016
• Est. Priority Date: 06/29/2012
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Liu, Qiang
• Primary Examiner(s): Mawari, Redhwan k
• Assistant Examiner(s): King, Rodney P
• Application Number:
  US13/537,335
• Publication Number:
  US 20140005918A1
• Time in Patent Office: 1,285 Days
• Field of Search: 701/1, 701/36, 701/70, 340/341, 340/465, 180/445, 280/46, 280/482
• US Class Current: 1/1
• CPC Class Codes: B60D 1/245 for facilitating push back or parking of trailers
• CPC Class Codes: B60D 1/30 for sway control , e.g. stabilising or anti-fishtail devices; Sway alarm means
• CPC Class Codes: B60D 1/62 involving supply lines, electric circuits, or the like
• CPC Class Codes: B60T 2230/06 Tractor-trailer swaying
• CPC Class Codes: B60T 8/1708 for lorries or tractor-trailer combinations

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, R_p, and the tongue length, where R_p=Vp/(α′−δ′), where V_p 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.

Claims

1. A method for estimating, by a controller, a trailer position of a trailer associated with a vehicle, where the controller comprises a data processor and a data storage device coupled to a data bus, 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, R_p, and the tongue length, where Rp=Vp/(α

′

−

δ

′

), where V_p 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. The method according to claim 1 wherein:

V_p is the velocity at the hitch point based on

3. The method according to claim 1 wherein the first position solution is selected where R_p is greater than or equal to the tongue length.

4. The method according to claim 1 wherein the second position solution is selected where R_p is less than the tongue length.

5. The method according to claim 1 wherein the first position solution is associated with a steady state movement of the trailer with respect to a target trailer path.

6. The method according to claim 1 wherein the second position solution is associated with dynamic movement of the trailer with respect to a target trailer path.

7. The method according to claim 1 wherein the first position solution for the trailer slip angle θ

is in accordance with the following equations;

θ

=θ

_∞

+2 tan(y), where

8. The method according to claim 7 wherein

V_p is a velocity at the hitch point based on

9. The method according to claim 1 wherein the second position solution for the trailer slip angle θ

is determined in accordance with integration of the following expression;

10. The method according to claim 1 wherein the position solution is selected for a time interval and may be changed between the first position solution and the second position solution at the expiration of any time interval.

11. The method according to claim 1 wherein the vehicle comprises a tractor and the trailer comprises an implement.

12. A system for estimating a trailer position of a trailer associated with a vehicle with a trailer, the system comprising:

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, R_p, and the tongue length, where Rp=Vp/(α

′

−

δ

′

), where V_p is a velocity at the hitch point, α

′

is the vehicle yaw rate, and δ

′

is the change in a vehicle slip angle; and

the 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.

13. The system according to claim 12 wherein

V_p is the velocity at the hitch point based on

14. The system according to claim 12 wherein the data processor is adapted to select the first position solution if R_p is greater than or equal to the tongue length.

15. The system according to claim 12 wherein the data processor is adapted to select the second position solution is selected if R_p is less than the tongue length.

16. The system according to claim 12 wherein the first position solution is associated with a steady state movement of the trailer with respect to a target trailer path.

17. The system according to claim 12 wherein the second position solution is associated with dynamic movement of the trailer with respect to a target trailer path.

18. The system according to claim 12 wherein the first position solution for the trailer slip angle θ

is determined by the data processor in accordance with the following equations;

θ

=θ

_∞

+2 tan(y), where

19. The system according to claim 18 wherein

V_p is velocity at the hitch point based on

20. The system according to claim 12 wherein the second position solution for the trailer slip angle θ

is determined by the data processor in accordance with integration of the following expression;

21. The system according to claim 12 wherein the position solution is selected for a time interval and may be changed between the first position solution and the second position solution at the expiration of any time interval.

22. The system according to claim 12 wherein the vehicle comprises a tractor and the trailer comprises an implement.

23. The system according to claim 12 further comprising:

a second location-determining receiver with an antenna on the trailer for determining a trailer heading or trailer position, where the position solution is continuously or repeatedly determined, but only applied when the second location-determining receiver fails to reliably receive a minimum required number of satellite signals or a differential correction signal during a down time period.

24. The system according to claim 12 further comprising:

an angle sensor associated with the trailer for determining a trailer heading or trailer position, where the position solution is continuously determined, but only applied when the angle sensor fails to determine or communicate a hitch angle to the data processor for determination of the trailer heading or the trailer position during a down time period.