Hitch Articulation Angle Estimation Using Plausibility Filtering
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Solution Overview
Problem
Current systems for estimating Hitch Articulation Angle (HAA) using Ultra-Sonic Sensors (USSs are limited by signal interference and uncertain trailer shapes, leading to inaccurate estimations during towing operations, especially with arbitrarily shaped trailers.
Innovation Solution
A system and method that employs Ultra-Sonic Sensors in conjunction with a kinematic model, utilizing plausibility filtering and geometric equations to refine USS data, assess signal quality, and fuse with other sensor modalities like vision, radar, and UWB to accurately estimate HAA across various dynamic conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If Ultra-Sonic Sensors are used to estimate Hitch Articulation Angle, then HAA estimation capability is provided, but signal interference and noise lead to reduced measurement precision
Solution Approach 1:
The patent introduces multiple intermediary components to process and filter USS signals: plausibility filters that assess signal quality based on driving conditions, geometric equation solvers that compute HAA from filtered signals, and fusion modules that combine USS data with kinematic models and other sensors. These intermediaries progressively eliminate noise and interference while preserving accurate HAA estimation.
Solution Approach 2:
The system implements a universal HAA estimation framework that handles multiple trailer shapes (flat, V-nose, arbitrary) and various driving conditions through a single integrated architecture. The plausibility filter and fusion module adaptively process signals across different scenarios, making the system universally applicable while maintaining precision despite signal interference.
2Measurement precision
If USS data is processed without filtering, then processing speed is maintained, but measurement precision deteriorates due to noise and interference
Solution Approach 1:
The signal processing pipeline is segmented into distinct modular stages: USS data acquisition, plausibility filtering based on driving conditions, geometric equation solving for HAA calculation, and fusion with kinematic models. Each module performs a specific function, making the complex processing manageable while maintaining accuracy through systematic noise elimination at each stage.
3Measurement precision
If plausibility filtering and fusion with other sensors is implemented, then HAA estimation accuracy is improved, but device complexity increases
Solution Approach 1:
The patent merges multiple data sources (USS sensors, kinematic models, other sensor modalities) into a unified HAA estimation system. The fusion module combines these diverse inputs with complementary weighting, achieving superior accuracy while managing complexity through integrated processing rather than separate independent systems.
4Adaptability or versatility
If geometric equations are used to determine trailer shape, then adaptability to different trailer configurations is improved, but measurement precision may deteriorate due to uncertain trailer shapes
Solution Approach 1:
The system dynamically adapts its geometric model based on detected trailer characteristics. Rather than using a fixed geometric equation, the system selects and adjusts geometric models according to the specific trailer shape detected (flat, V-nose, or arbitrary), optimizing precision for each configuration while maintaining universal adaptability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution provides enhanced accuracy in estimating HAA by filtering out noise, determining trailer shapes, and correlating USS data with kinematic models, improving towing stability by ensuring higher signal performance and quality metrics, even under dynamic conditions.
Implementation Method 1
detecting at least one set of echo signals generated by a plurality of USSs configured about the vehicle that has been directed at a trailer
Data Source
AI summary
In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for estimating a Hitch Articulation Angle (HAA) using Ultra-Sonic Sensors (USSs) while ensuring quality detected echo signal performance using plausibility filtering, generating at least one set of USS data based on detecting a set of echo signals generated by a plurality of USSs configured about a vehicle coupled to a trailer; determining based on a set of USS data using a selected set of geometric equations in a plausibility filtering process for an arbitrary frontal shape of the trailer; and generating at least one comparison based on at least one set of USS data estimations to a kinematic model at low speeds for ensuring that results of the kinematic model to the HAA associated with the determined trailer shape is based on a pair of detected echo signals that are deemed to have a higher signal performance.