Steer-By-Wire Trailer Backup Control for Hitch Angle Stability
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Solution Overview
Problem
Reversing a trailer using a vehicle is an unstable process due to the non-minimum-phase property of vehicle-trailer kinematics, making it challenging for drivers to maintain the trailer direction, especially prone to jackknifing.
Innovation Solution
A steer-by-wire system integrated with a closed-loop trailer reversal control system that allows direct steering wheel input for desired hitch angle, utilizing a proportional feedback controller and real-time trailer length estimation to maintain hitch angle stability, supplemented by artificial intelligence for enhanced control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a traditional mechanical steering system is used for trailer reversal, then the driver has direct control over the steering wheel, but the system becomes unstable and prone to jackknifing due to non-minimum-phase kinematics
Solution Approach 1:
The patent replaces the traditional mechanical steering system with a steer-by-wire system that uses electronic sensors, controllers, and actuators. The mechanical connection between steering wheel and front wheels is eliminated, allowing the control system to decouple driver input from actual wheel steering. This substitution enables the implementation of control algorithms that stabilize the trailer reversal process by compensating for non-minimum-phase kinematics through electronic control rather than mechanical linkage.
Solution Approach 2:
The patent implements a closed-loop feedback control system that continuously monitors the hitch angle between the vehicle and trailer using sensors. The controller receives real-time data about the actual hitch angle and compares it with the desired angle, then adjusts the front wheel steering angle accordingly. This feedback mechanism allows the system to correct deviations and maintain stability during trailer reversal, directly addressing the instability problem caused by non-minimum-phase kinematics.
2Stability of the object's composition
If a steer-by-wire system with closed-loop control is implemented to stabilize trailer reversal, then hitch angle stability is improved, but the device complexity increases
Solution Approach 1:
The patent integrates multiple functions into the steer-by-wire control system, including hitch angle sensing, real-time calculation of desired steering angles based on kinematic models, active stabilization control, and driver input interpretation. By making the control system multi-functional, the patent reduces the need for separate dedicated components for each function, thereby managing complexity while achieving hitch angle stability during trailer reversal.
Data Source
AI summary
A trailer backup assist system and method are disclosed that utilize a steer-by-wire architecture and advanced control algorithms to enable intuitive and stable trailer reversing. A hitch angle determination module measures or estimates the angular relationship between a towing vehicle and a trailer. A proportional controller computes a desired hitch angle rate based on the difference between a target and current hitch angle, and a processing unit converts this rate to a front wheel steering angle using a linearized kinematic model. The system includes a trailer length estimator that passively infers trailer geometry during motion, and optionally applies torque feedback to the steering wheel to guide the driver. Sensor fusion from inertial sensors, mechanical linkages, or vision-based systems enables flexible hitch angle estimation. Experimental results demonstrate that the system stabilizes trailer motion with reduced driver input and prevents jackknifing through adaptive control.