Trailer Backup Assist Curvature Control
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Solution Overview
Problem
Reversing a vehicle while towing a trailer is challenging due to the need for opposite steering inputs and amplified steering errors, and existing trailer backup assist systems are complex and costly, assuming a zero curvature path and requiring complex human-machine interfaces and precise navigation systems.
Innovation Solution
A trailer backup assist system that includes a hitch sensor, steering sensor, and input module to generate steering angle commands based on measured hitch angle, steering angle, and desired curvature, allowing for intuitive path control and jackknife prevention through kinematic modeling and feedback linearization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a trailer backup assist system assumes a zero curvature path, then the system implementation is simplified, but the system fails to account for real-world curved paths and significantly limits usefulness
Solution Approach 1:
The system dynamically adapts between two operational modes: straight-path mode for simplified operation and curved-path mode for enhanced versatility. The controller automatically transitions between these modes based on detected driving conditions, allowing the system to maintain simplicity when possible while adapting to curved paths when needed.
2Measurement precision
If high precision GPS, inertial navigation, or cameras are used to determine desired path and stopping point, then path following accuracy is improved, but the system becomes relatively complex and costly
Solution Approach 1:
The system uses an intermediary hitch angle sensor as the primary measurement device, which provides sufficient accuracy for trailer backup assistance without requiring complex GPS, inertial navigation, or camera systems. The hitch angle serves as a practical proxy for path following accuracy, enabling the system to achieve adequate performance with simpler, more cost-effective components.
3Manufacturing precision
If the system provides detailed path specification, obstacle detection, and goal specification through HMI, then path planning accuracy is improved, but the human machine interface becomes relatively complex
Solution Approach 1:
The system performs path planning automatically based on the vehicle's current position, trailer configuration, and destination input, without requiring the driver to manually specify paths, obstacles, or goals. The controller autonomously calculates the optimal backup path and provides steering assistance, significantly simplifying the HMI while maintaining accurate path planning.
4Measurement precision
If the system provides real-time feedback on path following accuracy and stopping point achievement, then control precision is improved, but the system requires additional sensors and processing complexity
Solution Approach 1:
The system continuously monitors the hitch angle and provides real-time feedback to the driver through the display system, enabling the driver to assess path following accuracy and stopping point achievement. This feedback mechanism improves control precision while avoiding the need for additional complex sensors and processing systems by leveraging the existing hitch angle measurement.
Data Source
AI summary
In one embodiment of the disclosed subject matter, a trailer backup assist system includes a sensor that senses a measured hitch angle between a vehicle and a trailer. The system also provides an input module that receives a desired curvature of the trailer. A controller of the system includes a curvature regulator determining a desired hitch angle based on the desired curvature and a steering angle of the vehicle. In addition, the controller of the system includes a hitch angle regulator generating a steering angle command based on the desired hitch angle and the measured hitch angle. In this embodiment, the controller is configured to operate the trailer backup assist system irrespective of the attached trailer having a conventional tongue or a gooseneck tongue.