Trailer Hitch Angle Offset Estimation via Yaw Rate
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Solution Overview
Problem
Reversing a vehicle while towing a trailer can be challenging due to the reliance on accurate hitch angle measurements, which are critical for trailer backup assist systems but often suffer from inaccuracies and reliability issues, especially for infrequent users or those with various types of trailers.
Innovation Solution
A system that measures hitch angles between a vehicle and a trailer, calculates hitch angle offsets, and extrapolates additional offsets based on calculated values, using a sensor system and controller to improve accuracy and reliability, particularly when the vehicle and trailer yaw rates are constant.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If hitch angle measurements are used to determine trailer position, then the backup assist system can operate, but the accuracy and reliability of the measurements deteriorate due to inherent offsets and variations
Solution Approach 1:
The system continuously monitors hitch angle measurements and compares them against expected values based on vehicle and trailer yaw rates. When discrepancies are detected, the system adjusts the measurements in real-time to compensate for offsets, ensuring accurate trailer position determination throughout the backup maneuver.
Solution Approach 2:
The system dynamically changes the reference frame by transforming measurements from the vehicle coordinate system to the trailer coordinate system. This parameter transformation eliminates the need for direct absolute hitch angle measurements and compensates for inherent offsets by using relative motion parameters instead.
2Adaptability or versatility
If the system relies on absolute hitch angle measurements, then it can determine trailer position, but the system fails to account for offsets that vary with different trailer types and configurations
Solution Approach 1:
The system uses a universal coordinate transformation approach that works with any trailer type or configuration. By measuring yaw rates and applying mathematical transformations rather than relying on trailer-specific calibration, the system achieves consistent accuracy across diverse trailer geometries and hitch arrangements.
Solution Approach 2:
The system introduces an intermediary coordinate transformation process that mediates between vehicle-based sensors and trailer position determination. This intermediary transformation eliminates the need for direct trailer-specific measurements while maintaining accuracy across different trailer types.
3Device complexity
If traditional hitch angle sensing is used, then the system structure remains simple, but the system produces unacceptable trailer backup conditions due to measurement inaccuracies
Solution Approach 1:
The system replaces complex mechanical hitch angle sensors with a computational approach using existing yaw rate sensors and coordinate transformations. This substitution maintains device simplicity while dramatically improving reliability by eliminating mechanical sensor offsets and drift through mathematical compensation.
Data Source
AI summary
A system for estimating hitch angle offset is provided herein. A sensor system is configured to measure hitch angles between a vehicle and a trailer attached thereto. A controller is configured to calculate hitch angle offsets for a plurality of measured hitch angles, and extrapolate additional hitch angle offsets based on the calculated hitch angle offsets.