Trailer Length Estimation for Hitch Angle 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, leading to difficulties in maintaining a desired path and preventing jackknife conditions, which existing trailer backup assist systems address inadequately by assuming zero curvature paths and requiring complex human-machine interfaces and costly sensors.
Innovation Solution
A system that determines an estimated trailer length using sensors to measure steering and hitch angles, allowing for intuitive path curvature control through a user-friendly interface, such as a steering knob, and includes a supplemental vehicle lighting system and hitch angle estimation methods to prevent jackknife conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If existing trailer backup assist systems assume zero curvature paths, then the control algorithm is simplified, but the system cannot handle real-world curved path scenarios and requires complex human-machine interfaces
Solution Approach 1:
The system dynamically adapts the path curvature based on driver input through a steering knob. The desired path curvature is not fixed but can be adjusted in real-time during the backup maneuver, allowing the system to handle both straight and curved paths without requiring complex pre-planning interfaces.
Solution Approach 2:
The system automatically determines the desired path curvature from the driver's steering knob input without requiring explicit path specification. The driver simply indicates the desired curvature through the knob, and the system self-adjusts the control parameters accordingly, eliminating the need for complex human-machine interface for path planning.
2Measurement precision
If high-precision sensors are used to determine trailer length and hitch angle, then measurement accuracy is improved, but system cost increases
Solution Approach 1:
The system uses inexpensive sensors such as standard wheel speed sensors, steering angle sensors, and hitch angle sensors instead of expensive high-precision measurement devices. These sensors provide sufficient accuracy for the application while keeping the system cost-effective.
Solution Approach 2:
The system replaces direct mechanical measurement devices with sensor-based measurement systems. By using electronic sensors to measure wheel speeds, steering angles, and hitch angles, the system achieves adequate measurement precision without the cost and complexity of mechanical measurement instruments.
3Manufacturing precision
If the system requires known desired path and stopping point, then control accuracy is improved, but the human-machine interface becomes complex and requires additional cameras and navigation systems
Solution Approach 1:
The system performs preliminary determination of the desired stopping point based on the current state and driver input, rather than requiring the driver to explicitly specify it. The control algorithm calculates the appropriate stopping point in advance based on the desired path curvature and trailer length, simplifying the interface while maintaining control accuracy.
Solution Approach 2:
The system continuously monitors the actual path and trailer position during the backup maneuver and provides feedback to the control algorithm. This feedback loop allows the system to adjust the control actions in real-time to achieve the desired accuracy without requiring complex pre-planning of the entire path.
Data Source
AI summary
A vehicle system for estimating a trailer length is disclosed. The system incorporates at least one sensor configured to measure a wheel steer angle and a trailer angle in communication with a processor. The processor is operable to determine a first length by a first computation method and determine a second length by a second computation method. The processor is further operable to validate an estimated trailer length based on the first length and the second length and perform a back-up function for the trailer based on the estimated trailer length.