Trailer Length Estimation via Yaw Rate Kinematics
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Solution Overview
Problem
Existing trailer backup assist systems rely heavily on user-inputted trailer length, which can introduce inaccuracies and burden the user, and current automated systems lack reliability in estimating trailer length accurately for precise vehicle guidance.
Innovation Solution
A system that includes sensors to measure trailer and vehicle yaw rates and speed, using a kinematic relationship to estimate trailer length, allowing for accurate hitch angle determination and improved steering inputs for smooth trailer guidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If user input is used for trailer length, then the system can obtain a trailer length value, but user burden increases and inaccuracies are introduced
Solution Approach 1:
The system automatically estimates trailer length using sensor data from yaw rates and vehicle speed without requiring user input. The controller processes these signals through kinematic relationships to self-determine the trailer length, eliminating the need for users to manually enter this information while improving accuracy through automated calculation.
Solution Approach 2:
The patent replaces the manual mechanical input method (user typing or entering trailer length) with an automated sensor-based measurement system. Yaw rate sensors and speed sensors capture motion data, which the controller then processes to calculate trailer length, substituting human operation with automated electronic measurement and computation.
2Ease of operation
If automated trailer length estimation is implemented, then user burden is reduced, but measurement accuracy and reliability may be compromised
Solution Approach 1:
The system continuously monitors yaw rates and vehicle speed, using this feedback to dynamically calculate and update the trailer length estimate. This ongoing feedback loop ensures the measurement remains accurate throughout operation, allowing the system to adapt to changing conditions while maintaining precision without user intervention.
Solution Approach 2:
The yaw rate sensors and vehicle speed sensors serve multiple functions: they provide data for trailer length estimation, hitch angle determination, and steering input calculation. This multi-functionality allows the same sensor data to support multiple critical operations, improving reliability while reducing the need for additional specialized sensors.
3Productivity
If trailer length is used in kinematic model calculations, then hitch angle and steering input can be determined, but calculation accuracy is critical to system operation
Solution Approach 1:
The system performs preliminary estimation of trailer length using available sensor data before using this value in subsequent hitch angle and steering input calculations. By establishing the trailer length estimate in advance through automated measurement, the system ensures accurate baseline data is available for all downstream kinematic model calculations, improving both efficiency and reliability.
Data Source
AI summary
A backup assist system for a vehicle reversing a trailer includes a trailer sensor module generating a trailer yaw rate and a vehicle sensor system generating a vehicle yaw rate and a vehicle speed. The system further includes a controller determining an estimated length of the trailer based on an estimated hitch angle, the vehicle yaw rate, the vehicle speed, and the trailer yaw rate in view of a kinematic relationship.