Trailer Position Estimation Using Turning Radius Comparison
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Solution Overview
Problem
Existing systems for estimating a trailer position associated with a vehicle are often inaccurate and cannot be processed in real time due to limited data processing resources, especially when dealing with limited data or poor signal quality.
Innovation Solution
A system and method that determine a trailer position using a location-determining receiver to calculate the vehicle heading, hitch length, and tongue length, selecting between a first and second position solution based on the turning radius at the hitch point, allowing for accurate and timely estimation of the trailer position even with limited resources or poor signal conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If prior art equations are used to model trailer position, then the system can process data with limited resources, but the estimation accuracy is inadequate
Solution Approach 1:
The patent transforms the complex trailer position estimation problem into a series of simpler calculations by changing the mathematical parameters and approach. Instead of using complex differential equations, the system uses iterative calculations with simplified kinematic relationships, updating position estimates through discrete time steps with basic arithmetic operations that are computationally efficient while maintaining accuracy.
2Measurement precision
If complex position solutions are calculated, then accurate trailer position estimation is achieved, but real-time processing cannot be accomplished with limited data processing resources
Solution Approach 1:
The system implements periodic action by using iterative calculations that update the trailer position estimate at discrete time intervals. The controller performs repeated calculations using the previous position estimate as a starting point, incrementally improving accuracy through periodic updates rather than attempting to solve the complete complex equation all at once, enabling real-time processing with limited resources.
3Productivity
If inadequate position solutions are used, then the system can operate with limited data processing resources, but the trailer path tracking errors increase
Solution Approach 1:
The patent implements feedback by using the previously calculated position estimate as input for the next calculation cycle. The system continuously refines the trailer position estimate by using the latest known position along with current vehicle state measurements (heading, velocity, hitch angle), creating a feedback loop that progressively improves accuracy while maintaining real-time processing capability through incremental updates.
Data Source
AI summary
A data processor determines a position solution or selects a position solution from a first position solution and a second position solution based on a comparison between the turning radius at a hitch point, Rp, and the tongue length, where Rp=Vp/(α′−δ′), where Vp is a velocity at the hitch point, α′ is the vehicle yaw rate, and δ′ is the change in a vehicle slip angle. A trailer position of a trailer is estimated in accordance with a position solution (e.g., determined or selected position solution) based on the determined vehicle heading, the hitch length, and the tongue length.