Methods, systems, and apparatuses to estimate hitch articulation angle (HAA) using ultra-sonic sensors (USS) and fusion with other sensors

A method for estimating a Hitch Articulation Angle (HAA) using Ultra-Sonic Sensors (USSs) while ensuring quality detected echo signal performance using plausibility filtering, comprising:

• in response to coupling a trailer to a vehicle, generating at least one set of Ultra-sonic Sensor (USS) data based on detecting at least one set of echo signals generated by a plurality of USSs configured about the vehicle that has been directed at the trailer;
• in response to detection of the at least one set of echo signals, filtering based on at least one set of USS data by plausibility filtering assessments for quality of echo signals, and for consistency with a plurality of driving conditions comprising at least straight-ahead driving and with steering inputs of echo signals;
• in response to filtering of the at least one set of echo signals, estimating based on the at least one set of USS data by a performance of calculations using a selected set of geometric equations from one of a plurality of different sets of geometric equations in a plausibility filtering process to determine at least an arbitrary frontal shape of the trailer;
• classifying the estimated arbitrary frontal shape of the trailer based at least a comparison of measured distances from detected echo signals about the trailer to a determined trailer frontal shape;
• and
• generating at least one comparison based on at least one set of USS data estimated results to a kinematic model for ensuring that results of the kinematic model to the HAA associated with the determined trailer frontal shape is deemed to have a higher signal performance wherein the higher signal performance is based on correlation with the kinematic model at low speeds.

A vehicle apparatus, comprising a Hitch Articulation Angle (HAA) based on an estimation by an Ultra-Sonic Sensor's (USSs) estimation unit comprising one or more processors and non-transient computer-readable media encoded with programming instructions, the USSs estimation unit is configured to:

• generate at least one set of Ultra-sonic Sensor (USS) data based on detecting at least one set of echo signals generated by a plurality of USSs configured about a vehicle that has been directed at a trailer wherein the trailer is coupled to the vehicle;
• in response to detection of the at least one set of echo signals, filter based on at least one set of USS data based on plausibility filter assessments for quality of echo signals, and consistency with driving conditions including straight-ahead driving and steering inputs of echo signals;
• in response to the filter of the at least one set of echo signals, estimate based on the at least one set of USS data by performing calculations using a selected set of geometric equations from one of a plurality of different sets of geometric equations in a plausibility filtering process to determine at least an arbitrary frontal shape of the trailer;
• classify the estimated arbitrary frontal shape of the trailer based at least on a comparison of measured distances from detected echo signals about the trailer to a determined trailer frontal shape;
• and
• generate at least one comparison based on at least one set of USS data estimated results to a kinematic model to ensure that results of the kinematic model to the HAA associated with the determined trailer frontal shape is deemed to have a higher signal performance wherein the higher signal performance is based on correlation with the kinematic model at low speeds.