Methods and systems for estimating trailer tongue values

A system for a vehicle towing a trailer, comprising:

• a non-transitory computer readable medium configured to store one or more models that associate trailer tongue values with steering torque values and steering angle values;
• and
• a computer system onboard the vehicle and configured to, by a processor:
• receive sensor data from one or more sensors of the vehicle, wherein the sensor data includes an applied steering torque and an applied steering angle;
• detecting, by an inertial measurement unit, a lateral acceleration and a yaw rate;
• estimate a steering torque value based on the applied steering torque and the lateral acceleration;
• estimate an understeer coefficient based on a linear relationship between the applied steering value, the yaw rate and the lateral acceleration;
• determine a trailer tongue value based on the one or more models and the steering torque value and the understeer coefficient, wherein the trailer tongue value is a percent of a maximum load;
• and
• control the vehicle in response to the trailer tongue value and the understeer coefficient.

A vehicle, comprising:

• a hitch configured to couple to a trailer having a trailer tongue;
• and
• a computer system configured to, by a processor:
• receive sensor data from one or more sensors of the vehicle, wherein the sensor data includes an applied steering torque and an applied steering angle;
• detecting, by an inertial measurement unit, a lateral acceleration and a yaw rate;
• estimate a steering torque value based on the applied steering torque and the lateral acceleration;
• estimate an understeer coefficient based on a linear relationship between the applied steering value, the yaw rate and the lateral acceleration;
• determine a trailer tongue value based on the steering torque value and the understeer coefficient, wherein the trailer tongue value is a percent of a maximum load;
• and
• control the vehicle based on the trailer tongue value and the understeer coefficient.