Device and method for estimating dynamic information

A dynamic information estimation method, comprising:

• receiving host vehicle information using one or more sensors;
• obtaining trailer information using a radar sensor when host vehicle yaw rate information included in the host vehicle information exceeds a yaw rate threshold;
• determining whether distance information between a host vehicle and a trailer included in the trailer information is included in a preset range and, if it is determined that the distance information is included in the preset range, calculating a trailer hitch angle;
• mapping the host vehicle information, the trailer information, and the trailer hitch angle and storing as a set;
• and
• calculating a trailer yaw rate and a trailer length using the set and an optimization algorithm if a number of sets meets a number condition,
• wherein the obtaining includes re-receiving the trailer information, and
• wherein the calculating includes recalculating the trailer yaw rate and the trailer length if it is determined that a distance between a host vehicle and a trailer according to the re-received trailer information is longer than the trailer length.

A computer-readable, non-transitory recording medium storing a computer-executable program instruction executed by a processor to operate a computer system, comprising:

• receiving host vehicle information using one or more sensors;
• obtaining trailer information using a radar sensor when host vehicle yaw rate information included in the host vehicle information exceeds a yaw rate threshold;
• determining whether distance information between a host vehicle and a trailer included in the trailer information is included in a preset range and, if it is determined that the distance information is included in the preset range, calculating a trailer hitch angle;
• mapping the host vehicle information, the trailer information, and the trailer hitch angle and storing as a set;
• and
• calculating a trailer yaw rate and a trailer length using the set and an optimization algorithm if a number of sets meets a number condition,
• wherein the obtaining includes re-receiving the trailer information, and
• wherein the calculating includes recalculating the trailer yaw rate and the trailer length if it is determined that a distance between a host vehicle and a trailer according to the re-received trailer information is longer than the trailer length.