Method and system for estimating a trailer position of a trailer associated with a vehicle
AssigneeDeere & Company
InventorLiu Qiang
Life of this patent
Estimating the term…
Abstract
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.
Claims24
A method for estimating a trailer position of a trailer associated with a vehicle, the method comprising:
- determining a vehicle heading of a vehicle with reference to a reference heading;
- entering or detecting a hitch length and a tongue length, where the hitch length extends from a rear axis of the vehicle to a hitch point and where the tongue length extends from a trailer axis to the hitch point;
- selecting a position solution from a first position solution and a second position solution based on a comparison between a turning radius at the 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;
- and
- estimating a trailer position of the trailer in accordance with the position solution based on the determined vehicle heading, the hitch length and the tongue length.
A system for estimating a trailer position of a trailer associated with a vehicle with a trailer, the system comprising:
- a first location determining receiver for determining a vehicle heading of a vehicle with reference to a reference heading;
- a user interface for entering or an optical measuring device for detecting a hitch length and a tongue length, where the hitch length extends from a rear axis of the vehicle to a hitch point and where the tongue length extends from a trailer axis to the hitch point;
- a data processor for selecting a position solution from a first position solution and a second position solution based on a comparison between a turning radius at hitch pivot 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;
- and
- the data processor for estimating a trailer position of the trailer in accordance with the selected position solution based on the determined vehicle heading, the hitch length and the tongue length.
Dependencies are inferred from the claim text.