This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Yaw Rate Based Trailer Hitch Angle Estimation for Trailer Backup Assist
Technical Paper
2017-01-0027
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Language:
English
Abstract
In the current Ford Pro-Trailer Backup Assist (TBA) system, trailer hitch angle is determined utilizing the reverse camera of the vehicle. In addition to being sensitive to environmental factors such as lighting conditions and occlusion, the vision-based approach is difficult to be applied to gooseneck or fifth wheel trailers. In this paper, a yaw rate based hitch angle observer is proposed as an alternative sensing solution for TBA. Based on the kinematic model of the vehicle-trailer, an instantaneous hitch angle is first derived by utilizing vehicle yaw rate, trailer yaw rate, vehicle velocity and vehicle/trailer parameters provided by the TBA system. Due to signal errors and parameter uncertainties, this instantaneous hitch angle may be noisy, especially at lower vehicle speed. To improve the estimation accuracy, a Kalman filter (or an extended Kalman filter) which is based on the vehicle-trailer kinematic model is then formulated to obtain the optimal estimate, with the instantaneous hitch angle treated as a pseudo-measurement. Experiment results verify the accuracy and robustness of the proposed approach, and that the same algorithm can be applied to both conventional trailers and gooseneck/fifth wheel trailers.
Recommended Content
Authors
Citation
Xu, L., Tseng, E., Pilutti, T., and Schondorf, S., "Yaw Rate Based Trailer Hitch Angle Estimation for Trailer Backup Assist," SAE Technical Paper 2017-01-0027, 2017, https://doi.org/10.4271/2017-01-0027.Data Sets - Support Documents
Title | Description | Download |
---|---|---|
Unnamed Dataset 1 |
Also In
References
- Rhode D. , Smit D. , Lavoie E. , Frey M. , Pilutti T. , Shim T. , Rupp M. and Trombley R. Trailer path curvature control for trailer backup assist US Patent US8909426 2014
- Lundquist , C. , Reinelt , W. , and Enqvist , O. Back Driving Assistant for Passenger Cars with Trailer SAE Technical Paper 2006-01-0940 2006 10.4271/2006-01-0940
- Vítek , O. , Macek , J. , and Polášek , M. New Approach to Turbocharger Optimization using 1-D Simulation Tools SAE Technical Paper 2006-01-0438 2006 10.4271/2006-01-0438
- Chu L. , Fang Y. , Shang M. , Guo J. and Zhou F. Estimation of Articulation Angle for Tractor Semi-trailer Based on State Observer International Conference on Measuring Technology and Mechatronics Automation 2010
- Gillespie , T. Fundamentals of Vehicle Dynamics Warrendale Society of Automotive Engineers, Inc. 1992 978-1-56091-199-9
- Simon D. Optimal State Estimation: Kalman, H Infinity, and Nonlinear Approaches Wiley 2006