Trailer length estimation in hitch angle applications
A vehicle system for estimating a trailer length is disclosed and includes a first sensor for measuring a wheel steer angle and a second sensor for measuring a hitch angle. A processor is in communication with the first and second sensors and is operable to determine a wheel steer angle change and a hitch angle change. The processor performs a first computation if the wheel steer angle change and the hitch angle change satisfy a threshold requirement and performs a second computation if at least one of the wheel steer angle change and the hitch angle change does not satisfy the threshold requirement.
1. A vehicle system comprising:
a wheel steer angle sensor;
a hitch angle sensor; and
a processor configured to:
determine a wheel steer angle change and a hitch angle change; and
calculate a trailer length based on a wheel base distance, a wheel steer angle measurement, and a hitch angle measurement if the wheel steer angle change and the hitch angle change are each within a predetermined range.
2. The vehicle system of claim 1 , wherein if at least one of the wheel steer angle change and the hitch angle change is outside of the predetermined range, the processor is further configured to:
sample a wheel steer angle and a hitch angle to determine a peak wheel steer angle and a peak hitch angle;
compute a ratio between the peak wheel steer angle and the peak hitch angle; and
update a running average of the ratio.
3. The vehicle system of claim 2 , wherein the predetermined range is between 0 and 0.035 radians.
4. The vehicle system of claim 2 , wherein the processor is further configured to calculate the trailer length based on an average ratio between the peak wheel steer angle and the peak hitch angle and a reference trailer length.
5. A vehicle system comprising:
a first sensor for measuring a wheel steer angle and a second sensor for measuring a hitch angle; and
a processor operable configured to:
determine a wheel steer angle change and a hitch angle change;
calculate a trailer length based on a wheel base distance, a wheel steer angle measurement, and a hitch angle measurement if the wheel steer angle change and the hitch angle change satisfy a threshold requirement; and
calculate the trailer length based on an average ratio between a peak wheel steer angle and a peak hitch angle and a reference trailer length if at least one of the wheel steer angle change and the hitch angle change fails to satisfy the threshold requirement.
6. The vehicle system of claim 5 , wherein the threshold requirement is satisfied if the wheel steer angle change and the hitch angle change are within a predetermined range.
7. The vehicle system of claim 6 , wherein the predetermined range is between 0 and 0.035 radians.
8. The vehicle system of claim 5 , wherein the threshold requirement is satisfied if the wheel steer angle change and the hitch angle change each have an absolute value lesser than a predetermined minimum value.
9. The vehicle system of claim 8 , wherein the predetermined minimum value is 0.035 radians.
10. The vehicle system of claim 5 , wherein the processor is further configured to:
sample a wheel steer angle and a hitch angle to determine the peak wheel steer angle and the peak hitch angle;
compute a ratio between the peak wheel steer angle and the peak hitch angle; and
update a running average of the ratio.
11. A method comprising the steps of:
providing a wheel steer angle sensor and a hitch angle sensor;
providing a processor configured to:
sample a wheel steer angle and a hitch angle to determine a wheel steer angle change and a hitch angle change;
determine if the wheel steer angle change and the hitch angle change satisfy a threshold requirement; and
calculate a trailer length based on a wheel base distance, a wheel steer angle measurement, and a hitch angle measurement if the threshold requirement is satisfied.
12. The method of claim 11 , wherein the processor compares the wheel steer angle change and the hitch angle change to a predetermined range, and wherein the threshold requirement is satisfied when the wheel steer angle change and the hitch angle change are within the predetermined range.
13. The method of claim 11 , wherein the processor is further configured to:
take an absolute value of the wheel steer angle change and the hitch angle change; and
compare the absolute value of the wheel steer angle change and the hitch angle change to a predetermined minimum value;
wherein the threshold requirement is satisfied if the absolute value of the wheel steer angle change and the hitch angle change is greater than the predetermined minimum value.
14. The method of claim 11 , wherein the processor is further configured to:
sample a wheel steer angle and a hitch angle to determine a peak wheel steer angle and a peak hitch angle;
compute a ratio between the peak wheel steer angle and the peak hitch angle; and
update a running average of the ratio.
15. The method of claim 14 , wherein if the threshold requirement is not satisfied, the processor is further configured to calculate the trailer length based on an average ratio between the peak wheel steer angle and the peak hitch angle and a reference trailer length.