Trailer articulation angle estimation
A method for operating a vehicle includes acquiring position information including an azimuth angle between a non-contacting sensor and a wheeled axle of an attached trailer, determining a trailer tongue length correlated to the position information, determining a track width of the attached trailer correlated to the position information, and calculating a trailer hitch articulation angle corresponding to the trailer tongue length and the track width of the attached trailer.
1. A method for operating a vehicle, comprising:
acquiring position information including an azimuth angle between a non-contacting sensor and a wheeled axle of an attached trailer;
determining a trailer tongue length correlated to the position information;
determining a track width of the attached trailer correlated to the position information; and
calculating a trailer hitch articulation angle corresponding to the trailer tongue length and the track width of the attached trailer.
2. The method of claim 1 , wherein calculating the trailer hitch articulation angle corresponding to the trailer tongue length and the track width of the attached trailer comprises calculating the trailer hitch articulation angle in accordance with the following relationship:
θ
=
sin
-
1
[
T
m
+
(
L
1
-
m
+
h
)
tan
φ
t
(
T
t
-
L
t
tan
φ
t
)
2
+
(
L
t
+
T
t
tan
φ
t
)
2
]
-
δ
t
wherein
θ is the trailer hitch articulation angle,
L 1 is a wheelbase of the vehicle,
m is a distance between a center of rotation of a front wheel of the vehicle and the non-contacting sensor,
h is a distance from a rear axle of the vehicle to a pivotal coupling between the vehicle and the attached trailer,
L t is the trailer tongue length of the attached trailer,
T t is one-half of the track width of the attached trailer,
T m is a distance from the centerline of the vehicle to the non-contacting sensor,
φ t is the azimuth angle between the non-contacting sensor and the wheeled axle of the attached trailer and
δ
t
=
sin
-
1
[
T
t
-
L
t
tan
φ
t
(
T
t
-
L
t
tan
φ
t
)
2
+
(
L
t
+
T
t
tan
φ
t
)
2
]
.
3. The method of claim 1 , wherein acquiring position information comprises acquiring the position information when a line of travel of the vehicle and the attached trailer is straight.
4. The method of claim 1 , wherein the non-contacting sensor comprises one of a left side blind zone camera and a right side blind zone camera.
5. A method for operating a vehicle, comprising:
determining an azimuth angle between a non-contacting sensor and a wheeled axle of an attached trailer;
determining a trailer tongue length correlated to the azimuth angle between the non-contacting sensor and the wheeled axle of the attached trailer;
determining a track width of the attached trailer correlated to the azimuth angle between the non-contacting sensor and the wheeled axle of the attached trailer; and
calculating a trailer hitch articulation angle corresponding to the trailer tongue length and the track width of the attached trailer.
6. The method of claim 5 , wherein calculating the trailer hitch articulation angle corresponding to the trailer tongue length and the track width of the attached trailer includes calculating the trailer hitch articulation angle in accordance with the following relationship:
θ
=
sin
-
1
[
T
m
+
(
L
1
-
m
+
h
)
tan
φ
t
(
T
t
-
L
t
tan
φ
t
)
2
+
(
L
t
+
T
t
tan
φ
t
)
2
]
-
δ
t
wherein
θ is the trailer hitch articulation angle,
L 1 is a wheelbase of the vehicle,
m is a distance between a center of rotation of a front wheel of the vehicle and the non-contacting sensor,
h is a distance from a rear axle of the vehicle to a pivotal coupling between the vehicle and the attached trailer,
L t is the trailer tongue length of the attached trailer,
T t is one-half of the track width of the attached trailer,
T m is a distance from the centerline of the vehicle to the non-contacting sensor,
φ t is the azimuth angle between the non-contacting sensor and the wheeled axle of the attached trailer, and
δ
t
=
sin
-
1
[
T
t
-
L
t
tan
φ
t
(
T
t
-
L
t
tan
φ
t
)
2
+
(
L
t
+
T
t
tan
φ
t
)
2
]
.
7. The method of claim 5 , wherein determining the azimuth angle comprises determining the azimuth angle when a line of travel of the vehicle and the attached trailer is straight.
8. The method of claim 5 , wherein the non-contacting sensor comprises a blind zone camera.
9. A vehicle system, comprising:
a non-contacting sensor configured to acquire position information including an azimuth angle between the non-contacting sensor and a wheel on an attached trailer; and
a data processor configured to determine a trailer tongue length and a track width of the attached trailer correlated to the position information; and
the data processor configured to calculate a trailer hitch articulation angle corresponding to the trailer tongue length and the track width of the attached trailer.
10. The vehicle of claim 9 , wherein the non-contacting sensor comprises a camera.
11. The vehicle of claim 10 , wherein the camera comprises one of a left side blind zone camera and a right side blind zone camera.
12. The vehicle system of claim 9 wherein the data processor is configured to calculate the trailer hitch articulation angle in accordance with the following relationship:
θ
=
sin
-
1
[
T
m
+
(
L
1
-
m
+
h
)
tan
φ
t
(
T
t
-
L
t
tan
φ
t
)
2
+
(
L
t
+
T
t
tan
φ
t
)
2
]
-
δ
t
wherein
θ is the trailer hitch articulation angle,
L 1 is a wheelbase of the vehicle,
m is a distance between a center of rotation of a front wheel of the vehicle and the non-contacting sensor,
h is a distance from a rear axle of the vehicle to a pivotal coupling between the vehicle and the attached trailer,
L t is the trailer tongue length of the attached trailer,
T t is one-half of the track width of the attached trailer,
T m is a distance from the centerline of the vehicle to the non-contacting sensor,
φ t is the azimuth angle between the non-contacting sensor and the wheeled axle of the attached trailer, and
δ
t
=
sin
-
1
[
T
t
-
L
t
tan
φ
t
(
T
t
-
L
t
tan
φ
t
)
2
+
(
L
t
+
T
t
tan
φ
t
)
2
]
.
13. The vehicle of claim 9 , wherein the non-contacting sensor is configured to acquire position information when a line of travel of the vehicle and the attached trailer is straight.