Patent ID: 11952037
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 6:
7. The multi-trailer reverse assist system of claim 6, wherein the controller is configured to continuously calculate the desired first HAA angle θd1 based on:, θ
   
    d
    ⁢
    1
   
  
  =
  
   
    
     sin
     
      -
      1
     
    
    ⁢
    
     
      
       L
       1
      
      ⁢
      sin
      ⁢
      
       θ
       2
      
     
     
      
       
        
         (
         
          
           
            L
            2
           
           ⁢
           cos
           ⁢
           
            θ
            2
           
          
          +
          D
         
         )
        
        2
       
       +
       
        
         
          L
          1
          2
         
         (
         
          sin
          ⁢
          
           θ
           2
          
         
         )
        
        2
       
      
     
    
   
   +
   
    
     sin
     
      -
      1
     
    
    ⁢
    
     
      d
      ⁢
      sin
      ⁢
      
       θ
       2
      
     
     
      
       
        
         (
         
          
           
            L
            2
           
           ⁢
           cos
           ⁢
           
            θ
            2
           
          
          +
          D
         
         )
        
        2
       
       +
       
        
         
          L
          1
          2
         
         (
         
          sin
          ⁢
          
           θ
           2
          
         
         )
        
        2, wherein d (small) is the longitudinal distance between the lead vehicle's rear axle center and vehicle-first trailer hitching point, D is the longitudinal distance between the first trailer-final trailer hitching point and the center point of final trailer axle(s), L1 is the longitudinal distance between vehicle-first trailer hitching point and center point of first trailer axle(s), L2 is longitudinal distance between the center point of first trailer axle(s) and the first trailer-final trailer hitching point, and θ2 is an actual second HAA angle.