Patent ID: 11919497
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 9:
10. A system to assist maneuvering of a trailer being towed by a vehicle, the system comprising:
the trailer;
the vehicle;
the trailer comprising:
a left wheel;
a right wheel;
an axle;
the left and right wheels on opposed ends of the axle;
a left brake device coupled to the left wheel;
a right brake device coupled to the right wheel;
a left wheel speed sensor;
a right wheel speed sensor; and
the system comprising at least one processor configured to execute program instructions, wherein the program instructions are configured to cause the at least one processor to:
receive a driver command for a target path for the trailer;
receive a measured left wheel speed from the left wheel speed sensor;
receive a measured right wheel speed from the right wheel speed sensor;
determine a target yaw rate for the trailer based on the driver command;
derive a target left wheel speed based on the target yaw rate;
derive a target right wheel speed based on the target yaw rate;
determine a left braking torque for the left wheel and a right braking torque for the right wheel based on the target path so as to provide for differential braking, wherein the left braking torque is determined based on a difference between the target left wheel speed and the measured left wheel speed, and wherein the right braking torque is determined based on a difference between the target right wheel speed and the measured right wheel speed;
apply, via the left brake device and the right brake device, the left braking torque and the right braking torque to assist maneuvering of the trailer along the target path.