Patent ID: 11964659
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 6:
7. A non-transitory machine-readable medium having stored thereon executable instructions, that, when provided to a processor and executed thereby, cause the processor to:
estimate a rate of change of a hitch angle between a trailer and a vehicle in response to a current steer angle of a plurality of rear wheels of the vehicle and a speed of the vehicle based on the following relationship:, θ
    .
  
  =
  
    
      
        
          V
          C
        
        
          l
          tr
        
      
      ⁢
      
        sin
        ⁡
        
          (
          
            α
            -
            
              θ
              prev
            
          
          )
        
      
    
    -
    
      ω
      ⁡
      
        (
        
          
            
              
                l
                h
              
              
                l
                tr
              
            
            ⁢
            cos
            ⁢
            
              θ
              prev
            
          
          +
          1
        
        )
      
    
  

where θ_dot is the estimated rate of change of the hitch angle, θprev is a previous hitch angle, α is the current steer angle of the plurality of rear wheels, ω is an angular velocity of the vehicle, Vc is the speed of the vehicle, lh is a distance from a rear axle of the vehicle to a trailer hitch of the vehicle, and ltr is a distance from the trailer hitch of the vehicle to an axle of the trailer; and
at least one of:
control a user interface device to display a trailer reverse trajectory view based on the estimated rate of change of the hitch angle, the trailer reverse trajectory view providing a virtual line on a camera view to assist a driver with controlling motion of the trailer;
control an active rear steering actuator of the vehicle based on the estimated rate of change of the hitch angle; and
control at least one of a friction brake of the vehicle and a friction brake of the trailer based on the estimated rate of change of the hitch angle.