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

Claim 7:
8. The multi-trailer reverse assist system of claim 6, wherein the controller is configured to continuously calculate the desired second HAA angle θd2 based on:, θ
   
    d
    ⁢
    2
   
  
  =
  
   
    
     sin
     
      -
      1
     
    
    ⁢
    
     
      D
      ⁢
      sin
      ⁢
      φ
     
     
      
       
        
         (
         
          
           l
           ⁢
           cos
           ⁢
           φ
          
          +
          S
         
         )
        
        2
       
       +
       
        
         
          D
          2
         
         (
         
          sin
          ⁢
          φ
         
         )
        
        2
       
      
     
    
   
   +
   
    
     sin
     
      -
      1
     
    
    ⁢
    
     
      
       L
       2
      
      ⁢
      sin
      ⁢
      φ
     
     
      
       
        
         (
         
          
           l
           ⁢
           cos
           ⁢
           φ
          
          +
          S
         
         )
        
        2
       
       +
       
        
         
          D
          2
         
         (
         
          sin
          ⁢
          φ
         
         )
        
        2
       
      
     
    
   
  
 

wherein φ is a desired turn angle from the rear of the final trailer to direct the final trailer in the desired direction, S is a fixed calibratable value that represents the look-ahead steering distance, D is the longitudinal distance between the first trailer-final trailer hitching point and the center point of final trailer axle(s), L2 is the longitudinal distance between the center point of first trailer axle(s) and the first trailer-final trailer hitching point, and l (small) is the longitudinal distance between the center point of final trailer axle(s) and the final trailer camera installation point.