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

Claim 12:
13. A method comprising:
estimating a rate of change of a hitch angle between a trailer and a vehicle in response to a current angle of a plurality of rear wheels of the vehicle and a speed of the vehicle based on the following relationship:

{dot over (θ)} =VC/ltr sin(α−θprev)−ω(lh/ltr cos θprev+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, Vcis 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:
controlling 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;
controlling an active rear steering actuator of the vehicle based on the estimated rate of change of the hitch angle; and
controlling 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.