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

Claim 8:
9. The non-transitory machine-readable medium of claim 8, wherein the executable instructions, when executed by the processor, further cause the processor to predict the first curvature radius and the second curvature radius based on the following relationships:

RB=(lh cos α+ltr cos(α−θprev))/sin(α−θprev)

RY=(lh cos α+ltr cos(α−θd))/sin(α−θd)

where RB is the first curvature radius, RY is the second curvature radius, θd is a predicted hitch angle at a selected distance from a current location of the trailer, α is the current steer angle of the plurality of rear wheels, lh is the distance from the rear axle of the vehicle to the trailer hitch of the vehicle, and ltr is the distance from the trailer hitch of the vehicle to the axle of the trailer.