Patent ID: 9493187
Filing Date: 2016-11-15
CPC Classification: B60D,B60W,B62D,H04N

Claim Text:
1. A trailer backup assist system comprising: a hitch sensor sensing a measured hitch angle between a vehicle and a gooseneck trailer; a steering sensor sensing a steering angle of the vehicle; an input module receiving a driver input desired curvature of the gooseneck trailer; and a controller comprising a curvature regulator for determining a desired dynamic hitch angle to reverse the trailer along the driver input desired curvature based on the driver input desired curvature, the steering angle, and kinematic information of the gooseneck trailer and the vehicle, said controller further comprising a hitch angle regulator having feedback linearization for generating a steering angle command for the vehicle to steer the vehicle and the trailer at the desired dynamic hitch angle based on the desired dynamic hitch angle, the measured hitch angle and a velocity of the vehicle, wherein the curvature regulator and the hitch angle regulator operate in concert.