Methods, systems, and apparatuses to estimate hitch articulation angle (HAA) using ultra-sonic sensors (USS) and fusion with other sensors
US11598870B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 9, 2021 |
| Grant date | Mar 7, 2023 |
| Priority date | — |
| Expiry date | Jun 21, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S7/52004
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for estimating a Hitch Articulation Angle (HAA) using Ultra-Sonic Sensors (USSs) while ensuring quality detected echo signal performance using plausibility filtering, generating at least one set of USS data based on detecting a set of echo signals generated by a plurality of USSs configured about a vehicle coupled to a trailer; determining based on a set of USS data using a selected set of geometric equations in a plausibility filtering process for an arbitrary frontal shape of the trailer; and generating at least one comparison based on at least one set of USS data estimations to a kinematic model at low speeds for ensuring that results of the kinematic model to the HAA associated with the determined trailer shape is based on a pair of detected echo signals that are deemed to have a higher signal performance.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.