US 11,919,497 B2
Systems and methods to assist maneuvering of a trailer being towed by a vehicle
Bruno Bennati, Flat Rock, MI (US); Steven Reini, Waterford, MI (US); Halit Zengin, Bowmanville (CA); and Manvir Dulai, Brampton (CA)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Nov. 30, 2021, as Appl. No. 17/538,638.
Prior Publication US 2023/0166700 A1, Jun. 1, 2023
Int. Cl. B60T 8/17 (2006.01); B60D 1/24 (2006.01); B60R 1/26 (2022.01); B60T 7/20 (2006.01); B60T 8/171 (2006.01); B60T 8/172 (2006.01); B60T 8/1755 (2006.01); B62D 53/04 (2006.01)
CPC B60T 8/1701 (2013.01) [B60D 1/242 (2013.01); B60R 1/26 (2022.01); B60T 7/20 (2013.01); B60T 8/171 (2013.01); B60T 8/172 (2013.01); B60T 8/17551 (2013.01); B62D 53/04 (2013.01); B60R 2300/302 (2013.01); B60R 2300/806 (2013.01); B60R 2300/8086 (2013.01); B60T 2220/03 (2013.01); B60T 2240/00 (2013.01); B60T 2250/03 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method to assist maneuvering of a trailer being towed by a vehicle, the trailer comprising:
a left wheel;
a right wheel;
an axle;
the left and right wheels on opposed ends of the axle;
a left brake device coupled to the left wheel;
a right brake device coupled to the right wheel;
a left wheel speed sensor;
a right wheel speed sensor; and
the method comprising:
receiving, via at least one processor, a driver command for a target path for the trailer;
receiving, via the at least one processor, a measured left wheel speed from the left wheel speed sensor;
receiving, via the at least one processor, a measured right wheel speed from the right wheel speed sensor;
determining, via the at least one processor, a target yaw rate for the trailer based on the driver command;
deriving a target left wheel speed based on the target yaw rate;
deriving a target right wheel speed based on the target yaw rate;
determining, via the at least one processor, a left braking torque for the left wheel and a right braking torque for the right wheel based on the target path so as to provide for differential braking, wherein the determining the left braking torque is based on a difference between the target left wheel speed and the measured left wheel speed, and wherein the determining the right braking torque is based on a difference between the target right wheel speed and the measured right wheel speed;
applying, via the left brake device and the right brake device, the left braking torque and the right braking torque to assist maneuvering of the trailer along the target path.