US 12,449,253 B2
Trailer length estimation device and trailer length estimation method
Akio Yoshimatsu, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Aichi-ken (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Aichi-ken (JP)
Filed on Mar. 28, 2023, as Appl. No. 18/190,972.
Claims priority of application No. 2022-088595 (JP), filed on May 31, 2022.
Prior Publication US 2023/0384086 A1, Nov. 30, 2023
Int. Cl. G01B 21/22 (2006.01)
CPC G01B 21/22 (2013.01) 18 Claims
OG exemplary drawing
 
1. A trailer length estimation device configured to estimate, in a vehicle including a tractor and a trailer connected to the tractor by a connecting device, a trailer length from the connecting device to a wheel of the trailer, the trailer length estimation device comprising:
an acquisition unit configured to acquire a turning angle of a wheel of the tractor, and a connection angle of the trailer with respect to the tractor, the turning angle being detected by a turning angle detector, and the connection angle being detected by a connection angle detector; and
a derivation unit configured to:
calculate an amount of change in the acquired connection angle, and
derive the trailer length based on the acquired turning angle and the calculated amount of change in the acquired connection angle when the vehicle is making an unsteady turn.