HELP SYSTEM IN REVERSE MOTION WITH TRAILER Russian patent published in 2017 - IPC B62D1/24 B62D13/06 B60W30/00 

FIELD: machine building.

SUBSTANCE: group of inventions relates to reverse movement with trailer help system. Reverse movement with trailer help system has coupling sensor, which determines coupling angle measured value between vehicle and trailer with towbar, steering sensor, input module and controller. Controller comprises curvature regulator to determine desired dynamic coupling angle for reverse movement trailer direction by driver introduced desired movement path curvature based on driver input desired movement trajectory curvature, driving wheels turn angle and kinematic data on trailer with towbar and on vehicle. Controller additionally comprises coupling angle regulator, which by means of feedback linearization generates command turn angle for vehicle for vehicle and trailer steering with desired dynamic coupling angle based on desired dynamic coupling angle, measured coupling angle and vehicle movement speed. Regulator of curvature and coupling angle controller operate together.

EFFECT: enabling increase in vehicle movement safety due to assisting driver at reverse motion with trailer.

20 cl, 18 dwg