ADAPTIVE ASSISTANCE SYSTEM WHEN REVERSING VEHICLE WITH TRAILER Russian patent published in 2019 - IPC B60D1/24 B62D13/06 B62D15/02 B60W30/18 

FIELD: machine building.

SUBSTANCE: group of inventions relates to a vehicle system for assisting a driver in reverse motion with a trailer. Adaptive system for assistance in reversing vehicle with trailer includes sensor of coupling angle, car steering wheel angle sensor, data input module and controller. Data input module is used to set the required balancing angle of the hitch driver with due allowance for not exceeding the folding angle and the gain of the control law also with its limitation. Controller comprises adjuster angle controller which, based on measured steering angle values and car steering angle, generates steering wheel steering law and which, without using speed signal, generates steering wheel deviation law and limiting preset signals based on the obtained estimates, an actuating device deflecting the steering wheels of the vehicle from signals of the adjuster angle controller, and an identifier for obtaining estimates of kinematic parameters of the mathematical model of the vehicle-trailer control object.

EFFECT: creation of a system for assistance to a driver with automatic tuning and/or an adaptive current control system using a control principle based on a predetermined balancing angle of the hitch.

4 cl, 4 dwg