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We propose a steering controller for automated trailer backup, which can be used on tractor-trailer configurations including fifth wheel campers and gooseneck style trailers. The controller steers the trailer based on real-time driver issued trailer curvature commands. We give a stability proof for the hierarchical control system, and demonstrate robustness under a specific set of modeling errors. Simulation results are provided along with experimental data from a full-size pickup truck and 5th wheel trailer.

In the current Ford Pro-Trailer Backup Assist (TBA) system, trailer hitch angle is determined utilizing the reverse camera of the vehicle. In addition to being sensitive to environmental factors such as lighting conditions and occlusion, the vision-based approach is difficult to be applied to gooseneck or fifth wheel trailers. In this paper, a yaw rate based hitch angle observer is proposed as an alternative sensing solution for TBA. Based on the kinematic model of the vehicle-trailer, an instantaneous hitch angle is first derived by utilizing vehicle yaw rate, trailer yaw rate, vehicle velocity and vehicle/trailer parameters provided by the TBA system. Due to signal errors and parameter uncertainties, this instantaneous hitch angle may be noisy, especially at lower vehicle speed.

This paper presents an analysis of Global Positioning System (GPS) availability from the perspective of dilution of precision (DOP) and number of satellites in view. GPS data used in the analysis were taken from a 13,000 km U.S. test vehicle drive comprising a real world driving profile of freeways, rural, urban, and residential roads. Metrics examined are: DOP outage period duration, distribution of DOP values, and the distribution of the number of satellites available for positioning.