Trailer parking assistant

This paper presents a method which would enable the car with coupled trailer to backup safely, preventing i.e. from jack-knifing and provide the driver assistance with steering the trailer in a desired direction. Presented method is based on developing new algorithms for the current parking assistant electronic control units (ECUs) using the ultrasonic sensors. Key idea is to estimate the length of the trailer shaft (axle to coupling length), and the angle between the car and trailer. With those the control for the steering of the car to backup the trailer in the desired direction can be designed.