ADAPTIVE STEERING CONTROL FOR ROBUSTNESS AGAINST FAILURES IN ESTIMATED OR USER-PROVIDED TRAILER PARAMETERS

摘要

A system for assisting in retracting a vehicle-trailer combination includes a vehicle steering system and a controller. The controller outputs a steering signal based on a control parameter to the steering system to hold the trailer along a commanded return path, determines an error between measured behavior of a feature of the vehicle-trailer combination and a predicted behavior of the feature, and adjusts the control parameter the basis of the error.