Device for estimating angular deviation of faulty bending angle between towing vehicle and trailer, has estimation unit which simulates relationship between position of clutch, bending angle and vehicle orientation, and angular deviation

摘要

The device (10) has an estimating unit (30) which estimates the angular deviation based on the information about position of the clutch (13), the information about erroneous articulation angle and the information about vehicle orientation. The estimation unit based on a Kalman filter, simulates the relationship between position of clutch, bending angle and vehicle orientation, and the angular deviation estimated based on time history of information about position of clutch, information about erroneous articulation angle and information about vehicle orientation. Independent claims are included for the following: (1) method for estimating angular deviation of faulty bending angle between towing vehicle and trailer; and (2) computer program for estimating angular deviation of faulty bending angle between towing vehicle and trailer.