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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.

There are many different vibration sources in a car. Engine, gears, road roughness, impacts against the wheels cause vibration and sound that can decrease the parts and the car durability as well as affect drivability, safety and passengers and community comfort. In 4×4 cars, some extra vibration sources are the parts responsible for transmitting the torque and power to the rear wheels. Each of them has their own vibration modes, excited mostly by its imbalance or by the second order engine vibration. The engine vibration is a very well known phenomena and the rear driveshaft is designed not to have any vibration mode in the range of frequencies that the engine works or its second order. The imbalance of a driveshaft is also a design requirement. That means, the acceptable imbalance of the driveshaft is limited to a maximum value.