SYSTEM AND METHOD FOR DETERMINING A HITCH ANGLE FOR CONTROLLING A VEHICLE WITH ACTIVE REAR STEERING

One general aspect includes a system having a memory configured to include one or more executable instructions and a processor configured to execute the executable instructions, where the executable instructions enable the processor to estimate a rate of change of a hitch angle between a trailer and vehicle, the estimated rate of change of the hitch angle being based on a turn angle for a plurality of rear wheels of the vehicle as well as a speed of the vehicle.