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Method for planning of trajectories

A trajectory, vehicle technology, applied in image enhancement, instrumentation, control/regulation systems, etc., to solve problems such as the lack of degree of reverse steering

Pending Publication Date: 2018-11-23
GM GLOBAL TECH OPERATIONS LLC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This can cause problems for the driver as there is often little experience in being able to estimate the degree of counter-steer required when towing a trailer, or the driver doesn't even think to think about it when turning, especially when moving in moving traffic trailer

Method used

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  • Method for planning of trajectories
  • Method for planning of trajectories
  • Method for planning of trajectories

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0037] figure 1 Motor vehicle 1 with trailer 2 is shown while driving through a curve. Vehicle 1 has a front axle with steerable front wheels 3 and a rear axle with rear wheels 4 . The distance between the front wheels is w 1 Indicates that the wheelbase is d 1 express. The center point 5 of the front wheel 3 and the rear axle forms a width w 1 , the height is d 1 isosceles triangle.

[0038] The trailer adapter 6 is arranged in the center of the rear of the vehicle 1, and the distance from the center point 5 of the rear axle is d 2 . The tow bar 7 of the trailer 2 is connected to the trailer coupler 6 in a swingable manner. The trailer 1 has a single axle with wheels 8 . The distance of wheel 8 is w 2 Indicates that the distance between the axle and the trailer coupler 6 is denoted by d 3 express. 8 wheels and 6 trailer adapters form a width w 2 , the height is d 3 The second isosceles triangle of .

[0039] The microcomputer 9 of the vehicle 1 is connected to ...

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PUM

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Abstract

The invention relates to a method for the planning of trajectories. The method for the planning of trajectories of a vehicle comprises the steps: a) identifying a concave edge and a convex edge of a negotiable road surface; b) determining a path of travel for a wheel of a trailer of a vehicle adjacent to the convex edge having a convex-side distance from the convex edge; c) constructing a first directrix, on which a guide point of the vehicle must move in order to pull the wheel along the path of travel; d) constructing a second directrix, on which a front wheel of the vehicle adjacent to theconcave edge must move in order to pull the guide point along the first directrix; e) estimating a concave-side distance between the front wheel and the concave edge; and f) enabling the convex-side distance to be closer to the concave-side distance when a difference between the concave-side distance and convex-side distances exceeds a threshold value, and returning to the step b).

Description

technical field [0001] The invention relates to a method for planning a trajectory of a vehicle, in particular a vehicle with a trailer, and a device for carrying out the method. Background technique [0002] When a two-axle vehicle with front-axle steer turns, the rear axle always moves in a narrower radius than the front axle. If the driver does not take this into account when turning the vehicle, the side of the vehicle could collide with an obstacle at the edge of the road, drive over a curb, etc. [0003] Skilled drivers usually take this into account, without thinking about it, by first countersteering slightly before entering a sharp turn, to increase the distance from the edge of the lane, and to increase the radius of the turn. Based on experience with their vehicle, it will not be difficult for most drivers to estimate a sufficient amount of countersteer. [0004] When a vehicle tows a trailer, the wheels of the trailer navigate the curve along a track with a rad...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0231G05D1/0255G05D1/0257B62D15/025B62D15/029G06T7/13G06T2207/30256G06T2207/30241G06V20/588B62D15/0265B60Y2400/3015B60Y2300/28B60Y2300/1815
Inventor O.梅尔
Owner GM GLOBAL TECH OPERATIONS LLC