Synchronous short-range radar for automatic trailer detection

Abstract

The present disclosure provides "Synchronized short-range radar for automatic trailer detection". A method and apparatus for synchronized short-range radar for automatic trailer detection are disclosed. An exemplary radar module for a vehicle includes: a radar; and a controller, the controller coupled to a memory. The controller uses the radar to measure a target area near the vehicle. Based on the measurement, the controller determines clutter and trailer connection status. The controller sends a clutter message indicating the clutter status on a data bus, and sends a connection message based on (a) the trailer connection status or (b) the clutter and trailer connection status of another radar module.

Description

Technical Field

[0001] The present disclosure relates generally to automatic trailer detection, and more particularly to a synchronization process over a vehicle data bus short range radar for automatic trailer detection. Background Art

[0002] To detect when a trailer is connected, when the operator connects the trailer harness to the towing vehicle, the towing vehicle receives the trailer connection status from the trailer brake module or the trailer lighting module. The towing vehicle may also include a blind spot detection system that uses radar to detect the side of the vehicle and other vehicles behind it. The blind spot detection system provides an alert so that the driver knows that they may not be able to see nearby vehicles. The vehicle towing the trailer may also include a trailer blind spot system with automatic trailer detection, which detects when the trailer is attached to the vehicle and extends the blind spot detection range to cover the trailer length. Automatic trailer detection provides an indicator for the rest of the system of the vehicle to which the trailer is connected, so these systems can adjust their functions accordingly. Sometimes, the dashboard may indicate to the driver that the trailer is connected. However, when the area on the side of the vehicle is cluttered (for example, there are many reflective surfaces in the area around the vehicle, such as cars parked in a crowded parking lot), the automatic trailer detection cannot detect the presence of the trailer. When the clutter is cleared on one side of the vehicle but not on the other side, the automatic trailer detection can be intermittent. Thus, due to the uncoordinated nature of the two sides of the automatic trailer detection system, the driver may receive intermittent indications of whether a trailer is connected, regardless of whether the trailer is actually connected. Summary of the invention

[0003] The appended claims define the application. This disclosure summarizes aspects of the embodiments and should not be used to limit the claims. Other implementations are contemplated based on the techniques described herein, as will be apparent to one of ordinary skill in the art upon studying the following drawings and detailed description, and these implementations are intended to fall within the scope of the present application.

[0004] An exemplary embodiment of a synchronized short-range radar for automatic trailer detection is disclosed. An exemplary radar module for a vehicle includes: a radar; and a controller coupled to a memory. The controller measures a target area near the vehicle with the radar. Based on the measurements, the controller determines clutter and trailer connection status. The controller sends a clutter message on a data bus indicating the clutter status and sends a connection message based on (a) the trailer connection status or (b) the clutter and trailer connection status of another radar module.

[0005] An exemplary vehicle includes: a first radar module that monitors a first area near the vehicle; and a second radar module that monitors a second, different area near the vehicle. When the first radar module does not detect radar clutter, the first radar module determines whether a trailer is connected. When the first radar module detects the trailer, the first radar module sends a trailer message on a data bus indicating that the trailer is connected. The second radar accepts the result and changes its state to trailer connected. When the first radar module does not detect the trailer, the first radar module sends the trailer message indicating that the trailer is not connected only when the second radar module also determines that the trailer is not connected. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] For a better understanding of the present invention, reference may be made to the embodiments illustrated in the following drawings. The components in the drawings are not necessarily drawn to scale, and related elements may be omitted or, in some cases, may be exaggerated in proportion in order to emphasize and clearly illustrate the novel features described herein. In addition, as is known in the art, the system components may be arranged differently. Furthermore, in the drawings, like reference numerals represent corresponding parts in the several views.

[0007] Figure 1 A vehicle is shown towing a trailer and operating in accordance with the teachings of the present disclosure.

[0008] Figure 2 yes Figure 1 Block diagram of the electronic components of a vehicle.

[0009] Figure 3 is a flow chart of a method for determining whether a trailer is connected to a vehicle, which may be performed by Figure 2 Electronic components are implemented.

[0010] Figure 4 is a flow chart of a method for determining whether the environment around a vehicle is cluttered, which can be performed by Figure 2 Electronic components implementation. DETAILED DESCRIPTION

[0011] While the present invention may be embodied in various forms, some exemplary and non-limiting embodiments are shown in the drawings and will be described below, it being understood that this disclosure is considered as an example of the invention and is not intended to limit the invention to the particular embodiments shown.

[0012] The automatic trailer detection system uses a short-range radar module on each side of the vehicle to detect when a trailer is connected to the vehicle. Traditionally, the short-range radar module independently determines whether the trailer is connected. However, when the environment on the side of the vehicle is cluttered, the corresponding short-range radar module cannot determine whether the trailer is connected. In this scenario, the short-range radar module sends an indication to the instrument cluster that the trailer is not detected. When the clutter is cleared on one or both sides, one or both of the short-range radar modules can detect the trailer and send a corresponding indication to the instrument cluster. Alternatively, in some scenarios, the short-range radar modules can detect contradictory states. That is, one short-range radar module may detect the trailer and indicate so, while the other short-range radar module does not detect the trailer and indicates so due to clutter. For drivers and vehicle systems affected by the presence of a trailer, if the contradiction is not managed and resolved, this may manifest as intermittent or inconsistent behavior of the vehicle.

[0013] As described below, the synchronized short-range radar module is positioned on the rear corner of the vehicle. The synchronized short-range module includes a radar for: (a) detecting objects in the blind spot of the vehicle, and (b) automatically detecting when a trailer is attached to the vehicle. When automatically detecting when a trailer is attached to the vehicle, the synchronized short-range modules coordinate with each other to prevent contradictory and / or intermittent indications from being presented to the driver. In order to coordinate, the synchronized short-range radar modules perform handshakes using messages broadcast on the vehicle data bus. Initially, the synchronized short-range radar modules independently determine their own states. The states include (i) whether the radar detects clutter in its field of view (e.g., its "clutter state") and (ii) whether the radar detects that a trailer is attached to the vehicle (e.g., its "trailer detection state"). When the synchronized short-range radar module is analyzing measurements from an associated radar to determine whether clutter is detected, the clutter state is "pending". When the synchronized short-range radar module has stopped trying to determine whether the environment is cluttered, the clutter state is "terminated". For example, the synchronous short-range radar module may stop attempting to determine whether the environment is cluttered after receiving a message that the trailer search has been abandoned (e.g., because the speed of the vehicle is greater than a threshold, because the search timer has timed out, etc.). The clutter state is "cluttered" when the synchronous short-range radar module determines that the positioning and number of reflective objects in the radar's field of view create an environment in which the trailer (if present) cannot be distinguished from the surrounding noise. The clutter state is "not cluttered" when the synchronous short-range radar module determines that the environment makes it possible to distinguish the trailer (if present) from the surrounding noise. When its clutter state is "not cluttered", the synchronous short-range radar module analyzes radar data to determine whether a trailer is attached to the vehicle (e.g., the trailer detection state is "trailer detected" or "trailer not detected").

[0014] When the clutter state is established or changed (e.g., from "pending" to "cluttered", etc.), the synchronized short-range radar module broadcasts its status on the vehicle data bus. For example, at the beginning of a search for a trailer, the synchronized short-range radar module sets its clutter state to "pending" and broadcasts the state to the vehicle data bus. After determining its own state, the synchronized short-range radar module determines whether to broadcast a message about its trailer detection state on the vehicle data bus based on the clutter state of another synchronized short-range radar module. When the trailer detection state of the synchronized short-range radar module is "trailer detected", the synchronized short-range radar module broadcasts a message indicating so on the vehicle data bus. In response to the message indicating that a trailer has been detected, the instrument panel provides a corresponding indicator. When the trailer detection state of the synchronized short-range radar module is "trailer not detected", the synchronized short-range radar module only broadcasts a message indicating so on the vehicle data bus in the following circumstances: (a) when the clutter state of another synchronized short-range radar module is neither "pending" nor "cluttered", and (b) when the trailer detection state of another synchronized short-range radar module is not "trailer detected". That is, the synchronized short-range radar module broadcasts a message about the detection of the trailer when it detects the trailer, but only broadcasts a message about the non-detection of the trailer in the following circumstances: (i) when the other synchronized short-range radar module is able to detect whether the trailer is connected, and (ii) when the other synchronized short-range radar does not detect that the trailer is connected. In response to the message indicating that the trailer is not detected, the instrument panel provides a corresponding indicator. In this way, different synchronized short-range radar modules do not provide intermittent or contradictory messages to the driver or to the electronic control units (e.g., powertrain control unit, active safety module, blind spot detection system, etc.) that control the vehicle differently based on the presence of the trailer.

[0015] Figure 1 A vehicle 100 is shown that is operated and towing a trailer 102 according to the teachings of the present disclosure. The vehicle 100 can be a standard gasoline-powered vehicle, a hybrid vehicle, an electric vehicle, a fuel cell vehicle, and / or a vehicle of any other type of mobile tool. The vehicle 100 includes parts related to mobility, such as a powertrain having an engine, a transmission, a suspension, a drive shaft, and / or wheels. The vehicle 100 can be non-autonomous, semi-automatic (e.g., some routine power functions are controlled by the vehicle 100), or autonomous (e.g., power functions are controlled by the vehicle 100 without direct driver input). In the example shown, the vehicle 100 includes an alarm indicator 104, an electronic control unit (ECU) 106a to 106e, a body control module 108, a synchronous short-range radar module 110, an instrument cluster 112, and an active safety module 114.

[0016] The warning indicator 104 alerts the driver when an object (such as another vehicle) is in a blind spot detection zone (e.g., blind spot detection zones 116 and 118). The indicator 104 is positioned on the vehicle 100 so that the driver notices the indicator 104 while driving. In some examples, the warning indicator 104 is located on the side mirror 120. In such an example, the indicator 104 is illuminated on one of the side mirrors 120, which corresponds to the side of the vehicle 100 where the object is detected. In some examples, the indicator 104 is a light emitting diode (LED) embedded in the housing of the side mirror 120. Alternatively or additionally, the indicator 104 is located behind the mirror of the side mirror 120 and is visible through the mirror when illuminated. Alternatively or additionally, in some examples, the indicator 104 is embedded in the A-pillar in the cabin. In some examples, the indicator 104 is located at different locations on different sides of the vehicle 100 to facilitate visibility to the driver. For example, one indicator 104 may be embedded in the housing of the side view mirror 120 on the driver's side of the vehicle, while another indicator 104 may be embedded in the A-pillar on the passenger's side of the vehicle 100 .

[0017] The electronic control units 106a to 106e monitor and / or control subsystems of the vehicle 100. The electronic control units 106a to 106e of the illustrated example change their operation based on whether the trailer 102 is attached to the vehicle 100. The electronic control units 106a to 106e may, for example, be based on a vehicle data bus (e.g., Figure 2The operating parameters are changed based on a message on the vehicle data bus 202 of the vehicle data bus 202 indicating that the trailer 102 is attached to the vehicle 100. For example, in order to prevent a false alarm of the trailer caused by the reflection of radar waves by the trailer body instead of other vehicles, when the electronic control unit detects a trailer connection state indicating that the trailer is connected, the rear cross traffic alert is manually turned off by the customer or automatically turned off by the corresponding electronic control unit. In the example shown, the electronic control units 106a to 106e include a trailer brake module (TBM) 106a, a power steering control module (PSCM) 106b, a transmission control module (TCM) 106c, a parking assist module (PAM) 106d, and a reverse brake assist (RBA) module 106e. The trailer brake module 106a controls the brakes of the trailer 102 when the trailer 102 is connected. The power steering control module 106b provides steering torque to the steering column of the vehicle 100 based on input from the driver via the steering wheel. The power steering control module 106b dynamically changes the ratio between the steering wheel input and the steering torque based in part on whether the trailer 102 is connected. The parking assist module 106d senses the area behind the vehicle 100 and provides warnings to assist the driver when parking the vehicle 100. The presence of the trailer 102 affects the area monitored by the parking assist module 106d, and in some examples, the sensors (e.g., ultrasonic sensors, etc.) used by the reverse brake assist module 106e to monitor the environment around the vehicle 100. The reverse brake assist module 106e provides warnings and, in some examples, automatically applies the brakes when the vehicle 100 detects an obstacle while driving in reverse. The presence of the trailer 102 affects the area monitored by the reverse brake assist module 106e, and in some examples, the sensors (e.g., ultrasonic sensors, etc.) used by the parking assist module 106d to monitor the environment around the vehicle 100.

[0018] The body control module 108 controls various subsystems of the vehicle 100. For example, the body control module 108 can control power windows, power locks, anti-theft systems, and / or power mirrors, etc. The body control module 108 includes circuits for, for example, driving relays (e.g., controlling wiper fluid, etc.), driving brushed direct current (DC) motors (e.g., controlling power seats, power locks, power windows, wipers, etc.), driving stepper motors, and / or driving LEDs, etc. In the example shown, the body control module 108 is communicatively coupled to a door control unit 122 in a door of the vehicle 100. When the active safety module 114 detects an object in one of the blind spot detection zones 116 and 118, the body control module 108 illuminates the indicator 104 via the door control unit 122.

[0019] The synchronized short-range radar module 110 is positioned on the rear corner of the vehicle 100. The synchronized short-range radar module 110 includes radar for: (a) detecting objects in the blind spot detection zones 116 and 118, and (b) automatically detecting when the trailer 102 is attached to or detached from the vehicle 100. In the example shown, the synchronized short-range radar module 110 defines a blind spot detection zone 116. The blind spot detection zone 116 extends into the corresponding adjacent lane by a predetermined distance (D1) beyond the rear of the vehicle 100. When the trailer 102 is connected, the synchronized short-range radar module 110 defines an extended blind spot detection zone 116, which extends into the corresponding adjacent lane by a predetermined distance (D2) beyond the rear of the trailer 102.

[0020] After the vehicle 100 is started (e.g., after the ignition has been started), the synchronized short-range radar module 110 uses its corresponding radar to detect whether the trailer 102 is connected by performing pattern recognition on the measurements from the radar (e.g., the radar performs cluster analysis on the radar wave returns, which produces object detection data and object classification output in the radar electronic control unit). The synchronized short-range radar module 110 continues to attempt to determine whether the trailer 102 is connected until (a) the trailer 102 is detected or (b) the search for the trailer 102 is terminated. The search for the trailer 102 is terminated when the speed of the vehicle 100 is above a threshold speed (e.g., 10 miles per hour, etc.) or after a threshold period of time has passed. In some examples, when the search for the trailer 102 is terminated, the synchronized short-range radar module 110 sets the trailer detection state to the trailer detection state when the vehicle 100 was last started.

[0021] When automatically detecting when a trailer 102 is attached to the vehicle 100, the synchronized short-range radar modules 110 coordinate with each other to prevent conflicting and / or intermittent indicators from being presented to the driver via the instrument cluster 112. To coordinate, the synchronized short-range radar modules 110 perform a handshake using messages broadcast on the vehicle data bus. Initially, the synchronized short-range radar modules 110 independently determine their own states using measurements from their radars. The states include (i) whether the radar detects clutter in its field of view (e.g., its "clutter state") and (ii) whether the radar detects that the trailer 102 is attached to the vehicle (e.g., its "trailer detection state"). The clutter state is "pending" when the synchronized short-range radar modules are analyzing measurements from associated radars to determine whether clutter is detected. When the synchronized short-range radar modules 110 are initially activated, the clutter state of the synchronized short-range radar modules 110 is pending. The clutter state is "terminated" when the synchronized short-range radar module 110 has stopped attempting to determine whether the environment is cluttered in response to receiving a message that the trailer search has been abandoned (e.g., because the speed of the vehicle 100 is greater than a threshold speed, because the search timer has timed out, etc.). The clutter state is "cluttered" when the synchronized short-range radar module 110 determines that the positioning and number of reflective objects in the field of view of the radar create an environment in which the trailer 102 (if present) cannot be distinguished from the surrounding noise. For example, the vehicle 100 may be near other vehicles, such that the synchronized short-range radar module 110 may not be able to distinguish the other vehicles from the trailer 102. The clutter state is "not cluttered" when the synchronized short-range radar module 110 determines that the environment is such that the trailer 102 (if present) can be distinguished from the surrounding noise. When its clutter state is "not cluttered", the synchronized short-range radar module 110 analyzes radar data to determine whether the trailer 102 is attached to the vehicle 100 (e.g., the trailer detection state is "trailer detected" or "trailer not detected").

[0022] When the clutter state is established or changed (e.g., from "pending" to "cluttered", etc.), the synchronized short-range radar module 110 broadcasts a message indicating its state onto the vehicle data bus. After determining its own state, the synchronized short-range radar module 110 determines whether to broadcast a message regarding its trailer detection state on the vehicle data bus based on a message received via the vehicle data bus indicating the clutter state and / or trailer detection state of another synchronized short-range radar module 110.

[0023] When the trailer detection status of the synchronized short-range radar module 110 is "trailer detected", the synchronized short-range radar module 110 broadcasts a message indicating so on the vehicle data bus. When the trailer detection status of the synchronized short-range radar module 110 is "trailer not detected", the synchronized short-range radar module 110 only broadcasts a message indicating that the trailer is not connected on the vehicle data bus in the following situations: (a) when the clutter status of the other synchronized short-range radar module 110 is neither "pending" nor "clutter", and (b) when the trailer detection status of the other synchronized short-range radar module 110 is not "trailer detected". Because one synchronized short-range radar module 110 uses the status of another synchronized short-range radar module 110, different synchronized short-range radar modules 110 do not provide intermittent or contradictory messages to the driver and / or the electronic control units 106a to 106e that control the vehicle differently based on the presence of the trailer 102. The illustrated example includes two synchronized short-range radar modules 110. However, the vehicle 100 may include more than two synchronized short-range radar modules 110 while still performing a handshake before providing a message regarding whether the trailer 102 is detected.

[0024] When blind spot detection is active, the synchronized short-range radar module 110 monitors the appropriate blind spot detection zones 116 and 118. For example, when the trailer 102 is detected, the synchronized short-range radar module 110 monitors the extended blind spot detection zone 118. The synchronized short-range radar module 110 provides an alert (e.g., via a message on the vehicle data bus) in response to detecting an object (e.g., another vehicle) within the monitored detection zones 116 and 118.

[0025] The instrument cluster 112 provides an interface between the vehicle 100 and a user. The instrument cluster 112 includes digital and / or analog interfaces (e.g., input devices and output devices) to receive input from the user and display information. The input devices may include, for example, a control knob, an instrument panel, a digital camera for image capture and / or visual command recognition, a touch screen, an audio input device (e.g., a cabin microphone), a button, or a touchpad. For example, the instrument cluster 112 may include a switch to toggle blind spot detection. The output devices may include instrument cluster output devices (e.g., dials, lighting devices), actuators, a head-up display, a center console display (e.g., a liquid crystal display ("LCD"), an organic light emitting diode ("OLED") display, a flat panel display, a solid-state display, etc.), and / or a speaker. In some examples, the instrument cluster 112 includes a display for an infotainment system (such as of and MyFord of of The instrument cluster 112 includes hardware (e.g., processors or controllers, memory, storage devices, etc.) and software (e.g., operating systems, etc.) of the vehicle. In such examples, the instrument cluster 112 displays an infotainment system, for example, on a center console display. The instrument cluster 112 displays an indicator (e.g., on a dashboard display, on an infotainment system, etc.) that informs the driver whether at least one of the synchronized short-range radar modules 110 has detected a trailer 102 based on a message on a vehicle data bus. In some examples, when a trailer 102 is detected, the instrument cluster 112 prompts the driver to enter the type and / or size of the trailer into the infotainment system.

[0026] The active safety module 114 controls the autonomous functions of the vehicle 100 based on measurements from distance detection sensors (e.g., radar, LiDAR, ultrasonic sensors, infrared sensors, cameras, etc.). The active safety module 114 includes hardware (e.g., processor or controller, memory, storage device, etc.) and firmware for coordinating an automatic trailer detection system and / or a blind spot detection system. These functions include anti-lock braking system, electronic stability control, roll stability control, traction control, brake assist, adaptive cruise control, and / or collision avoidance, etc. The active safety module 114 controls the vehicle 100 based on whether the trailer 102 is connected. The active safety module 114 controls the vehicle 100 based on messages broadcast by the synchronous short-range radar module 110 on the vehicle data bus. For example, the trailer 102 affects the traction of the vehicle 100. In such an example, the active safety module 114 adjusts the traction control system based on the increased weight of the trailer 102, and the change is a dynamic control caused by the trailer 102.

[0027] Figure 2 yes Figure 1 1 is a block diagram of electronic components 200 of a vehicle of FIG. In the example shown, the electronic components 200 include the warning indicator 104, the electronic control units 106a to 106e, the body control module 108, the synchronized short-range radar module 110, the instrument cluster 112, the active safety module 114, the door control unit 122, and the vehicle data bus 202.

[0028] The synchronous short-range radar module 110 includes a processor or controller 204 and a memory 206. The processor or controller 204 can be any suitable processing device or set of processing devices, such as but not limited to: a microprocessor, a microcontroller-based platform, a suitable integrated circuit, one or more field programmable gate arrays (FPGAs) and / or one or more application-specific integrated circuits (ASICs). The memory 206 can be a volatile memory (e.g., RAM, which can include non-volatile RAM, magnetic RAM, ferroelectric RAM, and any other suitable form); a non-volatile memory (e.g., disk memory, flash memory, electrically programmable read-only memory, electrically erasable programmable read-only memory, non-volatile solid-state memory, etc.); an unchangeable memory (e.g., electrically programmable read-only memory), a read-only memory, and / or a high-capacity storage device (e.g., a hard disk drive, a solid-state drive, etc.). In some examples, the memory 206 includes a variety of memories, particularly volatile memories and non-volatile memories.

[0029] The memory 206 is a computer-readable medium on which one or more instruction sets, such as software for operating the methods of the present disclosure, may be embedded. The instructions may embody one or more methods or logic as described herein. In certain embodiments, the instructions may reside completely or at least partially in the memory 206, the computer-readable medium, and / or any one or more of the processors 204 during instruction execution.

[0030] The terms "non-transitory computer-readable medium" and "tangible computer-readable medium" should be understood to include a single medium or multiple media, such as a centralized or distributed database, and / or associated caches and servers storing one or more instruction sets. The terms "non-transitory computer-readable medium" and "tangible computer-readable medium" also include any tangible medium that can store, encode, or carry an instruction set for execution by a processor or cause a system to perform any one or more of the methods or operations disclosed herein. As used herein, the term "tangible computer-readable medium" is expressly defined to include any type of computer-readable storage device and / or storage disk and excludes propagating signals.

[0031] The vehicle data bus 202 communicatively couples the electronic control units 106a to 106e, the body control module 108, the synchronous short-range radar module 110, the instrument cluster 112, and / or the active safety module 114, etc. In some examples, the vehicle data bus 202 includes one or more data buses. The vehicle data bus 202 can be configured in accordance with a controller area network (CAN) bus protocol as defined by the International Standards Organization (ISO) 11898-1, a media-oriented systems transport (MOST) bus protocol, a CAN-Flexible Data (CAN-FD) bus protocol (ISO 11898-7), and / or a K-line bus protocol (ISO 9141 and ISO 14230-1), and / or Ethernet. TM Bus protocol IEEE 802.3 (since 2002) and others are implemented.

[0032] Figure 3 is a flow chart of a method for determining whether the trailer 102 is connected to the vehicle 100, which can be performed by Figure 2 The electronic component 200 is implemented. Initially, at box 302, the active safety module 114 waits until the automatic trailer detection system is activated. For example, the driver can activate the setting via a hard switch or a virtual switch on the instrument cluster 112, or the automatic trailer detection system can be autonomously activated at ignition start or after the vehicle has been idling for a predetermined amount of time. At box 304, when the automatic trailer detection system is activated, the active safety module 114 sets a timer. At box 306, the active safety module 114 determines whether the timer has expired. When the timer has not expired, the method continues at box 308. Otherwise, when the timer has expired, the method returns to box 302.

[0033] At block 308, the synchronized short-range radar module 110 determines the portion of the environment around the vehicle 100 that is cluttered within the field of view of the corresponding radar. Figure 4 An exemplary method of detecting clutter is described. At box 310, a synchronized short-range radar module 110 receives a clutter message from another synchronized short-range radar module 110. At box 312, the synchronized short-range radar module 110 determines whether its clutter status is "pending" or "terminated". When the clutter status of the synchronized short-range radar module 110 is "pending" or "terminated", the method returns to box 306. Otherwise, when the clutter status of the synchronized short-range radar module 110 is neither "pending" nor "terminated", the method continues at box 314. At box 314, the synchronized short-range radar module 110 determines whether the environment within its radar's field of view is cluttered. When the environment within its radar's field of view is cluttered, the method returns to box 306. Otherwise, when the environment within its radar's field of view is not cluttered, the method continues to box 316.

[0034] At box 316, the synchronized short-range radar module 110 performs trailer detection via its radar. At box 318, the synchronized short-range radar module 110 broadcasts a message indicating its trailer detection status to another synchronized short-range radar module 110. At box 320, the synchronized short-range radar module 110 determines whether a trailer 102 is detected. When a trailer 102 is detected, the method continues at box 322. Otherwise, when a trailer is not detected, the method continues at box 326.

[0035] At box 322, the synchronized short-range radar module 110 broadcasts a message via the vehicle data bus 202 that the trailer 102 has been detected. At box 324, the electronic control units 106a to 106e, the instrument cluster 112, and / or the active safety module 114 control the subsystems of the vehicle 100 as if the trailer 102 is connected. For example, the instrument cluster 112 may display a notification that the trailer 102 is connected. In addition, the synchronized short-range radar module 110 monitors the extended blind spot detection zone 118 when the blind spot detection system is activated.

[0036] At box 326, the synchronized short-range radar module 110 determines whether the other synchronized short-range radar module 110 has indicated that its clutter status is "pending" or "clutter". When the other synchronized short-range radar module 110 has indicated that its clutter status is "pending" or "clutter", the method returns to box 306. Otherwise, when the other synchronized short-range radar module 110 has not indicated that its clutter status is "pending" or "clutter", the method continues at box 328. At box 328, the synchronized short-range radar module 110 determines whether the other synchronized short-range radar module 110 has indicated that it has detected the trailer 102. When the other synchronized short-range radar module 110 has indicated that it has detected the trailer 102, the method continues at box 322. Otherwise, when the other synchronized short-range radar module 110 has not indicated that it has detected the trailer 102, the method continues at box 330.

[0037] At box 330, the synchronized short-range radar module 110 broadcasts a message (e.g., a "trailer disconnected" message) via the vehicle data bus 202 regarding the non-detection of the trailer 102. At box 332, the electronic control units 106a-106e, the instrument cluster 112, and / or the active safety module 114 control the subsystems of the vehicle 100 as if the trailer 102 is not connected. Additionally, the synchronized short-range radar module 110 monitors the blind spot detection zone 116 when the blind spot detection system is activated.

[0038] Figure 4 is a flow chart of a method for determining whether the environment around the vehicle 100 is cluttered, which can be performed by Figure 2The electronic assembly 200 of the embodiment of the present invention is implemented. Initially, at box 402, the synchronous short-range radar module 110 waits until clutter detection begins. At box 404, the synchronous short-range radar module 110 broadcasts a message indicating that the search for clutter is pending. At box 406, the synchronous short-range radar module 110 determines whether the speed of the vehicle 100 is below a threshold speed (e.g., 10 miles per hour, 20 miles per hour, etc.). When the speed of the vehicle 100 is below the threshold speed, the method continues to box 408. Otherwise, when the speed of the vehicle 100 is above the threshold speed, the method continues to box 422.

[0039] At box 408, the synchronous short-range radar module 110 begins to use its radar to measure the area within the radar's field of view near the vehicle 100. At box 410, based on the measurements, the synchronous short-range radar module 110 determines whether clutter is detected. When clutter is detected, the method continues at box 412. Otherwise, when clutter is not detected, the method continues at box 420.

[0040] At box 412, the synchronized short-range radar module 110 broadcasts a message indicating that it has detected clutter. At box 414, the synchronized short-range radar module 110 determines whether the speed of the vehicle 100 is below a threshold speed. When the speed of the vehicle 100 is below a threshold speed, the method continues to box 416. Otherwise, when the speed of the vehicle 100 is above a threshold speed, the method continues to box 422. At box 416, based on the measurements of its radar, the synchronized short-range radar module 110 determines whether clutter is detected. When clutter is detected, the method returns to box 412. Otherwise, when clutter is not detected, the method continues at box 418.

[0041] At block 418, synchronized short-range radar module 110 resets its search timer. At block 420, synchronized short-range radar module 110 broadcasts a message indicating that no clutter is detected.

[0042] At box 422, the synchronous short-range radar module 110 broadcasts a message indicating that the search for clutter has been terminated. At box 424, the synchronous short-range radar module 110 determines whether the speed of the vehicle 100 is below a threshold speed. When the speed of the vehicle 100 is below the threshold speed, the method returns to box 404. Otherwise, when the speed of the vehicle 100 is above the threshold speed, the method returns to box 422.

[0043] Figure 3 and Figure 4 A flowchart representing a memory device (such as Figure 2 206) in a memory, the machine-readable instructions comprising one or more programs, when executed by a processor (such as Figure 2 When the processor 204 executes, the vehicle 100 implements Figure 1 and Figure 2 An example of a synchronous short-range radar module 110. In addition, although reference Figure 3 and Figure 4 Although an exemplary process is described with reference to the flowchart shown in FIG. 1 , many other methods of implementing the example of synchronized short-range radar module 110 may alternatively be used. For example, the order of execution of the blocks may be changed, and / or some of the blocks described may be changed, eliminated, or combined.

[0044] In the present application, the use of transition words is intended to include conjunctions. The use of definite or indefinite articles is not intended to indicate cardinality. In particular, references to "the" object or "one" and "a" object are also intended to indicate one of a possible plurality of such objects. As used herein, the terms "module" and "unit" refer to hardware having a circuit that provides communication, control and / or monitoring capabilities, usually in conjunction with a sensor. "Module" and "unit" may also include firmware executed on the circuit. In addition, the conjunction "or" may be used to convey features that exist simultaneously rather than mutually exclusive alternatives. In other words, the conjunction "or" should be understood to include "and / or". The terms "include", "include" and "includes" are inclusive and have the same scope as "include", "include" and "includes", respectively.

[0045] The above-described embodiments, particularly any "preferred" embodiments, are possible examples of implementations and are intended only for a clear understanding of the principles of the present invention. Many changes and modifications may be made to the above-described embodiments without departing substantially from the spirit and principles of the technology described herein. All modifications are intended to be included in the scope of this disclosure and protected by the following claims.

[0046] According to the present invention, a radar module for a vehicle is provided, the radar module having: a radar; a controller, the controller being coupled to a memory, the controller being configured to: monitor an area near the vehicle with the radar; determine clutter and trailer connection status based on characteristics of the area; send a clutter message indicating the clutter status on a data bus; and send a connection message based on (a) the trailer connection status or (b) the clutter and trailer connection status of another radar module.

[0047] According to one embodiment, the controller is configured to send the connection message based on the trailer connection status in response to detecting that a trailer is connected to the vehicle.

[0048] According to one embodiment, the controller is configured to send the connection message based on the clutter of the other radar module and a trailer connection status in response to not detecting a trailer connected to the vehicle.

[0049] According to one embodiment, the connection message indicates that the trailer is not connected when (i) the clutter status of the other radar module indicates that the other radar module has not detected clutter, and (ii) the trailer connection status of the other radar module indicates that the other radar module has not detected the trailer.

[0050] According to one embodiment, the clutter status is one of: (a) clutter detected, (b) clutter not detected, or (c) clutter detection pending.

[0051] According to one embodiment, the controller is configured to establish a blind spot detection zone.

[0052] According to one embodiment, the size of the blind spot detection zone is based on a trailer connection status when a trailer is detected and based on the trailer connection status of the further radar module when the trailer is not detected.

[0053] According to the present invention, a vehicle is provided, the vehicle having: a first radar module, the first radar module monitoring a first area near the vehicle; a second radar module, the second radar module monitoring a second different area near the vehicle, the first radar module and the second radar module being communicatively coupled via a vehicle data bus; wherein when the first radar module does not detect radar clutter, the first radar module determines whether a trailer is connected; wherein when the first radar module detects the trailer, the first radar module sends a trailer message on the vehicle data bus indicating that the trailer is connected; and wherein when the first radar module does not detect the trailer, the first radar module sends the trailer message indicating that the trailer is not connected only when the second radar module also determines that the trailer is not connected.

[0054] According to one embodiment, the first radar module and the second radar module transmit a clutter status message on the vehicle data bus indicating whether a corresponding one of the radar modules detects radar clutter.

[0055] According to one embodiment, the first radar module and the second radar module send a detection status message on the vehicle data bus indicating whether a corresponding one of the radar modules detects the trailer.

[0056] According to one embodiment, the first radar module and the second radar module perform blind spot detection based on a first blind spot detection zone monitored by the first radar module and a second blind spot detection zone monitored by the second radar module.

[0057] According to one embodiment, the first blind spot detection zone and the second blind spot detection zone have a first set of dimensions when the trailer is detected and a second set of dimensions when the trailer is not detected.

[0058] According to one embodiment, the vehicle as described above includes a first blind spot indicator and a second blind spot indicator communicatively coupled to the first blind spot detection zone and the second blind spot detection zone, respectively, wherein when an object is detected in one of the blind spot detection zones, a corresponding one of the first radar module and the second radar module is used to activate a corresponding one of the first blind spot indicator and the second blind spot indicator.

[0059] According to the present invention, the vehicle as described above comprises an active safety module for controlling a power function of the vehicle based on whether the trailer message indicates that the trailer is connected.

[0060] According to one embodiment, when the second radar module does not detect radar clutter, the second radar module determines whether the trailer is connected independently of the first radar module; wherein when the second radar module detects the trailer, the second radar module sends the trailer message on the vehicle data bus indicating that the trailer is connected independently of the second radar module; and wherein when the second radar module does not detect the trailer, the second radar module sends the trailer message indicating that the trailer is not connected only if the first radar module also determines that the trailer is not connected.

[0061] According to one embodiment, the trailer message indicating the trailer connection status of the previous engine cycle is sent after a threshold period when (a) neither the first radar module nor the second radar module detects the trailer and (b) neither the first radar module nor the second radar module considers the trailer to be unconnected.

Claims

1. A radar module for a vehicle, the radar module comprising: radar; as well as a controller coupled to the memory, the controller being configured to: monitoring an area near the vehicle with the radar; determining a clutter state and a trailer connection state based on characteristics of the area; sending a noise message indicating the noise status on the data bus; sending a connection message based on (a) the trailer connection status or (b) a clutter status of another radar module and a trailer connection status, The controller is configured to determine the trailer connection status when the clutter status indicates that no clutter is detected; and when the trailer connection status indicates that the trailer is not connected, send a connection message indicating that the trailer is not connected only when the trailer connection status of the other radar module also indicates that the trailer is not connected. 2 . The radar module of claim 1 , wherein the controller sends the connection message based on a trailer connection status in response to detecting that a trailer is connected to the vehicle.

3. The radar module of claim 1 or 2, wherein the controller is configured to send the connection message based on the clutter status and trailer connection status of the other radar module in response to not detecting a trailer connected to the vehicle.

4. The radar module of claim 3 , wherein the connection message indicates that the trailer is not connected when (i) the clutter status of the other radar module indicates that the other radar module has not detected clutter, and (ii) the trailer connection status of the other radar module indicates that the other radar module has not detected the trailer.

5. The radar module of claim 1 or 2, wherein the clutter status is one of: (a) clutter detected, (b) clutter not detected, or (c) clutter detection pending.

6. The radar module of claim 1 or 2, wherein the controller is used to establish a blind spot detection zone.

7. The radar module of claim 6, wherein the size of the blind spot detection zone is based on a trailer connection status when a trailer is detected and is based on the trailer connection status of the other radar module when the trailer is not detected.

8. A vehicle, comprising: a first radar module that monitors a first area near the vehicle; a second radar module that monitors a second, different area proximate the vehicle, the first radar module and the second radar module being communicatively coupled via a vehicle data bus; wherein when the first radar module does not detect radar clutter, the first radar module determines whether a trailer is connected; wherein when the first radar module detects the trailer, the first radar module sends a trailer message on the vehicle data bus indicating that the trailer is connected; and Wherein when the first radar module does not detect the trailer, the first radar module sends the trailer message indicating that the trailer is not connected only when the second radar module also determines that the trailer is not connected.

9. The vehicle of claim 8, wherein the first radar module and the second radar module transmit a clutter status message on the vehicle data bus indicating whether a corresponding one of the radar modules detects radar clutter.

10. The vehicle of claim 8, wherein the first radar module and the second radar module transmit a detection status message on the vehicle data bus indicating whether a corresponding one of the radar modules detects the trailer.

11. The vehicle of claim 8, wherein the first radar module and the second radar module perform blind spot detection based on a first blind spot detection zone monitored by the first radar module and a second blind spot detection zone monitored by the second radar module.

12. The vehicle of claim 11, wherein the first blind spot detection zone and the second blind spot detection zone have a first set of dimensions when the trailer is detected and a second set of dimensions when the trailer is not detected.

13. The vehicle of claim 11, comprising a first blind spot indicator and a second blind spot indicator communicatively coupled to the first blind spot detection zone and the second blind spot detection zone, respectively, wherein when an object is detected in one of the first blind spot detection zone and the second blind spot detection zone, a corresponding one of the first radar module and the second radar module is used to activate a corresponding one of the first blind spot indicator and the second blind spot indicator.

14. The vehicle of claim 12, comprising an active safety module for controlling a powered function of the vehicle based on whether the trailer message indicates that the trailer is connected.

15. The vehicle of claim 8, wherein: When the second radar module detects no radar clutter, the second radar module determines whether the trailer is connected independently of the first radar module; wherein when the second radar module detects the trailer, the second radar module sends the trailer message on the vehicle data bus indicating that the trailer is connected independently of the second radar module; and wherein when the second radar module does not detect the trailer, the second radar module sends the trailer message indicating that the trailer is not connected only when the first radar module also determines that the trailer is not connected; and wherein the trailer message indicating the trailer connection status of the previous engine cycle is sent after a threshold period of time when (a) neither the first radar module nor the second radar module detects the trailer and (b) neither the first radar module nor the second radar module believes that the trailer is not connected.

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