Trailer Lane Departure Warning and Lane Keeping Assist

Abstract

A method and system are provided for towing a trailer within a road lane, comprising: reconstructing the trailer's lane lines using lane lines sensed via camera data, via a processor on the vehicle; transforming the reconstructed lane lines to the trailer's perspective using additional sensor data; locating the trailer within the transformed lane lines using historical camera lane line information, articulated vehicle dynamics, hook angle, and trailer size, without requiring additional trailer lane sensing cameras to be added to the trailer; calculating time values ​​for the trailer and vehicle's distance from exceeding the lane; generating candidate hybrid paths of the trailer and vehicle with respect to the road lane centerline; and controlling the operation of the vehicle, trailer, or both via instructions provided by the processor to keep the vehicle, trailer, or both within the driving lane.

Description

Technical Field

[0001] This invention generally relates to vehicles, and more specifically, to methods and systems for controlling vehicles with trailers and keeping them in lanes. Background Technology

[0002] Today, some vehicles are equipped with the ability to tow trailers while in motion. However, in certain situations, such existing vehicles may not always provide optimal control over the vehicle and trailer while remaining in the appropriate lane.

[0003] Therefore, it is desirable to provide improved methods and systems for controlling vehicles and trailers within appropriate lanes. Furthermore, other desirable features and characteristics of the invention will become readily apparent from the following detailed description and appended claims, taken in conjunction with the accompanying drawings and the background of the invention. Summary of the Invention

[0004] According to an exemplary embodiment, a method is provided, the method comprising: obtaining sensor data from one or more sensors on a vehicle towing a trailer within a lane of a road, the lane having one or more lane lines; calculating a time-to-lane-out (TTLC) value of the vehicle by a processor on the vehicle; estimating a time-to-lane-out (T-TTLC) value of the trailer using the sensor data from the one or more sensors on the vehicle; and controlling the operation of the vehicle, the trailer, or both by means of instructions provided by the processor based on the calculated TTLC value and the T-TTLC value.

[0005] Furthermore, in the exemplary embodiment, the step of obtaining sensor data includes obtaining camera data from one or more cameras on the vehicle; and the step of calculating the T-TTLC value includes calculating the T-TTLC value using the camera data via a processor.

[0006] Furthermore, in an exemplary embodiment, the step of calculating the T-TTLC value includes: reconstructing the trailer's lane lines using lane lines sensed by camera data via a processor; transforming the reconstructed lane lines into the trailer's perspective using additional sensor data; and locating the trailer within the transformed lane lines.

[0007] Furthermore, in the exemplary embodiment, the step of locating the trailer includes using historical camera lane line information, articulated vehicle dynamics, hook-up angle, and trailer size to position the trailer within the changing lane lines, without requiring the addition of an additional trailer lane sensing camera to the trailer.

[0008] Furthermore, in an exemplary embodiment, the method further includes: using sensor data from one or more sensors on the vehicle to calculate a time-to-lane-out (TTLC) value of the vehicle via a processor; wherein the step of controlling the operation of the vehicle, trailer, or both includes controlling the operation of the vehicle, trailer, or both via instructions provided by the processor based on the calculated TTLC value and the calculated T-TTLC value.

[0009] Furthermore, in an exemplary embodiment, the steps of controlling the operation of the vehicle, trailer, or both include controlling the operation of the vehicle and trailer via instructions provided by the processor based on the calculated TTLC value and the calculated T-TTLC value.

[0010] Furthermore, in an exemplary embodiment, the step of controlling the vehicle and trailer further includes: using a processor to blend the mixed path of the trailer and the vehicle with the lane centerline of the road on which the vehicle and the trailer are traveling.

[0011] Furthermore, in an exemplary embodiment, the steps of controlling the operation of the vehicle, trailer, or both include providing instructions via a processor to correct steering, correct braking, or both, to keep the vehicle, trailer, or both within the driving lane based on a T-TTLC value.

[0012] In another exemplary embodiment, a system is provided comprising: one or more sensors configured to at least facilitate the onboarding of a vehicle towing a trailer within a lane of a road having one or more lane lines; and a processor on the vehicle configured to at least facilitate: calculating a time-out-of-lane (T-TTLC) value of the trailer using sensor data from the one or more sensors on the vehicle; and controlling the operation of the vehicle, the trailer, or both based on the calculated T-TTLC value.

[0013] Furthermore, in the exemplary embodiment, one or more sensors include one or more cameras configured to generate camera data; and the processor is also configured to at least contribute to calculating the T-TTLC value using the camera data.

[0014] Furthermore, in the exemplary embodiment, the processor is also configured to at least assist in: reconstructing the trailer's lane lines using lane lines sensed via camera data; transforming the reconstructed lane lines into the trailer's perspective using additional sensor data; and locating the trailer within the transformed lane lines.

[0015] Furthermore, in an exemplary embodiment, the processor is also configured to at least aid in vehicle control by blending the paths of the trailer and the vehicle with the lane centerline of the road on which the vehicle and the trailer are traveling.

[0016] Furthermore, in an exemplary embodiment, the processor is also configured to at least facilitate: calculating the time-to-lane-out (TTLC) value of the vehicle using sensor data from one or more sensors on the vehicle; and controlling the operation of the vehicle, trailer, or both based on the calculated T-TTLC value and the calculated TTLC value.

[0017] Furthermore, in an exemplary embodiment, the processor is also configured to at least contribute to controlling the operation of both the vehicle and the trailer based on the calculated T-TTLC value and the calculated TTLC value.

[0018] Furthermore, in an exemplary embodiment, the processor is configured to at least assist in providing corrective steering, corrective braking, or both, to keep the vehicle, trailer, or both within the driving lane based on the T-TTLC value.

[0019] According to another exemplary embodiment, a vehicle is provided configured to tow a trailer within a lane of a road having one or more lane lines. The vehicle includes: a body; a propulsion system configured to generate body motion; one or more sensors on the vehicle configured to at least facilitate the acquisition of sensor data; and a processor on the vehicle configured to at least facilitate: calculating a time-to-out-of-lane (T-TTLC) value of the trailer using sensor data from the one or more sensors on the vehicle; and controlling the operation of the vehicle, the trailer, or both based on the calculated T-TTLC value.

[0020] Furthermore, in the exemplary embodiment: one or more sensors include one or more cameras configured to generate camera data; and the processor is also configured to at least partially contribute to calculating the T-TTLC value using the camera data by: reconstructing the trailer's lane lines using lane lines sensed via the camera data, generating reconstructed lane lines; transforming the reconstructed lane lines into the trailer's perspective using additional sensor data; and locating the trailer within the transformed lane lines. Attached Figure Description

[0021] The present disclosure will be described below in conjunction with the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0022] Figure 1 This is a functional block diagram of a vehicle / trailer system according to an exemplary embodiment, the system including a vehicle towing a trailer during travel, and wherein the vehicle includes a control system for controlling the vehicle and the trailer during travel relative to a suitable lane;

[0023] Figure 2 This is according to an exemplary embodiment. Figure 1 A block diagram of the vehicle's control system modules;

[0024] Figure 3 and Figure 4 Depicting according to exemplary embodiments Figure 1 The situation of vehicles and trailers traveling along the road lanes;

[0025] Figure 5 According to exemplary embodiments, relative to, for example Figure 3 and Figure 4 The road lane control shown Figure 1 A flowchart of the process of vehicles and trailers;

[0026] Figure 6 This is according to an exemplary embodiment. Figure 5 The flowchart of the sub-process of the process, namely, the time parameter used to determine the time from exceeding the lane;

[0027] Figure 7 This is according to an exemplary embodiment. Figure 5 The flowchart of another sub-process of the process, namely, the process for implementing vehicle control based on the time parameter of the distance from exceeding the lane; and

[0028] Figure 8-15 An exemplary embodiment is shown. Figure 5 Some implementations of the process. Detailed Implementation

[0029] The following detailed description is merely exemplary in nature and is not intended to limit this disclosure or its application and use. Furthermore, it is not intended to be bound by any theories presented in the foregoing background or the following detailed description.

[0030] Figure 1 A driving system 10 (also referred to as a "system" or "vehicle / trailer system") 10 according to an exemplary embodiment is shown. Figure 1 As shown, the driving system 10 includes a vehicle 100 and a trailer 101. In various embodiments, the vehicle 100 is coupled and connected to the trailer 101 via a coupling device 170 and is configured to tow the trailer 101. In some embodiments, the coupling device 170 includes a hook-up device. In some other embodiments, the coupling device 170 includes one or more other types of device systems, such as a gooseneck for a fifth-wheel trailer.

[0031] As described in more detail below, according to an exemplary embodiment, vehicle 100 includes a control system 102 for controlling the operation and movement of driving system 10, including keeping vehicle 100 and trailer 101 within appropriate driving lanes.

[0032] In various embodiments, vehicle 100 includes an automobile. In some embodiments, vehicle 100 can be any of a variety of different types of automobiles, such as sedans, vans, trucks, or sports utility vehicles (SUVs), and can be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD), or all-wheel drive (AWD), and / or various other types of vehicles. In some embodiments, vehicle 100 may also include motorcycles or other vehicles, such as aircraft, spacecraft, ships, etc., and / or one or more other types of mobile platforms (e.g., robots and / or other mobile platforms).

[0033] Vehicle 100 includes a body 104 disposed on a chassis 116. The body 104 substantially surrounds the other components of vehicle 100. The body 104 and chassis 116 may together form a frame. Vehicle 100 also includes a plurality of wheels 112. Each wheel 112 is rotatably connected to the chassis 116 near a corresponding corner of the body 104 to facilitate movement of vehicle 100. In one embodiment, vehicle 100 includes four wheels 112, although this may vary in other embodiments (e.g., for trucks and certain other vehicles).

[0034] The drive system 110 is mounted on the chassis 116 and drives the wheels 112, for example, via axle 114. The drive system 110 preferably includes a propulsion system. In some exemplary embodiments, the drive system 110 includes an internal combustion engine and / or an electric motor / generator connected to its transmission. In some embodiments, the drive system 110 may vary, and / or two or more drive systems 112 may be used. For example, the vehicle 100 may also incorporate any one or a combination of a variety of different types of propulsion systems, such as an internal combustion engine fueled by gasoline or diesel, a "flexible fuel vehicle" (FFV) engine (i.e., using a mixture of gasoline and alcohol), an engine fueled by gaseous compounds (e.g., hydrogen and / or natural gas), a combustion / electric motor hybrid engine, and an electric motor.

[0035] like Figure 1 As shown, in various embodiments, the vehicle also includes a braking system 106 and a steering system 108. In an exemplary embodiment, the braking system 106 uses braking components to control the braking of the vehicle 100, which are automatically controlled via input provided by the driver (e.g., via the brake pedal in some embodiments) and / or via the control system 102. Furthermore, in an exemplary embodiment, the steering system 108 controls the steering of the vehicle 100 via steering components (e.g., a steering column coupled to axle 114 and / or wheel 112), which are automatically controlled via input provided by the driver (e.g., via the steering wheel in some embodiments) and / or via the control system 102.

[0036] exist Figure 1 In the illustrated embodiment, the control system 102 is connected to the braking system 106, the steering system 108, and the drive system 110. Similarly, as... Figure 1 As shown, in various embodiments, the control system 102 includes a sensor array 120, a positioning system 130, a display 135, and a controller 140.

[0037] In various embodiments, sensor array 120 includes various sensors that acquire sensor data for maintaining the movement of vehicle 100 and trailer 101 within a suitable driving lane. In the depicted embodiments, sensor array 120 includes input sensors 122 (e.g., brake pedal sensors and / or touchscreen sensors that measure braking input provided by the driver and / or other input sensors configured to receive input from the driver or other user of vehicle 10); trailer sensors 124 (e.g., configured to measure the weight and / or other data of trailer 101); speed sensors 125 (e.g., wheel speed sensors and / or other sensors configured to measure the speed and / or speed vector of the vehicle and / or data for calculating such speed and / or speed vector); and cameras 126 (e.g., in some embodiments, at least a front camera 126(1) and a rear camera 126(2) are included, and configured to capture images of the lane and road in which vehicle 100 is traveling, and in some embodiments, to capture images of trailer 101). Relevant data, such as the attachment angle of vehicle 100 to trailer 101 via hitch (or other trailer equipment) 170, acceleration sensor 127 (e.g., accelerometer and / or one or more other sensors for measuring and / or determining the acceleration of vehicle 100) and yaw sensor 128 (for measuring and / or determining the yaw rate of vehicle 100).

[0038] Furthermore, in various embodiments, the positioning system 130 is configured to acquire and / or generate data regarding the location and / or orientation of the vehicle. In some embodiments, the positioning system 130 includes and / or is coupled to a satellite-based network and / or system, such as the Global Positioning System (GPS) and / or other satellite-based systems.

[0039] In various embodiments, the display system 135 provides visual, auditory, tactile and / or other information to the driver or user of the vehicle 100 via instructions provided by the controller 140, including when the vehicle and / or trailer is expected to come into contact with or cross lane lines on the road in which the system 10 is traveling.

[0040] In various embodiments, controller 140 is coupled to sensor array 120, positioning system 130, and display 135. Furthermore, in various embodiments, controller 140 includes a computer system (also referred to herein as computer system 140) and includes processor 142, memory 144, interface 146, storage device 148, and computer bus 150. In various embodiments, controller (or computer system) 140 controls vehicle and trailer operations, including when the vehicle and / or trailer is expected to contact or cross lane markings on the road traveled by system 10. In various embodiments, controller 140... Figure 5 The steps of the process and the embodiments further described below (e.g., in conjunction with) Figure 2-15 This is to provide these and other functions.

[0041] In various embodiments, the controller 140 (and in some embodiments, the control system 102 itself) is located within the body 104 of the vehicle 100. In one embodiment, the control system 102 is mounted on the chassis 116. In some embodiments, the controller 140 and / or the control system 102 and / or one or more components thereof may be located outside the body 104, such as on a remote server, in the cloud, or on other devices that remotely perform image processing.

[0042] It should be understood that controller 140 may be different Figure 1 The illustrated embodiment. For example, controller 140 may be coupled to or may utilize one or more remote computer systems and / or other control systems, for example as part of one or more of the aforementioned vehicle 100 equipment and systems.

[0043] In the depicted embodiment, the computer system of controller 140 includes a processor 142, a memory 144, an interface 146, a storage device 148, and a bus 150. The processor 142 performs the computational and control functions of controller 140 and may include any type of processor or multiple processors, a single integrated circuit such as a microprocessor, or any suitable number of integrated circuit devices and / or circuit boards, which work together to implement the functions of the processing unit. During operation, processor 142 executes one or more programs 152 contained in memory 144 and thus controls the general operation of controller 140 and its computer system, typically in the process described herein, such as... Figure 5 The process and implementation described further below, for example, combining Figure 2-15 .

[0044] Memory 144 can be any suitable type of memory. For example, memory 144 can include various types of dynamic random access memory (DRAM), such as SDRAM, various types of static random access memory (RAM), and various types of non-volatile memory (PROM, EPROM, and flash memory). In some examples, memory 144 is located on and / or co-located on the same computer chip as processor 142. In the depicted embodiment, memory 144 stores the aforementioned program 152, as well as map data 154 (e.g., from and / or used in conjunction with positioning system 130) and one or more stored values ​​156 (e.g., in various embodiments, including thresholds for the time when vehicles and trailers are outside lane lines).

[0045] Bus 150 is used to transfer programs, data, status, and other information or signals between various components of the computer system of controller 140. Interface 146 allows communication, for example, from system drivers and / or another computer system to the computer system of controller 140, and can be implemented using any suitable methods and means. In one embodiment, interface 146 obtains various data from sensor array 120 and / or positioning system 130. Interface 146 may include one or more network interfaces for communicating with other systems or components. Interface 146 may also include one or more network interfaces for communicating with technicians, and / or one or more storage interfaces for connecting to a storage device, such as storage device 148.

[0046] Storage device 148 can be any suitable type of storage device, including various types of direct access memory and / or other storage devices. In one exemplary embodiment, storage device 148 includes a program product from which memory 144 can receive program 152, which performs one or more embodiments of one or more processes of this disclosure, such as... Figure 5 The process steps and embodiments further described below, for example, in conjunction with Figure 2-15 In another exemplary embodiment, the program product may be directly stored in and / or accessed by memory 144 and / or disk (e.g., disk 157), as described below.

[0047] Bus 150 can be any suitable physical or logical device for connecting computer systems and components. This includes, but is not limited to, direct hardwired connections, fiber optic, infrared, and wireless bus technologies. During operation, program 152 is stored in memory 144 and executed by processor 142.

[0048] It should be understood that although this exemplary embodiment is described in the context of a full-featured computer system, those skilled in the art will recognize that the mechanisms of this disclosure can be distributed as a program product having one or more types of non-transitory computer-readable signal-bearing media for storing and distributing the program and its instructions, such as a non-transitory computer-readable medium carrying the program and containing computer instructions stored therein, for causing a computer processor (e.g., processor 142) to execute and perform the program. Such a program product can take many forms, and this disclosure applies equally regardless of the specific type of computer-readable signal-bearing medium used for performing the distribution. Examples of signal-bearing media include recordable media, such as floppy disks, hard disks, memory cards, and optical disks, and transmission media, such as digital and analog communication links. It should be understood that cloud-based storage and / or other technologies may also be utilized in some embodiments. Similarly, it can be understood that the computer system of controller 140 may differ from the embodiment shown in FIG. 1; for example, the computer system of controller 140 may be coupled to or may utilize one or more remote computer systems and / or other control systems.

[0049] like Figure 1 As shown, in some embodiments, trailer 101 also includes a plurality of wheels 162, and one or more sensors 164, a control system 166, and / or a braking system 168. In some embodiments, the sensors 164 of trailer 101 can provide sensor data about trailer 101 (e.g., its mass or weight), such as similar to Figure 1 The trailer sensor 124. Furthermore, in some embodiments, the trailer control system 166 may include a processor and provide certain functions described in conjunction with the controller 140 of the vehicle 100. Additionally, in some embodiments, the braking system 168 may provide braking to the trailer 101, for example, according to instructions provided by the controller 140 of the vehicle 100 (and / or, in some embodiments, via the control system 166 of the trailer 101).

[0050] Figure 2 Provided according to exemplary embodiments Figure 1 The functional block diagram of the control system 102 modules. (See attached diagram.) Figure 2 As shown, in various embodiments, the control system 102 includes Figure 1 The sensor array 120 includes vehicle sensors, including its input sensor 122 and camera 126, as well as other vehicle sensors (e.g., including one or more speed sensors 125, accelerometers 127 and yaw sensors 128).

[0051] In various embodiments, lane information 202 is provided from the front camera 126 to the prediction algorithm 210 to predict the time value at which the vehicle 100 and trailer 101 will be out of lane. Furthermore, in various embodiments: acceleration, speed, and yaw rate values ​​204 of the vehicle 100 are similarly provided to the prediction algorithm 210 from the vehicle sensors of the sensor array 120; similarly, trailer size 206 is provided to the prediction algorithm 210 from the input sensor 122; and similarly, trailer hitch angle 208 is provided from the vehicle 100 to the rear camera 126(2).

[0052] Furthermore, in various embodiments, lane information 202, vehicle speed, acceleration and yaw rate 204, trailer size 206 and trailer hook-up angle 208 are similarly provided to the path planning algorithm 212 of trailer 101 and vehicle 100.

[0053] In various embodiments, prediction algorithm 210 processes various sensor data (e.g., via...). Figure 1 The processor 142 generates a prediction of when the vehicle 100 and / or trailer 101 is expected to cross the lane line, and thus provides an appropriate warning 214 via the driver notification unit 216 when such lane line crossing is imminent.

[0054] Furthermore, in various embodiments, prediction algorithm 210 also provides a lane departure confidence level 218 for use in conjunction with intervention criteria of prediction algorithm 210, and provides an activation command 220. Moreover, in various embodiments, path planning algorithm 212 utilizes sensor data to generate an optimal trajectory 221 for the vehicle and trailer. In various embodiments, the optimal trajectory 221 is used in conjunction with the activation command 220 to implement lane keeping control 222, including for... Figure 1 The first control command 224 of the steering system 108 and for Figure 1 The second control command 226 of the braking system 106 and / or 168.

[0055] Figure 3 and 4 The illustration depicts a vehicle 100 and a trailer 101 positioned in lane 300 of a road on which the vehicle 100 and trailer 101 are traveling, according to an exemplary embodiment. Similarly, as... Figure 3 and 4 As shown, in an exemplary embodiment, lane 300 includes lane lines 301 and 302 that vehicle 100 and trailer 101 may cross.

[0056] In addition, such as Figure 4 As shown, these techniques are used to estimate the time elapsed before the trailer 101 contacts one of the lane lines 301, for example, as Figure 4Point 400 is shown in the diagram.

[0057] refer to Figure 5 It provides control of lanes relative to a road (e.g., lanes depicted in Figures 3 and 4) according to exemplary embodiments. Figure 1 The flowchart of the process 500 for vehicle 100 and trailer 101.

[0058] like Figure 5 As shown, process 500 begins at step 502. In one embodiment, process 500 begins when the vehicle is driven or the ignition cycle begins, such as when the driver approaches or enters vehicle 100, or when the driver turns on the vehicle and / or its ignition system (e.g., by turning the key, engaging the key chain, or pressing the start button). In one embodiment, the steps of process 500 are performed continuously during vehicle operation.

[0059] Generate user input for the vehicle (step 504). In various embodiments, this is achieved through... Figure 1 The input sensor 122 obtains user input from the driver or other user of vehicle 100. In various embodiments, the user input includes the destination of vehicle 100 when used for driving the vehicle. Furthermore, in some embodiments, the user input may also include one or more other user requests related to driving the vehicle, such as preferences for the route or route type, overtaking control of one or more automated features of vehicle 100, etc. In some embodiments, the user input is entered by the driver or other user of vehicle 100 via one or more buttons, switches, knobs, touchscreens, microphones, and / or other devices of vehicle 100, for example as... Figure 1 This is part of the positioning system 130 (e.g., in some embodiments, as part of a navigation system and / or GPS system, etc.). In various embodiments, the user input in step 504 is provided. Figure 1 The processor 142 is used to process, and to determine and implement the remaining steps of process 500, as described below, for example.

[0060] Furthermore, in some embodiments, additional sensor data is obtained (step 506). In various embodiments, this is achieved through one or more cameras 126, speed sensors 125, acceleration sensors 127, yaw sensors 128, trailer sensors 124, cameras 126, and / or Figure 1 Other sensors in the sensor array 120, and / or in some embodiments Figure 1 The trailer 101's sensor 164 acquires sensor data about the vehicle 100 and / or the road or path the vehicle 100 travels. In various embodiments, the sensor data in step 504 is provided to... Figure 1The processor 142 is used to process, and to determine and implement the remaining steps of process 500, as described below, for example.

[0061] Obtain vehicle location data (step 508). In various embodiments, this is achieved through... Figure 1 The positioning system 130 (e.g., a GPS system) obtains location data related to the position of the vehicle 100. In some embodiments, this location information is obtained using information from one or more satellites and includes the longitudinal and lateral coordinates of the vehicle 100. In various embodiments, the location data in step 508 is provided... Figure 1 The processor 142 is used to process, and to determine and implement the remaining steps of process 500, as described below, for example.

[0062] Map data of vehicle driving is also obtained (step 510). In various embodiments, lane-level map data of the road or path traveled by vehicle 100 is obtained, including lane lines for the lanes. In various embodiments, based on the location data from step 508, data is obtained from data stored in... Figure 1 Map data is retrieved from one or more map data 154 in memory 144 that correspond to the lane and road or path traveled by vehicle 100.

[0063] Planning a task for the vehicle (step 512). In various embodiments, based on the user input in step 504, a task (or travel path) for vehicle 100 is planned to reach the destination currently being driven by the vehicle. In various embodiments, the task is determined by... Figure 1 The processor 142 determines that it includes one or more roads and one or more driving lanes within those roads to reach a user-selected destination. In some embodiments, the processor 142 also utilizes the location data from step 508 and / or the map data from step 510 when selecting a task.

[0064] In various embodiments, the task planning in step 512 includes merging mixed path candidates for both vehicle 100 and trailer 101 relative to the centerline 1201 of the lane 300 traveled by vehicle 100 and trailer 101, as combined below. Figure 12-14 More detailed description.

[0065] Specifically, such as Figure 12-14 As shown, in some embodiments, different hybrid path candidates are generated and analyzed based on the above discussion. For example, in an exemplary embodiment, such as Figure 12 and 13As shown, a first mixed path candidate 1310 is generated by blending the trailer path with the centerline 1201 of lane 300. As an additional example, a second mixed path candidate 1320 is generated by blending the vehicle path with the centerline 1201 of lane 300, as... Figure 12 and 14 As shown.

[0066] In various embodiments, Figure 1 The processor 142 determines which of the mixed path candidates 1310 or 1320 is optimal. For example, in Figure 12-14 In the example shown, both hybrid path candidates 1310 and 1320 satisfy the motion constraints of vehicle 100. However, in this example, only the second hybrid path candidate 1320 satisfies the motion constraints of trailer 101 (e.g., for lateral acceleration, lateral velocity, and yaw) because the first hybrid path candidate 1310 is not smooth enough relative to the centerline 1201. Therefore, in this example, the first hybrid path candidate 1310 will be rejected, and the second hybrid path candidate 1320 will be used as the path that vehicle 100 and trailer 101 should follow.

[0067] In various embodiments, hybrid path candidates 1310 and / or 1320 (e.g., whichever is selected) are used for optimal path planning design of the master vehicle 100 and the trailer 101.

[0068] Back Figure 5 The time to crossing parameter is calculated (step 514). In various embodiments, a time to lane crossing (TTLC) value is calculated for both vehicle 100 and trailer 101 relative to the lane lines in the road on which vehicle 100 and trailer 101 are traveling. In some embodiments, the TTLC value includes a corresponding amount of time after which vehicle 100 and trailer 101 are expected to cross the lane line if they continue along their current trajectory. In various embodiments, these determinations and calculations are performed by... Figure 1 The processor 142 performs this function and it is used for vehicle and trailer control during step 516 (described further below).

[0069] refer to Figure 6 The sub-process of step 514, which calculates the parameter for the time elapsed, is described according to an exemplary embodiment. For example... Figure 6As shown, various inputs are used for calculations, including: lane offset, lane direction, and lane curvature input 602; reconstructed lane offset, lane direction, and lane curvature for trailer input 604; vehicle speed, acceleration, and yaw rate input 606; vehicle status and trajectory input 608; predicted trailer trajectory input 610; trailer size 612; and trailer hitch angle 614. In various embodiments, these inputs are... Figure 1 The data is obtained from various sensors in the sensor array 120 of the vehicle 100, and / or in some embodiments also from... Figure 1 The trailer sensor 164 of trailer 101 obtains the data. Moreover, in various embodiments, these inputs are used to perform TTLC estimation in combination step 616, as further described below.

[0070] refer to Figure 8-11 In various embodiments, lane inputs (including input 604) include lane line reconstruction for trailers using lane lines sensed by vehicle cameras and / or maps.

[0071] In various embodiments, the lane geometry is determined by... Figure 1 One or more cameras 126 of the vehicle 100 sense, and / or use data from, according to the following equation Figure 1 Map data:

[0072]

[0073] Where y i Let x represent the lateral coordinate of lane marker point i as seen from the perspective of vehicle 100. i It is the longitudinal distance between the lane marker and the vehicle, and the C coefficient is a geometric constant. These coefficients are updated at different points in time as the vehicle travels along the lane.

[0074] Furthermore, in various embodiments, trailer size, hitch angle, and master vehicle variables (e.g., variables obtained through sensor data as described above) are used as inputs, along with lane information from the vehicle's perspective, a historical buffer of lane information, trailer size and hitch angle, and master vehicle odometer parameters (including steering angle, inertial measurement data, vehicle speed, wheel speed, satellite-based position data, such as position data from GPS, and wheel speed), to transform the lane geometry into the perspective of trailer 101.

[0075] In various embodiments, trailer 101 is positioned within the lane using historical camera lane line information, articulated vehicle dynamics, hook-up angle, and trailer size (e.g., based on sensor data and / or data stored in computer memory), without requiring additional trailer lane sensing cameras to be added to trailer 101.

[0076] In various embodiments, the transformation is performed according to the following equation:

[0077]

[0078] in (exist Figure 8-11 The lane marked as line 802 represents the lane as seen from the trailer's perspective. (exist Figure 8-11 The line marked 804 indicates the articulation point on the trailer. (exist Figure 8-11 The line marked 806 indicates the orientation of the vehicle relative to the trailer at the articulation point, and (exist Figure 8-11 The lane marked as line 808 represents the lane from the vehicle's perspective, and further references are provided. Figure 8-11 The point “P” 801 is specified in the text, which corresponds to one or more lane lines 301 of the road on which the vehicle and / or trailer are expected to cross. Figure 10 The text also depicts representatives Vector 810 marks points on the outer trailer profile, for example, corresponding to Figure 8-11 The tail end is depicted as "B" 803.

[0079] Furthermore, in various embodiments, the transformations continue according to the following equation:

[0080]

[0081] It estimates the unknown value at time "k+t", at which point the vehicle camera data will not directly capture the image of the point "P" that exceeds lane 300.

[0082] Furthermore, in various embodiments, the transformations continue according to the following equation:

[0083] and

[0084]

[0085] in: (exist Figure 11 The line 1102 in the middle represents the reconstructed lane point of the trailer from the position at time "k+t"; (exist Figure 11 The value specified as line 1104 represents the value obtained through trailer geometry. (exist Figure 11 The value specified as line 1106 represents the value obtained through suspension angle and vehicle geometry. (exist Figure 11The value (designated as line 1110) represents the value sensed by the vehicle's camera at time "k"; and (exist Figure 11 The value obtained from the vehicle odometer from time “k” to “k+t” is designated as line 1108.

[0086] Furthermore, in various embodiments, the transformation can be applied to any arbitrary point on the trailer (e.g., the tail end "B") according to the following equation:

[0087]

[0088] in: This indicates that at time "k+t" (for example, similar to...) Figure 8 The line is 810, but at time "k+t"), Figure 8-11 The distance vector from the trailer's rear end at point "B" to point "P" on lane sign 803; This represents the position of time "P" relative to the trailer at time "k+t"; and (exist Figure 11 The line 1102 in the middle represents the reconstructed position vector of point "P" (e.g., the front end of the trailer) at time "k+t" from the perspective of the trailer.

[0089] Figure 11 The text also describes angles. (exist Figure 11 The angle (denoted as 1112) represents the angle between the corresponding tracks of the vehicle and the trailer, such as the angle used in the additional equations given below.

[0090] Furthermore, in various embodiments, Figure 6 The input also includes a motion model attached to the coordinates of vehicle 100. In some embodiments, the motion model takes into account vehicle acceleration (a), velocity (V), and yaw rate. The hinge angle (θ) and wheelbase (L) of the mounting device are used, and the assumption of negligible slippage is utilized when generating the following equation:

[0091]

[0092] y Tra =y Veh +Lsinθ

[0093]

[0094]

[0095] Furthermore, in various embodiments, using the simplified assumptions of constant speed and yaw rate (and rate of change of engagement angle) before lane crossings, the vehicle's position is calculated using the following equation:

[0096]

[0097]

[0098] x Tra =x Veh -Lcosθ

[0099] y Tra =y Veh +Lsinθ (Equation 13-16)

[0100] In various embodiments, the lane in the vehicle coordinates is estimated by camera 126 using the following equation:

[0101] y Lane =C0+C1l+C2l 2 +C3l 3 (Equation 17)

[0102] Where "l" represents "look-ahead distance", and can be derived from the above x according to the following equation. veh replace:

[0103]

[0104] Furthermore, in various embodiments, the distance to lane crossing (DLC) can be defined according to the following equation:

[0105]

[0106]

[0107] Furthermore, in some embodiments, a second-order Taylor expansion can be used at approximately time t = 0 according to the following equation:

[0108]

[0109] Therefore, in various embodiments, the second-order approximation of the time the trailer distance exceeds the lane is generated using the following equation:

[0110]

[0111] The terms "d", "b", and "c" are generated according to the following equation:

[0112]

[0113] b = -C1V (Equation 23), and

[0114] c = Lsinθ - C0 + C1Lcosθ (Equation 24).

[0115] Continue to refer to Figure 6 In various embodiments, in the combination step 616, various inputs 602-614 are used to estimate the TTC parameters and the corresponding confidence levels. In various embodiments, such as as described above, a time-out-of-lane (TTLC) formula is generated in step 618.

[0116] Furthermore, in various embodiments, and in accordance with the discussion above, in step 620, a lane generation model is generated for the vehicle, the trailer, and the lane in which the vehicle and the lane travel.

[0117] Furthermore, in various embodiments, in accordance with the discussion above, in step 622, enhanced vehicle and trailer lane states and correlations are generated.

[0118] Furthermore, in various embodiments, in accordance with the discussion above, in step 624, predictions and state propagation are generated.

[0119] Furthermore, in various embodiments, in accordance with the discussion above, in step 626, a prediction update is generated based on the measurement (e.g., sensor data) and the model probability.

[0120] Furthermore, in various embodiments, the estimation convergence is checked in step 628 in accordance with the discussion above.

[0121] In various embodiments, the above determination is used in step 630 to determine the "Time to Out of Lane" (TTLC) value for vehicle 100 and the "Time to Out of Lane" (TTLC) value for trailer 101. In various embodiments, this is determined by... Figure 1 The processor 142 executes when determining the estimated amount of time that the vehicle 100 and trailer 101 will touch (or cross) the lane lines (one or more), assuming that the vehicle 100 and trailer 101 continue on their current trajectories.

[0122] Furthermore, in various embodiments, in step 632, the above determination is also used to determine the corresponding confidence levels of the TTLC value and the T-TTLC value. And in various embodiments, this is... Figure 1 The processor 142 executes.

[0123] like Figure 6As shown, the TTLC value and T-TTLC value in step 630, as well as the confidence value in step 632, are all... Figure 1 The processor 142 is used in the process of controlling the vehicle 100 and / or trailer 101, for example, according to Figure 5 Step 516 of process 500 implements lane keeping assist control, lane centering control and / or one or more functions for vehicle 100 and trailer 101.

[0124] Returning to step 516, vehicle control actions are taken. In various embodiments, vehicle control actions include one or more control actions related to lane departure warning functions (e.g., providing the user with notification that the vehicle and / or trailer is about to cross the lane lines) and / or lane keeping assist functions (e.g., taking automatic braking, steering, and / or other control actions to help keep the vehicle and trailer within the appropriate lane). Specifically, in various embodiments, processor 142, based on the parameter of the time elapsed since crossing the lane determined in step 514, sends... Figure 1 The drive system 110, steering system 108, and / or vehicle braking system 106 and / or trailer braking system 168 provide instructions for vehicle control commands. In various embodiments, the control action is based on the vehicle's time to lane departure (TTLC) and the trailer's time to lane departure (T-TTLC) with corresponding thresholds for the vehicle 100 and trailer 101 (e.g., stored as their stored values). Figure 1 The corresponding comparisons between the memory 144 and the corresponding comparisons are made, for example, as described below in conjunction with an exemplary embodiment of step 516 shown in Figures 7 and 8.

[0125] refer to Figure 7 In contrast Figure 5 Step 516 of process 500 describes an exemplary embodiment. For example... Figure 7 As shown, in an exemplary embodiment, step 516 begins by comparing the TTLC value and the T-TTLC value with the corresponding thresholds for vehicle 100 and trailer 101. Figure 7 The steps are also combined below. Figure 15 The exemplary embodiments shown are described below. Figure 15 Different possible results are shown for TTLC and T-TTLC values, as well as the corresponding vehicle and trailer thresholds.

[0126] In an exemplary embodiment, the process proceeds to step 702 when the TTLC value is less than the corresponding vehicle threshold but the T-TTLC value is greater than or equal to the corresponding trailer threshold. During step 702, it is determined that the vehicle, but not the trailer, is likely about to cross the lane line (e.g., within a predetermined amount of time). In various embodiments, this corresponds to... Figure 15The first example 1501 depicted in the image shows a vehicle 100, rather than a trailer 101, which is expected to go beyond lane line 301 according to its current trajectory.

[0127] Therefore, in an exemplary embodiment, in step 704, steering correction is applied to the vehicle. In an exemplary embodiment, Figure 1 processor 142 Figure 1 The steering system 108 provides instructions to help the vehicle 100 avoid going beyond the lane lines of the road on which the vehicle 100 is traveling.

[0128] Furthermore, in some embodiments, a timer is used in step 706. In an exemplary embodiment, the process waits for a certain amount of time (e.g., "x" time) and checks again to determine if the TTLC value is still less than the vehicle threshold. If, after that amount of time, it is determined that the TTLC value is now greater than or equal to the vehicle threshold, the process restarts in step 708 (e.g., in some embodiments by returning to step 700). Conversely, if, after that amount of time, it is determined that the TTLC is still less than the vehicle threshold, the process proceeds to step 710, as described below.

[0129] In various embodiments, during step 710, it is determined whether the TTLC value is less than zero. In an exemplary embodiment, once it is determined that the TTLC value is less than zero, an alert is provided to the driver (e.g., based on the information provided by the driver). Figure 1 The instructions provided by processor 142 are Figure 1 The display system 135 provides audio, visual, and / or tactile alarms, and the process disengages from automatic steering at step 704 (e.g., in some embodiments, allowing the driver or user to take over steering). In various embodiments, the process then terminates at step 770.

[0130] Returning to step 700, in some embodiments, when the TTLC value is less than the corresponding trailer threshold but the TTLC value is greater than or equal to the corresponding vehicle threshold, the process proceeds to step 714. During step 714, it is determined that a trailer, rather than a vehicle, may be about to cross the lane line (e.g., within a predetermined amount of time). In various embodiments, this corresponds to... Figure 15 The second example 1502 depicted in the image shows that trailer 101, rather than vehicle 100, is expected to go beyond lane line 302 on the current trajectory.

[0131] Therefore, in an exemplary embodiment, in step 716, according to the... Figure 1 The processor 142 provides Figure 1 The braking system 106 (and in some embodiments, provided with) Figure 1The braking system 168) commands to reduce the speed of vehicle 100 (and, if available, reduce the speed of trailer 101).

[0132] Furthermore, in some embodiments, a timer is used in step 718. In an exemplary embodiment, the process waits for a certain amount of time (e.g., "x" time) and checks again to determine if the T-TTLC value is still less than the trailer threshold. If, after that amount of time, it is determined that the T-TTLC value is now greater than or equal to the trailer threshold, the process restarts in step 720 (e.g., in some embodiments by returning to step 700). Conversely, if, after that amount of time, it is determined that the T-TTLC is still less than the trailer threshold, the process proceeds to step 722, as described below.

[0133] During step 722, steering correction is applied to vehicle 100. In an exemplary embodiment, the processor 142 of FIG1 directs... Figure 1 The steering system 108 provides instructions to help the trailer 101 avoid going out of lane lines on the road in which the trailer 101 is traveling.

[0134] Furthermore, in some embodiments, the timer is used again in step 724. In an exemplary embodiment, the process waits for a certain amount of time (e.g., "x" time) and checks again to determine if the T-TTLC value is still less than the trailer threshold. If, after that amount of time, it is determined that the T-TTLC value is now greater than or equal to the trailer threshold, the process restarts in step 726 (e.g., in some embodiments by returning to step 700). Conversely, if, after that amount of time, it is determined that the T-TTLC is still less than the trailer threshold, the process proceeds to step 728, as described below.

[0135] In various embodiments during step 728, vehicle-based trailer sway control is applied. In various embodiments, Figure 1 The processor 142 provides instructions for trailer sway control, such as to the steering system 108 and / or one or more systems of the trailer 101, to help keep the trailer 101 within its driving lane.

[0136] Furthermore, in various embodiments, trailer differential braking is applied during step 730. In various embodiments, Figure 1 The processor 142 provides instructions for trailer sway control, such as those provided to... Figure 1 The braking system 168 of the trailer 101 is also designed to help keep the trailer 101 within its driving lane.

[0137] Furthermore, in various embodiments, the timer is used again in step 732, and after waiting for a period of time (e.g., time "x"), it is determined in step 732 whether the T-TTLC value is less than zero. In an exemplary embodiment, once it is determined that the T-TTLC value is less than zero, an alert is provided to the driver (e.g., based on the information provided by the driver). Figure 1 The instructions provided by processor 142 are Figure 1 The process disengages from the automatic control functions of steps 722, 728, and 730 (e.g., in some embodiments, allowing the driver or user to take over control). In various embodiments, the process then terminates at step 770.

[0138] Returning to step 700, in some embodiments, when both the TTLC value and the T-TTLC value are less than their respective vehicle and trailer thresholds, and further assuming that the vehicle and trailer are moving out of lanes towards the same side of the lane (e.g., Figure 15 If the same marker 301 or 302 is found, the process proceeds to step 736. During step 736, it is determined that both the vehicle and the trailer are considered to be about to cross the same lane line (e.g., within a predetermined amount of time). In various embodiments, this corresponds to Figure 15 The third example 1503 depicted in the image shows that both vehicle 100 and trailer 101 are expected to go beyond the same lane line 301 according to their current trajectories.

[0139] Therefore, in an exemplary embodiment, during step 738, steering correction is applied to vehicle 100. In an exemplary embodiment, Figure 1 processor 142 Figure 1 The steering system 108 provides instructions to help the vehicle 100 and trailer 101 avoid going beyond the lane lines of the road on which the vehicle 100 and trailer 101 are traveling.

[0140] Moreover, in various embodiments, during step 740, according to the... Figure 1 The processor 142 provides Figure 1 The braking system 106 (and in some embodiments, provided with) Figure 1 The braking system 168) commands to reduce the speed of vehicle 100 (and, if available, reduce the speed of trailer 101).

[0141] Furthermore, in some embodiments, a timer is used in step 742. In an exemplary embodiment, the process waits for a certain amount of time (e.g., "x" time) and checks again to determine whether the TTLC value and the T-TTLC value are still less than their respective vehicle and trailer thresholds. If, after that amount of time, it is determined that both the TTLC value and the T-TTLC value are greater than their respective thresholds, the process restarts in step 744 (e.g., in some embodiments by returning to step 700). Conversely, if, after that amount of time, it is determined that the TTLC or the T-TTLC, or both, are still less than their respective thresholds, the process proceeds to step 746, as described directly below.

[0142] In various embodiments during step 746, vehicle-based trailer sway control is applied. In various embodiments, Figure 1 The processor 142 provides instructions for trailer sway control, such as to the steering system 108 of the trailer 101 and / or one or more systems, to help keep the trailer 101 within its driving lane.

[0143] Furthermore, in various embodiments during step 748, trailer differential braking is applied. In various embodiments, Figure 1 The processor 142 provides instructions for trailer sway control, such as those provided to... Figure 1 The braking system 168 of the trailer 101 is also designed to help keep the trailer 101 within its driving lane.

[0144] In various embodiments, the process then terminates at step 770.

[0145] Returning to step 700, in some embodiments, when both the TTLC value and the T-TTLC value are less than their respective vehicle and trailer thresholds, and further assuming that the vehicle and trailer are moving toward crossing lane lines on opposite sides of the lane (e.g., one of the vehicle or trailer is moving toward crossing first lane line 301, while the other is moving toward crossing second lane line 302), the process proceeds to step 750. During step 750, it is determined that the vehicle and trailer are considered to be about to cross the opposite lane line (e.g., within a predetermined amount of time).

[0146] Therefore, in an exemplary embodiment, during step 752, steering correction is applied to vehicle 100. In an exemplary embodiment, Figure 1 processor 142 Figure 1The steering system 108 provides instructions to help vehicle 100 and trailer 101 avoid going beyond the lane lines of the road they are traveling on. Furthermore, in some embodiments, during step 752, an assessment is provided regarding how much steering control is needed to prevent jackknifing (or folding), and if feasible, that amount of steering control is provided. Additionally, in some embodiments, if that amount of steering is not feasible (e.g., if jackknifing would still be possible), the process continues with the current travel trajectory of the vehicle and trailer, suggesting or warning of a lane change.

[0147] Moreover, in various embodiments, during step 754, according to the... Figure 1 The processor 142 provides Figure 1 The braking system 106 (and in some embodiments, provided with) Figure 1 The braking system 168) commands to reduce the speed of vehicle 100 (and, if available, reduce the speed of trailer 101).

[0148] Furthermore, in some embodiments, a timer is used in step 756. In an exemplary embodiment, the process waits for a certain amount of time (e.g., "x" time) and checks again to determine whether the TTLC value and the T-TTLC value are still less than their respective vehicle and trailer thresholds. If, after that amount of time, it is determined that both the TTLC value and the T-TTLC value are greater than their respective thresholds, the process restarts in step 758 (e.g., in some embodiments by returning to step 700). Conversely, if, after that amount of time, it is determined that the TTLC or T-TTLC, or both, are still less than their respective thresholds, the process proceeds to step 760, as described directly below.

[0149] In various embodiments during step 760, vehicle-based trailer sway control is applied. In various embodiments, Figure 1 The processor 142 provides instructions for trailer sway control, such as to the steering system 108 of the trailer 101 and / or one or more systems, to help keep the trailer 101 within its driving lane.

[0150] In various embodiments, the process then terminates at step 770.

[0151] Finally, continue to refer to Figure 7 and 15 In some embodiments, when both the TTLC value and the T-TTLC value are determined to be greater than or equal to their respective vehicle and trailer parameters, the aforementioned control action is considered unnecessary (because neither the vehicle nor the trailer is expected to cross the lane line).

[0152] Therefore, methods, systems, and vehicles for controlling vehicle / trailer systems are provided. In various embodiments, the time to lane departure (TTLC) of the vehicle and the time to lane departure (T-TTLC) of the trailer are calculated based on various sensor data, location data, and map data. In various embodiments, the TTLC and T-TTLC values ​​are compared with corresponding vehicle and trailer thresholds, and when the vehicle and / or trailer is deemed to be about to cross one or more lane lines of the road in which the vehicle and trailer are traveling, control of the vehicle and / or trailer is performed according to instructions provided by the vehicle's onboard processor.

[0153] It should be understood that systems, vehicles, and methods may differ from those depicted in the accompanying drawings and described herein. For example, Figure 1 Vehicle 100 and / or trailer 101, Figure 1 and 2 The control system 102 and / or Figure 1 and 2 Its components can vary in different embodiments. Similarly, it can be understood that the steps of process 500 can differ. Figure 5 The steps described herein, and / or the various steps of process 500, may occur simultaneously and / or in different ways. Figure 5 The order described in the text occurs. Similarly, it should be understood that... Figure 2-15 The various implementations can also differ in different embodiments.

[0154] While at least one exemplary embodiment has been presented in the foregoing detailed description, it should be understood that numerous variations exist. It should also be understood that the one or more exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or configuration of this disclosure in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient roadmap for implementing one or more exemplary embodiments. It should be understood that various changes can be made to the function and arrangement of the elements without departing from the scope of this disclosure as set forth in the appended claims and their legal equivalents.

Claims

1. A trailer lane departure warning and lane keeping assist method, comprising: Sensor data is obtained from one or more sensors on a vehicle towing a trailer within a lane of a road, which has one or more lane lines. Using sensor data from one or more sensors on the vehicle, the processor calculates the time value at which the vehicle is out of lane, i.e., the TTLC value. Using sensor data from one or more sensors on the vehicle, the on-vehicle processor calculates the time value by which the trailer is out of lane, i.e., the T-TTLC value. Determine the confidence levels for the TTLC value and the T-TTLC value; and Based on the calculated TTLC value and its confidence level, and the T-TTLC value and its confidence level, as well as the comparison between the calculated TTLC value and T-TTLC value and the corresponding thresholds of the vehicle and trailer, the operation of the vehicle, trailer, or both is controlled by instructions provided by the processor.

2. The trailer lane departure warning and lane keeping assist method according to claim 1, wherein: The steps for acquiring sensor data include acquiring camera data from one or more cameras on the vehicle; and The steps for calculating the T-TTLC value include using camera data to calculate the T-TTLC value via a processor.

3. The trailer lane departure warning and lane keeping assist method according to claim 2, wherein the step of calculating the T-TTLC value includes: The processor uses lane lines sensed via camera data to reconstruct the trailer's lane lines, generating reconstructed lane lines. Using additional sensor data, the reconstructed lane markings are transformed to the trailer's perspective, generating transformed lane lines; and Position the trailer within the changed lane markings.

4. The trailer lane departure warning and lane keeping assist method according to claim 3, wherein the step of locating the trailer includes locating the trailer within the transformed lane lines using historical camera lane line information, articulated vehicle dynamics, hook angle, and trailer size, without requiring the addition of an additional trailer lane sensing camera to the trailer.

5. The trailer lane departure warning and lane keeping assist method according to claim 3, wherein the step of calculating the T-TTLC value further includes: The processor blends the mixed paths of trailers and vehicles with the lane centerlines of the roads in which the vehicles and trailers travel, where the blended paths are used for optimal path planning design of vehicles and trailers.

6. The trailer lane departure warning and lane keeping assist method of claim 1, wherein the step of controlling the operation of the vehicle, trailer, or both includes providing a user with notification that the vehicle, trailer, or both are expected to exceed one or more lane lines according to the current trajectory.

7. The trailer lane departure warning and lane keeping assist method according to claim 1, wherein, The steps for controlling the operation of a vehicle, trailer, or both include providing corrective steering, corrective braking, or both, based on the T-TTLC value, via instructions provided by the processor, to keep the vehicle, trailer, or both within the driving lane.

8. A trailer lane departure warning and lane keeping assist system, comprising: One or more sensors configured to provide at least assistance to a vehicle towing a trailer within a lane of a road having one or more lane markings; and The processor on the vehicle is configured to at least help: Using sensor data from one or more sensors on the vehicle, the processor calculates the time value at which the vehicle is out of lane, i.e., the TTLC value. Using sensor data from one or more sensors on the vehicle, the time value at which the trailer is out of lane is calculated, i.e., the T-TTLC value. Determine the confidence levels for the TTLC value and the T-TTLC value; and The operation of a vehicle, trailer, or both is controlled based on the calculated TTLC value and its confidence level, the T-TTLC value and its confidence level, and the comparison between the calculated TTLC value and T-TTLC value and the corresponding thresholds for the vehicle and trailer.

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