Trailer lane departure warning system

Abstract

Lane departure warning system (10) for a vehicle (100) towing a trailer (105), comprising: an imaging device (16) that detects a lane boundary (18, 110) on a roadway (20); a sensor (22) that detects a trailer coupling angle (50, ↓) between the vehicle (100) and the trailer (105); a control unit (24) that determines a lateral offset (26) of the trailer (105) relative to the vehicle (100) based on the trailer coupling angle (50, ↓) and a length (L) of the trailer (105); and a warning device (28) that generates a signal when the lateral offset (26) crosses the lane boundary (18, 110), characterized by a curve profile device (352) that determines a curvature of the roadway (20), wherein the lateral offset (26) of the trailer (105) is reduced when the trailer coupling angle (50, >) correlates with the curvature.

Description

CROSS-REFERENCE TO RELATED REGISTRATION

[0001] This application is a partial continuation of US patent application no. 13 / 190,010 dated July 25, 2011, entitled “Width Calibration Of Lane Departure Warning System”. Reference is hereby made to the aforementioned related application. TECHNICAL AREA OF INVENTION

[0002] The disclosures presented here relate generally to driver assistance features and, in particular, to the implementation of a lane departure warning function for a vehicle used to tow a trailer. BACKGROUND OF THE INVENTION

[0003] A lane departure warning system (LDW system) provides the function of warning a vehicle driver if the vehicle leaves its lane without using lane departure warning lights. In this context, an LDW system interprets leaving the lane without using a turn signal (i.e., when the vehicle is traveling at a certain speed or higher) as an unintentional lane departure. Typically, LDW systems can be calibrated to detect instances of unintentional lane departure based on a known width (i.e., lane width and / or overall width) of a vehicle in which a particular LDW system is implemented.Currently, when a warning from a vehicle's Lane Departure Warning (LDW) system is required based on a different track width and / or overall width, existing LDW systems do not offer a solution for adequately updating / modifying a preset track width and / or overall width calibration for the vehicle. For example, when a vehicle equipped with an LDW system is towing a trailer, the trailer is often wider than the vehicle, or the vehicle may have side mirrors that extend further from the vehicle than standard mirrors. Furthermore, existing LDW systems generally do not account for the angle of the hitch on the attached trailer, which could indicate trailer sway or other trailer conditions that cause the trailer to unintentionally move out of the vehicle's lane.

[0004] Therefore, there is a need for a solution that allows the vehicle operator to calibrate a vehicle's LDW system for a range of parameters based at least partially on the width of a trailer, and to operate an LDW system that takes into account the position of an attached trailer.

[0005] These and other aspects, tasks and features of the present invention will become understandable and obvious to a person skilled in the art upon closer examination of the following description, claims and attached drawings. BRIEF DESCRIPTION OF THE INVENTION

[0006] According to one embodiment of the present invention, a lane departure warning system for a vehicle towing a trailer comprises an imaging device that detects a lane marking on a roadway and a sensor that detects a trailer coupling angle between the vehicle and the trailer. A control unit determines a lateral offset of the trailer relative to the vehicle based on the trailer coupling angle and the trailer length. A warning device generates a signal when the lateral offset crosses the lane marking.

[0007] According to a further embodiment of the present invention, a method for providing a lane departure warning for a vehicle towing a trailer comprises detecting a lane boundary on a roadway using an imaging device. The method also provides the detection of a trailer coupling angle between the vehicle and the trailer. Furthermore, the method provides the determination of a lateral offset of the trailer relative to the vehicle, based on the trailer coupling angle and a length and width dimension of the trailer. The method further provides the generation of a warning signal when the lateral offset crosses the lane boundary.

[0008] According to yet another embodiment of the present invention, a method for providing a lane departure warning for a vehicle towing a trailer comprises detecting a lane boundary on a roadway near the vehicle and determining a curvature of the roadway near the vehicle. The method further provides sensing a trailer hitch angle between the vehicle and the trailer, and determining a lateral offset of an outer rear portion of the trailer relative to the vehicle based on the trailer hitch angle, the trailer length, and the trailer width. The method further provides reducing the lateral offset when the curvature exceeds a threshold value for the tightness of the curvature, which correlates with the orientation of the trailer hitch angle, and generating a warning signal when the lateral offset crosses the lane boundary.

[0009] These and other objects, embodiments, advantages and / or distinctions of the present invention will become apparent upon further examination of the following specification, the associated drawings and the attached claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Fig. 1A is a descriptive top view of a vehicle and trailer showing a scenario in which the width of the trailer coupled to the vehicle has caused the trailer to break a lane boundary, although the vehicle towing the trailer has not broken the lane boundary;

[0011] Fig. 1B is a descriptive top view of the vehicle and trailer made of Fig. 1, wherein a lane departure warning system of the vehicle is designed to monitor for unintentional lane departure based on a width defined by the trailer as opposed to a width defined by the vehicle;

[0012] Fig. 1C is a descriptive top view of the vehicle and trailer made of Fig. 1A, wherein a vehicle lane departure warning system is designed to monitor for unintentional lane departure based on a width defined by a side mirror added to the vehicle as opposed to a width defined by the vehicle or by the trailer;

[0013] Fig. 2A and Fig. 2B jointly disclose a flowchart of a method for providing a lane departure warning function in accordance with an embodiment of the present disclosure;

[0014] Fig. Figure 3 is a schematic block representation of a vehicle with a lane departure warning system designed in accordance with an embodiment of the present disclosure;

[0015] Fig. Figure 4 is a graphic top view of a vehicle pulling a trailer in a linear arrangement along a straight section of a roadway, according to another embodiment of the present disclosure;

[0016] Fig. Figure 5 is a descriptive top view of a vehicle towing a trailer, with a non-zero trailer coupling angle that causes the trailer to cross a lane boundary;

[0017] Fig. 5A is an enlarged sectional view of the trailer coupling angle between the vehicle and the trailer, taken at section VA of Fig. 5;

[0018] Fig. Figure 6 is a descriptive top view of a vehicle pulling a trailer in a curved arrangement, with a non-zero trailer coupling angle along a curved section of a roadway;

[0019] Fig. 6A is an enlarged sectional view of the trailer coupling angle between the vehicle and the trailer, taken at section VIA of Fig. 6;

[0020] Fig. Figure 7 is a schematic block representation of a lane departure warning system according to an embodiment of the present disclosure;

[0021] Fig. 8 is a flowchart of a procedure for providing a lane departure warning using a trailer position routine; and

[0022] Fig. 9 is a flowchart of a procedure for providing a lane departure warning using a curve profile routine. DETAILED DESCRIPTION OF THE EXECUTION FORMS

[0023] For the purposes of this description, the terms “upper”, “lower”, “right”, “left”, “rear”, “front”, “vertical”, “horizontal” and derivatives thereof shall refer to the present invention as described in Fig. 4– Fig. 9 is oriented. However, it is understood that the invention can assume various alternative orientations unless expressly stated otherwise. It is also understood that the specific devices and methods illustrated in the accompanying drawings and described in the following description are simply exemplary embodiments of the concepts according to the invention, which are defined in the accompanying claims. Therefore, specific dimensions and other physical properties with respect to the embodiments disclosed herein are not to be considered limiting unless expressly stated otherwise in the claims.

[0024] Referring to Fig. 1A and Fig. 1B has a vehicle 100 a trailer 105 , which is attached to it. The vehicle 100 has an associated width W1, and the trailer 105has an associated width W2. In the context of a lane departure warning (LDW) system designed according to the present disclosure, the width of a vehicle or trailer can be defined by a number of different parts of the vehicle or trailer. In one example, a track width (referenced by the tires of the vehicle or trailer) can define the width of the vehicle or trailer with respect to the LDW function. In another example, the overall width of a body of the vehicle or trailer can define the width of the vehicle or trailer with respect to the LDW function. In yet another example, the width at a part of a vehicle or trailer with maximum width (such as defined between the side mirrors of a vehicle) can define the width of the vehicle or trailer with respect to the LDW function.As such, in the context of a lane departure warning (LDW) system as interpreted in accordance with the present disclosure, the width of a vehicle or trailer is not necessarily limited by a specific width measurement or a position where a width is indicated.

[0025] When referring to Fig. 1A of the trailers 105 a wider width than the vehicle 100 It can be seen that the trailer 105 to a violation or crossing of a lane marking 110 (e.g., a painted lane marking) arrives before the vehicle does. If the vehicle's LDW system 100Since the system has a reference calibration that is a function of the vehicle width W1, the LDW system will not provide a warning in the event of an unintentional lane departure, even if the trailer has unintentionally left the lane. The reference calibration is based on a preset width value (e.g., a prescribed / known vehicle width). Advantageously, as in Fig. As shown in Figure 1B, an LDW system designed in accordance with an embodiment of the present disclosure allows for a calibration of the LDW system to define it such that warnings of an actual or possible unintentional lane departure are a function of the trailer width W2 instead of the vehicle width W1.

[0026] Referring to Fig. 1C is the vehicle 100 with side mirrors 115equipped with standard widths, which are located in a position that does not offer optimal or acceptable visibility when the trailer is 105 from the vehicle 100 is being towed. In order to enable such optimal or acceptable visibility when the trailer is towed. 105 from the vehicle 100 is pulled, the vehicle 100 with side mirrors 120 They can be equipped with greater width, which is an example of vehicle equipment that defines a width base for an LDW system. As in Fig. 1C can be seen, defining side mirrors 115 with standard width a vehicle width W3, and the side mirrors 120 With a greater width, a vehicle width W4 is defined that is greater than the vehicle width W3. Here it is revealed that the side mirrors 120 They can be implemented with a greater width than additional mirrors that are temporarily attached to the vehicle. 100They can be installed or permanently installed. As such, the side mirrors can be wider. 120 Define the width base against which the vehicle's LDW system should be calibrated. Advantageously, embodiments of the present disclosure can be designed to permit a calibration of the LDW system according to which it is defined such that warnings of an actual or potential unintentional lane departure are a function of the width W4 of the side mirrors. 120 with greater width.

[0027] Fig. 2A and Fig. 2B shows a procedure 200 for providing a lane departure warning function in accordance with an embodiment of the present disclosure. In particular, the method permits 200A calibration of an LDW system, according to which it is a function of the vehicle width W1, the trailer width W2, or the mirror width W4, such that warnings of an actual or potential unintentional lane departure can be a function of the vehicle width W1, the trailer width W2, or the mirror width W4. Furthermore, the procedure allows 200 This also includes a calibration of the LDW system, which can be further modified if the vehicle / trailer combination passes through, or is passed through, one or more curves with a radius smaller than a certain value. In the context of the disclosures presented here, a corner is defined as encompassing a curve. In this context, the method improves 200The function of a vehicle's LDW system, which would otherwise be limited to providing warnings based solely on a function of the vehicle's width in which the LDW system is installed. In one embodiment, the method 200 The LDW function is repeated every time the ignition key is moved between the on and off positions, and it is only active above a predetermined vehicle speed (e.g., above 40 mph).

[0028] A process 202This procedure is performed to determine whether a trailer is coupled to a vehicle equipped with an LDW system with a reference calibration that is a function of the vehicle's width. Exemplary approaches to determining whether the trailer is coupled to the vehicle include, but are not limited to, detecting that the trailer is connected to the vehicle's trailer-specific electronics (e.g., a trailer circuit in a power distribution junction box, a trailer brake regulator, and / or trailer sway control), using an image provided by a reversing camera or a 180-degree side camera, using the signal from parking aids indicating a detected obstacle at a constant distance from the vehicle while the vehicle is in motion, and / or detecting a change in the vehicle's overall mass that could be consistent with the coupling of a trailer.However, it is hereby disclosed that embodiments of the present disclosure are not necessarily limited to specific means for detecting a trailer coupled to the vehicle or for determining whether a trailer is coupled to the vehicle.

[0029] In response to the determination that a trailer is coupled to the vehicle, a process is initiated. 204 carried out to try to obtain information on trailer width, and a process 206is carried out to determine whether a wider side mirror is attached to the vehicle. A preferred embodiment for determining whether a wider side mirror is installed on the vehicle involves asking the vehicle operator whether wider side mirrors have been installed on the vehicle. Such an inquiry may be made in response to the determination that a trailer has been coupled to the vehicle (e.g., using a trailer coupling determination technique discussed above). However, it is hereby disclosed that embodiments of the present disclosure are not necessarily limited to specific means or methods for determining whether one or more wider side mirrors are attached to the vehicle. In one embodiment, the attempt to obtain the trailer width information involves asking an operator of the vehicle about the width of the trailer (i.e.,(to enter a value for the trailer width). It is disclosed here that the request for a trailer width value can consist of the operator entering a value for the trailer width or of selecting from various preset trailer width options that are pre-programmed in the vehicle. In another embodiment, the attempt to obtain the trailer width information includes issuing a trailer positioning instruction to an operator of the vehicle, instructing the vehicle operator to maneuver the vehicle so that the trailer is positioned within a certain proximity to one or more lane boundaries on a roadway on which the vehicle is traveling (e.g., next to a lane boundary and / or a road edge boundary).In another embodiment of the present disclosure, the attempt to obtain trailer width information includes accessing the maximum legally permissible trailer width, based on the vehicle's specifications and / or the regulations in force at the vehicle's location. In yet another embodiment of the present disclosure, the attempt to obtain trailer width information includes accessing a signal provided by one or more image acquisition devices (e.g., rear-facing and / or side-facing cameras) of the vehicle. Furthermore, a telematics feature can be used to access external trailer width data based on the model number or manufacturer entered by the driver.However, it is hereby disclosed that embodiments of the present disclosure are not necessarily limited to specific means for attempting to obtain the trailer width information.

[0030] In response to an unsuccessful retrieval of trailer width information (e.g., not received after request) or if there is no response to a query requesting confirmation that a wider side mirror is fitted, a process will be initiated. 208 This procedure is performed to disable the LDW system or to use a standard trailer width for calibrating the LDW system. If it is confirmed that no wider side mirror is fitted, the procedure proceeds to the exit of block [number missing]. 204the system continues to attempt to obtain trailer width information. In one embodiment, using a default trailer width may include providing a message to the vehicle operator that the LDW system has selected, by default, the largest legally permissible trailer width allowed for a given GPS position of the vehicle. If the vehicle's position or the largest legally permissible trailer cannot be determined, the LDW system may be deactivated, and the reason for such deactivation may be explained, if appropriate. Alternatively, such use of the default trailer width may be omitted, and the LDW system may be deactivated in response to an unsuccessful attempt to obtain trailer width information.

[0031] In response to a finding that a wider side mirror is attached to the vehicle, a process will be initiated. 210An attempt was made to obtain mirror width information. Such mirror width information refers to a reference distance as defined by the outermost edge of at least one of the wider side mirrors mounted on the vehicle. In one embodiment, the attempt to obtain mirror width information may involve querying a measured dimension from a known face of the vehicle door to the outermost edge segment of the wider side mirror. In another embodiment, the attempt to obtain mirror width information may involve querying a model number of the wider side mirror. In yet another embodiment, the attempt to obtain mirror width information may involve querying a prescribed mirror, displaying a value provided by a trailer rental company.In another embodiment, the attempt to obtain mirror width information may involve instructing a vehicle operator to park the vehicle within a parking space in front of which there is an empty parking space that shares a straight line with the designated parking space. In response to verification that the wider side mirror is within the parking space lane (or that the mirrors are within the designated parking space if left and right side mirrors are attached), the LDW system would obtain the estimated mirror width information from the lines of the empty parking space using a forward-facing camera. In another embodiment, the attempt to obtain mirror width information may involve querying whether the wider side mirror extends further outward than a retractable running board in its extended position.In another embodiment, the attempt to obtain mirror width information may include instructing the vehicle operator to drive the vehicle alongside a wall such that the wider side mirror almost touches the wall, thus enabling the acquisition of information about the wider side mirror using a blind spot warning system and / or external ultrasonic sensors. In another embodiment, the attempt to obtain mirror width information may include attempting to detect an outermost point of the wider side mirror using side cameras, which may be part of a 360-degree vision system or added specifically for this purpose. In yet another embodiment, the attempt to obtain mirror width information may include instructing the vehicle operator to drive the vehicle towards a reflective surface (e.g., a car).(a glass facade) and attempt to detect an outermost point of the side mirror with greater width using a forward-facing camera that captures the reflected image of the vehicle.

[0032] In response to the unsuccessful retrieval of information from the wider side mirror and the successful retrieval of trailer width information, a process is initiated. 212 This process is carried out, using the trailer width information to determine a width baseline on which to calibrate the LDW system. In response to the successful acquisition of the wider side mirror information and the successful acquisition of the trailer width information, a process is initiated. 214This is carried out using the trailer width information and the information from the wider side mirror to determine a width baseline against which the LDW system will be calibrated. The width baseline refers to whether the LDW system uses a vehicle-defined width, a wider side mirror-defined width, or a trailer-defined width during its calibration. The width baseline is the trailer-defined width if, based on the trailer width information, the wider side mirror information, and, if necessary, the known vehicle width information, it is determined that the trailer-defined width, according to the calculation or approximation, is greater than the vehicle-defined width and the wider side mirror(s). The width baseline is the width defined by the wider side mirror(s).The width base defined by the wider side mirror(s) is used if, based on the trailer width information, the wider side mirror information, and, where applicable, known vehicle width information, it is determined that the width defined by the wider side mirror(s) is greater than the width defined by the vehicle and the width defined by the trailer, according to the calculation or approximation. Otherwise, the width base is the width defined by the vehicle width. In one example, a provided value for the trailer width can be compared to a known vehicle width value to determine the width base. In another example, the position of the trailer and vehicle relative to a lane boundary (such as identified by one or more cameras on the vehicle) can be used to estimate a difference between the trailer width and the vehicle width.In the context of LDW systems, "calibrated" refers to the specification of parameters and / or the generation of parameters that indicate when an unintentional lane departure occurs, or when such a departure is anticipated without the initiation of appropriate corrective action (e.g., corrective steering input). Examples of obtaining trailer width information include, but are not limited to, receiving a response to a request specifying the trailer width, receiving confirmation that the operator has maneuvered the vehicle so that the trailer is positioned within the specified proximity to the lane marking, and receiving a signal and / or data from one or more of the vehicle's image processing devices.

[0033] If it is determined that a width defined by the vehicle is the width basis for calibration, a process will be initiated.216 The procedure is performed to monitor for unintentional lane departure using the reference calibration (i.e., a known or predefined vehicle width). In fact, the procedure terminates after initiating a standard LDW function. Herein, it is disclosed that a process for determining calibration parameters using the vehicle width can be performed before or as part of the process for monitoring for unintentional lane departure using the reference calibration.

[0034] If it is determined that a width defined by the trailer is the width basis for calibration, a process will be initiated. 218performed to calibrate the LDW system using trailer width information (i.e., a trailer width-based calibration). In one embodiment, such calibration involves calculating, determining, and / or accessing calibration parameters on the basis of which such monitoring is performed. Accordingly, in this way, the function of the LDW system is based on the reference calibration, which is a function of the trailer width and not a function of the vehicle width. If, on the other hand, it is determined that a width defined by the wider side mirror(s) is the width basis for calibration, a process is performed 220 This is performed to calibrate the LDW system using the mirror width information (i.e., a mirror width-based calibration). Following such calibration, a process is carried out 222performed to monitor for unintentional lane departure using a suitable width-based calibration (e.g., a calibration based on trailer width information or a calibration based on mirror width information).

[0035] During the monitoring of cases involving unintentional lane departures, a process is carried out. 224This procedure is carried out to determine whether the vehicle is approaching (or within) a curve defined by the LDW system (or another vehicle system) as having a small radius. Such a small radius curve may be defined as such by a number of parameters, including, but not limited to, the ratio of a curve radius to a trailer width, a minimum curve radius, a maximum curve radius, the ratio of the minimum to the maximum curve radius, the road profile immediately before or after the curve, a curve speed indicated, a road speed indicated immediately before the curve, and so on. If it is determined that the vehicle is not approaching (or within) a tight curve, the procedure is carried out to determine whether the vehicle is approaching (or within) a tight curve.If the vehicle is not in such a curve, monitoring for unintentional lane departure continues using trailer width-based calibration. If, on the other hand, it is determined that the vehicle is approaching (or in) a tight curve, a process is initiated. 226To adjust (e.g., increase) a curve centerline offset parameter of the trailer width-based calibration, monitoring for unintentional lane departure continues using the trailer width-based calibration with an increased curve centerline offset parameter. In one embodiment, the curve centerline offset parameter is adjusted to compensate for a warning zone of the LDW system so that it is closer to the center of the lane in which the vehicle is traveling than it would be on a straight road. In another embodiment, when approaching a tight curve, the curve centerline offset parameter is adjusted to compensate for the warning zone so that it is closer to the center of the lane, thus encouraging an inside-to-outside driving path.In yet another embodiment, the curve centerline offset parameter is set to deactivate or counteract a normal curve-cutting algorithm, thus reducing warnings and allowing the vehicle operator to become aware more quickly that the trailer may be approaching a lane marking. In another embodiment, the curve centerline offset parameter is dynamically adjusted based on the trailer length and the trailer hitch angle relative to the vehicle. The trailer hitch angle can be detected by a rear-facing camera, and the trailer length can be entered using the same method as the trailer width.

[0036] Fig. 3 shows a vehicle 300 with an LDW system 305 , which is designed according to an embodiment of the present disclosure. The LDW system 305 allows the LDW function to operate across a width of the vehicle 300or a width of one attached to the vehicle 300 The system is based on the attached trailer, so warnings regarding an actual or potential unintentional lane departure are a function of the vehicle or trailer width. In this respect, the LDW system is 305 in a preferred embodiment designed to provide the LDW function as described above with reference to the method 200 revealed.

[0037] The LDW system 305 includes an information processor 310 , a forward-facing camera 315 , a side-facing camera 318 , a rear-facing camera 320 , a room sensor 325 , a trailer interface 330 and a GPS / electronic horizon system 332 The information processor 310 is with the forward-facing camera 315 , the rear-facing camera 320 , the room sensor325 , the trailer interface 330 and the GPS / electronic horizon system 332 coupled and enables the transmission of information (e.g., data, signals, etc.) between them. Here it is revealed that the forward-facing camera 315 , the rear-facing camera 320 , the room sensor 325 and the trailer interface 330 special elements of the LDW system 305 They may be, but do not necessarily have to be, in that one or more of these system components are replaced by another system of the vehicle. 300 can be used.

[0038] The information processor 310 It obtains the information from the forward-facing camera. 315 , the rear-facing camera 320 , the room sensor 325 and / or the trailer interface 330 and / or the GPS / electronic horizon system 332, in order to implement the LDW function. The information processor 310 can obtain information from the forward-facing camera 315 and the side-facing camera 318 to determine lane boundaries, so that such cameras become part of the lane boundary detection system. The information processor 310 can obtain trailer width information from the side-facing camera 318 and / or the rear-facing camera 320 to obtain such cameras, so that they become part of the trailer detection system. The information processor 310 It can also obtain trailer width information from the space sensor 325 to incorporate the spatial sensor into a trailer detection system. Examples of spatial sensors include ultrasonic, infrared, and radar sensors. 325 The trailer interface, which is an electrical interface between the vehicle305 and a trailer attached, can provide information to the information processor to detect the presence of the attached trailer (i.e., the trailer towed by the vehicle). 300 to detect (is coupled). It is revealed here that a trailer detector can detect that the trailer is attached to the vehicle. 300 is coupled, and that a lane marking detector can detect the position of a lane marking on a roadway on which the vehicle is traveling. 300 drives.

[0039] The information processor includes a pendant detector. 335 , a trailer width determination device 340 , a user interface 345 , a lane limit detector 350 , a curve profile device 352 , a calibration device 355 and a lane departure warning system 360 In a preferred embodiment, the trailer detector 335, the trailer width determination device 340 , the user interface 345 , the lane limit detector 350 , the curve profile device 352 , the calibration device 355 and the lane departure warning system 360 coupled together to enable data / information communication between them. The trailer detector 335 detects the coupling of a trailer to the vehicle 300 , for example by using information from the rear-facing camera 320 , the room sensor 325 and / or the trailer interface 330 The trailer width determination device will be provided. 340Determines a quantitative width of the trailer (e.g., a trailer width value) and / or a qualitative width of the trailer (e.g., wider than the vehicle, but not wider than the maximum legally permissible trailer width). The user interface 345 It sends information requests to a vehicle operator and / or receives responses to information requests from the vehicle operator. In a preferred embodiment, for example, the operator interface can 345 It can issue a trailer positioning instruction, which is received by the vehicle operator, and / or it can issue a query for a trailer width value, which is received by the vehicle operator. The lane marking detector 350 detects one or more lane boundaries of a roadway on which the vehicle is traveling 300 drives, for example by using information obtained from the forward-facing camera 315be provided. The curve profile device 352 determines information related to the relative tightness of a curve that the vehicle is approaching or in, for example by using information obtained from the forward-facing camera. 315 and / or a global positioning system of the vehicle 300 be provided. The calibration device 355 It provides calibration parameters on which LDW monitoring is based. Such calibration parameters can be based on information from the trailer detector. 335 , from the trailer width determination device 340 , from the user interface 345 , from the lane limit detector 350 and / or from the curve profile device 352 were used. The lane departure warning system 360 uses the calibration parameters and information from the track limit detector350 , to monitor cases where there is an unintentional lane departure.

[0040] Referring now to instructions that can be processed by a data processing device, it is clear from the disclosures presented here that methods, processes, and / or procedures adapted to perform the lane departure warning function as disclosed herein are tangible through a non-volatile, computer-readable medium containing instructions designed for performing such a function. In a specific embodiment, the instructions are tangible for performing the method disclosed above. 200 with reference to Fig. 2A and Fig. 2B. The instructions can be accessed by one or more data processing units from a storage device (e.g., RAM, ROM, virtual memory, hard disk storage, etc.), from a device readable by a control unit of a data processing system (e.g., a floppy disk, a CD, a tape cassette, etc.), or both. In one embodiment of the present disclosure, the information processor comprises 310 such a data processing device and a memory containing instructions necessary for carrying out the functions of the trailer detector 335 , the trailer width determination unit 340 , the user interface 345 , of the lane limit detector 350 , the calibration device 355 , the lane departure determination device 360 and the curve profile device 365are designed. Accordingly, embodiments of non-volatile, computer-readable media in accordance with the present disclosure comprise a CD, a hard disk, RAM or another type of storage device on which is located the image of a computer program (i.e. the instructions) adapted to perform the lane departure warning function in accordance with the present disclosure.

[0041] Referring to Fig. 4– Fig. 9 denotes the reference number 10 generally an additional embodiment of a lane departure warning system, which is designed for a vehicle 100 It is intended to be a trailer 105 The lane departure warning system is pulling. 10 includes an imaging device 16 , which is a lane marking 18 on a roadway 20 detected and a sensor 22 , which establishes a trailer hitch angle γ between the vehicle 100and the trailer 105 detected. A control unit 24 the lane departure warning system 10 determines a lateral offset 26 of the trailer 105 relative to the vehicle 100 , based on the trailer coupling angle γ and a length L of the trailer 105 , so that a warning device 28 a signal is generated when the lateral offset 26 the lane marking 18 crosses.

[0042] As in Fig. As shown in 4, the vehicle 100 at a pivot point 30 , like the center point of the ball joint on the vehicle 100 , which is attached to a coupling on the drawbar of the trailer 105 is connected to the trailer 105 coupled to the trailer 105 along one lane of the road 20 to pull, which has a width LW that lies between two lane boundaries 18is defined. In this illustrated embodiment, the vehicle has 100 a width W1 that is smaller than the width W2 of the trailer 105 Accordingly, the lane departure warning system can be calibrated, as already described, so that the greater width W2 of the trailer is taken into account. 105 This is taken into account. Furthermore, the trailer coupling angle γ and the length L of the trailer can be considered. 105 together with the width W2 of the trailer 105 can be used to create a lateral offset 26 of the trailer 105 relative to the vehicle 100 to determine the lateral offset. 26 In the illustrated embodiment, it comprises a distance perpendicular to a centerline CL of the vehicle. 100 to a back corner 32 of the trailer 105 As such, the lateral offset 26 in the Fig. The embodiment shown in section 4 can be disregarded, since it is essentially equal to half the width W2 of the trailer. 105 is because the vehicle 100 and the follower 105 in a generally linear arrangement, which can alternatively be referenced with a trailer hitch angle γ of zero. However, it is understood that the lateral offset 26 also a distance perpendicular to another fixed part of the vehicle 100 , such as an outer edge, to a rear area of ​​the trailer 105 or an outer edge of a load that passes through the trailer 105 is transported, can include.

[0043] Referring to Fig. 5– Fig. 5A remains the width W1 of the vehicle. 100 within the track width LW, although the condition of the trailer differs from the in Fig. 4 linear arrangement shown changes to a bent state, which is defined by a non-zero trailer coupling angle γ and is shown in this embodiment, wherein the rear corner 32 of the trailer 105 leaves the lane. This curved state on a straight section of road can be a result of trailer sway, braking under slippery conditions, or other perceptible driving conditions. As such, the trailer coupling angle γ between the vehicle 100 and the trailer 105 together with the additional dimension of trailers 105 , especially the width W2 of the trailer 105 and the length L of the trailer 105 , can be used to create a lateral offset 26 of the vehicle 100 relative to the trailer 105 to determine. In the illustrated embodiment, the lateral offset includes 26a distance perpendicular to a centerline CL of the vehicle 100 to a back corner 32 of the trailer 105 , which can be calculated as follows. X = sin(γ)·H where X = Distance perpendicular to a centerline CL of the vehicle 100 to a back corner 32 of the trailer 105 ; γ = trailer hitch angle; and H = distance from the point of rotation 30 to a back corner 32 of the trailer 105 , which can be calculated as follows: √(L 2 + (1 / 2·W2) 2 ) where L = trailer length; and W2 = Trailer width.

[0044] Solving the above equations results in the distance perpendicular to the vehicle's centerline CL. 100 to the back corner 32 of the trailer 105 for use with the lane departure warning system 10of the present invention. It is also understood that the distance X resulting above can be determined in another way, for example by measuring the movement of the trailer. 105 away from the center line CL with an ultrasonic sensor 22 or a camera mounted on a side mirror or other part of the vehicle 100 is attached.

[0045] Now referring to Fig. 6– Fig. 6A will be the vehicle 100 and the follower 105 shown in a curved arrangement, with a trailer coupling angle γ that is essentially the same as the trailer coupling angle γ shown in Fig. 5– Fig. 5A is shown, although the vehicle 100 and the follower 105 along a curved section of the roadway 20 driving where the trailer hitch angle γ coincides with a curvature of the road 20 agrees. Therefore, with reference to the in Fig. 6– Fig. 6A embodiment shown, the rear corner 32 of the trailer 105 not the track, and accordingly the lateral offset can 26 designed to take the curvature into account, so as not to similarly exceed the track limit 18 to cross. According to one embodiment, the lane departure warning system can detect the curvature of the roadway. 20 near the vehicle 100 determine based on the information obtained through a field of vision in front of the vehicle 100 , which is through the imaging device 16 The lane departure warning system is monitored and provided. In an additional embodiment, the lane departure warning system can be... 10 the curvature of the road 20 by monitoring the vehicle's steering angle 100 with a steering angle sensor 34 and the movement of a position of the vehicle 100 relative to the lane marking 18determine over time, so that when the position relative to the lane boundary 18 generally constant and the steering angle is set, the curvature of the road 20 can be determined from the steering angle. In another embodiment, the lane departure warning system can 10 the curvature of the road 20 determine based on the information provided by a global positioning system. 36 of the vehicle 100 be provided, and for example, a location of the vehicle. 100 relative to map information provided by a global positioning system 36 is provided to compensate for the curvature of the roadway 20 to be determined according to the map information. Additional processes for determining the curvature of the roadway. 20 near the vehicle 100 and the trailer 105 are considered and described here.

[0046] The lane departure warning system, as it is used in the Fig. The embodiment shown in figure 7 includes a control unit 24 to provide a lane departure warning for a vehicle 100 , which has a trailer 105 pulls, whereby the connection of the trailer 105 The trailer coupling angle γ is monitored, as is the curvature of the road. 20 The control unit determines when certain warnings and / or actions are triggered. 24 can a microprocessor 38 and / or other analog and / or digital circuits for processing one or more routines. Furthermore, the control unit may include 24 a storage 40 to store one or more routines, including a tag detection routine 42 , a lane limit detection routine 44 , a trailer positioning routine 46, a curve profile routine 48 and other conceivable routines for image processing or for other functions of the lane departure warning system. It should be taken into account that the control unit 24 a separate, special control unit 24 or a shared control unit 24 It may be, into which other control functions, for example a global positioning system, are integrated. 36 or the device for detecting the trailer hitch angle 50 are integrated to display the images of the trailer 105 or the roadway 20 to process the data and perform the associated function. In one embodiment, a device for detecting the trailer hitch angle can be included. 50 the recorded images of the trailer 105 from the control unit 24 and process other information, such as the trailer length L, to calculate the trailer coupling angle γ between the trailer105 and the vehicle 100 to determine.

[0047] An imaging device 16 is used as an input to provide one or more camera images or video images to the control unit 24 of the lane departure warning system, according to the in Fig. 6 shown embodiment. The imaging device 16 can a forward-facing camera 52 , a side-facing camera 54 or a rear-facing camera 56 be those that are in a position and orientation on the vehicle 100 appropriate to take pictures of the roadway 20 and / or the trailer 105 to capture the vehicle 100 is being pulled. The control unit 24 processes one or more images from the imaging device 16 with one or more image processing routines, for example the pendant detection routine 42 , to determine if the trailer105 is coupled, and the lane limit detection routine 44 , to limit the lane 18 on the road 20 to detect. The control unit 24 Furthermore, the images from the imaging device can be displayed. 16 in conjunction with the trailer positioning routine 46 and the curve profile routine 48 further process, and for example images of the roadway 20 process the images from the forward-facing camera 52 were recorded to determine the curvature of the roadway 20 to determine.

[0048] A global positioning system (GPS) 36 is also provided as an input for the lane departure warning system, as described in the Fig. The embodiment shown in illustration 6 is the global positioning system. 36 can enter the vehicle 100It may be integrated, or it may be part of a mobile device, such as a smartphone, and may provide a coordinate position of the vehicle. 100 provide and can also provide location information, such as the type of roadway 20 , along which the vehicle 100 drives, the relative narrowness of the curve of the section of the road 20 near the vehicle 100 , the speed limit or the recommended speed for the roadway 20 as well as other conceivable location information, as it would generally be understood by an average expert.

[0049] Furthermore, in Fig. 7 a steering angle sensor 34 and a device for detecting the trailer hitch angle 50 shown as inputs for the lane departure warning system. The steering angle sensor 34 is designed to adjust the angle of the vehicle's front steered wheels100 to determine and can be used as a sensor 22 on the vehicle 100 It can be integrated near the steering wheel, steering column, or another steering component. The device is for detecting the trailer hitch angle. 50 can determine the trailer hitch angle γ via a routine and / or a sensor 22 determine, for example, via a rear-facing camera 56 , Ultrasonic sensors on the vehicle 100 , a mechanical, electrical and / or magnetic device between the vehicle 100 and the trailer 105 as well as another conceivable sensor for detecting the trailer coupling angle γ between the trailer 105 and the vehicle 100 .

[0050] Further referring to Fig. 7 can the control unit 24 communicate with one or more devices, including a warning device 28 , which emit an audible alarm58 , for example via a loudspeaker, a visual alarm 60 , for example by a light illuminating, or by providing tactile feedback 62 , for example via a haptic vibration component near the vehicle operator 100 , can include. Furthermore, the control unit can 24 with one or more human-machine interfaces (MMS) 64 the vehicle communicates, including a display 66 , such as a navigation / entertainment display mounted on the center console in the vehicle 100 or a portable or mobile device, such as a smartphone. MMS 64 It can also allow input into the lane departure warning system, for example entering trailer dimensions, selecting the trailer type. 105 or another calibration of the lane departure warning system.

[0051] The lane departure warning system 10furthermore includes a procedure as described in Fig. 8– Fig. 9 shown, to provide a lane departure warning when the trailer 105 the lane marking 18 crossed, according to one embodiment. In particular, the embodiment of the trailer positioning routine 46 , as in Fig. 8 shows the trailer hitch angle at step 68 , for example, via the device for detecting the trailer hitch angle 50 or via the image processing of the video images from the rear-facing camera 56 be received. At step 70 The routine determines whether the trailer hitch angle γ is zero, and if it is generally zero, the lane departure warning system monitors it. 10 at step 72 pointing to the cases in which the follower 105 the lane marking 18 crosses, as detected by the lane limit detection routine 44Detected. The lane departure warning system. 10 It can be calibrated to take the trailer width into account, so that the lane departure warning system 10 at step 74 the dimensions of the trailer 105 can refer to the trailer dimensions, including the width and length L, as previously described. Using the trailer dimensions and the trailer hitch angle γ, the trailer positioning routine can be used. 46 at step 76 the lateral offset 26 of the trailer 105 Calculate as described above. Consider the lateral offset. 26 can be calculated based on additional or alternative information to determine the lateral movement of the trailer 105 relative to the vehicle 100 to take into account the potentially unintended conditions of the vehicle 100 can lead to this, whereby it remains within the track width LW and the trailer 105the lane marking 18 crosses, for example due to trailer sway or other unforeseen circumstances. The lateral offset 26 will then be at step 78 through the trailer positioning routine 46 analyzed to determine if the value of the lateral offset 26 is negative or positive, so that in the illustrated embodiment it is applied to the right if it is positive, and to the left if it is negative. It is understood that these directions may be reversed in other embodiments.

[0052] After the lateral offset 26 on the appropriate side of the trailer 105 was applied, which corresponds to the side where the trailer is located. 105 away from the vehicle's center line CL 100 extends, the trailer positioning routine 46 the curvature of the road 20refer to, for example, the curve profile routine 48 , from the processing of images of the roadway 20 and the lane markings 18 from the forward-facing camera 52 , from GPS 36 or other conceivable curve profiling devices or methods for determining curvature that are generally understood by a person skilled in the art. As in Fig. Figure 9 shows an embodiment of the curve profile routine 48 shown, which includes the steering angle and GPS, if available. At step 80 the curve profile routine 48 The lane departure warning system 10 first the steering angle of the vehicle 100 , which is driven by the steering angle sensor 34 is provided ( Fig. 7). At step 82 The steering angle value is analyzed, and if it is generally zero, the curve profile routine determines 48 at step 84, whether GPS is available, and if so, refers to step 86 the vehicle's GPS location information 100 The location information is displayed at step 88 through the control unit 24 and / or the GPS processes to determine the curvature of the section of the roadway 20 to determine on which the vehicle 100 and the follower 105 drive. If it is determined by other means that the steering angle is not zero, the curve profile routine monitors. 48 at step 90 the position of the vehicle 100 relative to the lane marking 18 , if the vehicle 100 and the follower 105 over time along the road 20 drive. At step 91 The curve profile routine is then determined 48 the curvature based on the steering angle and the rate of vehicle movement relative to the track boundary 18, where the vehicle speed and the vehicle's dimensional variable 100 Factors necessary to account for the curvature of the roadway must be taken into account. 20 to determine which corresponds to the changes in vehicle position. Again, in additional embodiments, it is conceivable that the curvature is determined by the imaging device. 16 can be detected or otherwise determined, such as by a road detection model that takes images from the forward-facing camera 52 processed. After the curvature was determined, whether at step 88 or at step 91 , the resulting curvature value of the control unit 24 Provided for use by the lane departure warning system.

[0053] Referring again to Fig. 8 refers to the trailer position routine 46 at step 92 the curvature of the road 20 from the curve profile routine 48, according to one embodiment. The trailer positioning routine 46 then monitored at step 94 the trailer 105 pointing to cases in which the lateral offset 26 the lane marking 18 crosses, indicating that the back corner 32 of the trailer 105 leaves the lane. During trailer monitoring 105 on an unintentional departure from the lane markings 18 can the curvature of the road 20 to be taken into account, including cases where the curvature is essentially zero on a straight section of the roadway. 10 This is, for example, to monitor for trailer sway outside the lane. To account for curvature when it is greater than zero, the lateral offset is measured according to one embodiment. 26 of the trailer 105reduced when the trailer hitch angle γ correlates with the curvature, such that a correlation exists when the trailer hitch angle γ is from a centerline CL of the vehicle 100 deviates in the same direction as the roadway 20 near the trailer 105 According to another embodiment, the curvature can be taken into account by adjusting the lateral offset. 26 is reduced in accordance with the degree of curvature, for example when the lateral offset 26 is reduced more in a tighter curve.

[0054] If at step 96 It is determined that the trailer 105 the lane marking 18 crosses, at step 98 through the warning device 28 a warning signal is generated ( Fig. 7) Accordingly, it is understood that the warning signal is linked to the lane departure warning system. 10so that it can be calibrated to generate a number of interpretations, including: after the trailer 105 actually the lane marking 18 crosses, for example by reducing the lateral offset 26 to select a value when determining the lateral offset 26 ; at a distance before the trailer 105 actually the lane marking 18 crosses, for example by combining the lateral offset 26 with a selected tolerance value and generating the warning signal when the combined value is large enough to exceed the lane limit 18 to cross; or by increasing the warning level, for example by increasing the volume or providing additional types of warnings, if the trailer 105 the lane marking 18approaching. In one embodiment, the warning signal can generate an alarm on the MMS display, which can be dismissed by the operator, for example, if leaving the lane was intentional.

[0055] It is obvious to the person skilled in the art that the design of the described invention and other components is not limited to a specific material. Other embodiments of the invention disclosed herein can be made from a wide variety of materials, unless otherwise described herein.

[0056] For the purposes of this disclosure, the term “coupled” (in all its forms, coupling, coupling, etc.) generally means the direct or indirect connection of two components (electrically or mechanically). Such a connection may be stationary or movable. Such a connection may be achieved with the two components (electrical or mechanical) and any additional intermediate elements formed integrally with each other or with the two components as a single, one-piece body. Such a connection may be permanent or detachable or releasable unless otherwise specified.

[0057] It is also important to note that the design and arrangement of the elements of the invention, as shown in the exemplary embodiments, are only illustrative. Although only a few embodiments of the present innovations have been described in detail in this disclosure, those skilled in the art who read this disclosure will readily recognize that many modifications are possible (e.g., variations in size, dimensions, structures, shapes and proportions of the various elements, parameter values, assembly arrangements, use of materials, colors, orientations, etc.) without substantially departing from the novel teachings and advantages of the subject matter presented.For example, elements depicted as integral may be constructed from multiple parts, or elements depicted as consisting of multiple parts may be integral; the function of the interfaces may be reversed or otherwise different; the length L or width of the structures and / or elements, connectors, or other system components may vary; and the type or number of adjustment positions provided between the elements may differ. It should be noted that the system components and / or arrangements may be constructed from any of a wide variety of materials that provide sufficient strength or durability, and in any of a wide variety of colors, textures, and combinations. Accordingly, all such modifications are intended to be included within the scope of protection of these innovations.Other substitutions, modifications, changes and omissions can be made to the design, operating conditions and arrangement of the desired and other embodiments without departing from the inventive concept of the present innovations.

[0058] It is understood that any described processes or steps within described processes can be combined with other disclosed processes or steps to form structures within the scope of protection of the present invention. The exemplary disclosed structures and processes serve for illustration purposes and are not to be interpreted as limiting.

[0059] It is also understood that variations and modifications to the above-mentioned structure can be made without deviating from the concepts of the present invention, and it is further understood that such concepts are to be covered by the following claims, unless these claims expressly state otherwise.

Claims

[1] Lane departure warning system for a vehicle towing a trailer, comprising: an imaging device that detects a lane boundary on a roadway; a sensor that detects a trailer hitch angle between the vehicle and the trailer; a control unit that determines a lateral offset of the trailer relative to the vehicle based on the trailer hitch angle and the length of the trailer; and a warning device that generates a signal when the lateral offset crosses the lane boundary. [2] Lane departure warning system according to claim 1, wherein the imaging device is coupled to the vehicle and comprises a field of view in front of the vehicle. [3] Lane departure warning system according to claim 1, further comprising: a curve profile device that determines a curvature of the roadway, whereby the lateral offset of the trailer is reduced when the trailer coupling angle correlates with the curvature. [4] Lane departure warning system according to claim 3, wherein the curve profile device determines the curvature based on the steering angle of the vehicle and a position of the vehicle relative to the lane boundary over time. [5] Lane departure warning system according to claim 3, wherein the curve profile device determines the curvature based on information provided by the image device. [6] Lane departure warning system according to claim 3, wherein the curve profile device determines the curvature based on information provided by a global positioning system of the vehicle. [7] Lane departure warning system according to claim 1, wherein the control unit comprises a trailer position routine that determines the lateral offset based on a width by estimating a distance from a centerline of the vehicle to a rear corner of the trailer that is furthest from the centerline. [8] Lane departure warning system according to claim 7, wherein the control unit comprises a curve profile routine that determines a curvature of the roadway, thereby reducing the lateral offset based on a tightness of the curvature. [9] Method for providing a lane departure warning for a vehicle towing a trailer, comprising: Detecting a lane marking on a roadway using an imaging device; capturing a trailer coupling angle between the vehicle and the trailer; Determining a lateral offset of the trailer relative to the vehicle, based on the trailer hitch angle and a length and width dimension of the trailer; and Generating a warning signal when the lateral offset crosses the lane boundary. [10] The method of claim 9, further comprising: Determining a curvature of the roadway near the vehicle, whereby the lateral offset of the trailer is reduced when the trailer coupling angle correlates with the curvature. [11] Method according to claim 10, wherein the trailer coupling angle correlates with the curvature when the trailer coupling angle deviates from a center line of the vehicle in the same direction as the road surface near the trailer. [12] Method according to claim 11, wherein the curvature of the roadway is determined based on information provided by a field of view in front of the vehicle, which is monitored by the imaging device. [13] Method according to claim 12, wherein the curvature correlates with a steering angle of the vehicle, based on the movement of a position of the vehicle relative to the lane boundary over time. [14] Method according to claim 11, wherein the curvature of the roadway is determined based on a position of the vehicle relative to map information provided by a global positioning system. [15] The method of claim 11, further comprising: Receiving the length and width measurements of the trailer based on trailer identification. [16] The method of claim 11, further comprising: Determining the defined lateral offset as the distance perpendicular from a longitudinal extension of an edge of the vehicle to a rear corner of the trailer that is furthest from the centerline; and Selecting a tolerance value, whereby the warning signal is generated when the lateral offset combined with the tolerance value is large enough to cross the lane boundary. [17] Method for providing a lane departure warning for a vehicle towing a trailer, comprising: Detecting a lane marking on a roadway near the vehicle; Determining the curvature of the roadway near the vehicle; Determining the trailer coupling angle between the vehicle and the trailer; Determining a lateral offset of an outer rear part of the trailer relative to the vehicle based on the trailer coupling angle, a length of the trailer and a width of the trailer; Reducing the lateral offset when the curvature is greater than a threshold for the tightness of the curvature and correlates with an orientation of the trailer hitch angle; and Generating a warning signal when the lateral offset crosses the lane markings. [18] Method according to claim 17, wherein the orientation of the trailer coupling angle correlates with the curvature when the trailer coupling angle deviates from a center line of the vehicle in the same direction as the road surface near the trailer. [19] Method according to claim 17, wherein the lateral offset is defined as the distance perpendicular from a centerline of the vehicle to a rear corner of the trailer that is furthest from the centerline. [20] Method according to claim 17, wherein the curvature of the roadway is determined based on a position of the vehicle relative to map information provided by a global positioning system.

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