Autonomous Tow Vehicle Reversing with Trajectory Adjustment

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Solution Overview

Problem

Manually backing up a tow vehicle to a trailer is labor-intensive and requires constant monitoring of rear cameras, making it desirable to have an automated system that can autonomously maneuver the vehicle to align with the trailer.

Innovation Solution

A system that includes data processing hardware receiving images from rear cameras and user-planned paths, determining the vehicle's current and estimated positions, and transmitting commands to adjust the path for autonomous maneuvering, using sensors and user interface inputs to align the tow vehicle with the trailer.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If manual backing up with constant camera monitoring is used, then the driver can control the vehicle, but the operation becomes labor-intensive and time-consuming

Engineering Contradiction:

Improveease of vehicle maneuveringVSAvoidtime for alignment operation

Core Design Contradiction:

Ease of operationVSLoss of time

Solution Approach 1:

The system enables the vehicle to autonomously perform the alignment maneuver by automatically tracking the trailer and executing the reversing path, eliminating the need for continuous driver monitoring and control inputs

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system pre-calculates the optimal reversing trajectory and waypoints before the maneuver begins, allowing the vehicle to automatically follow the planned path without real-time driver intervention

Inventive Principle:

Principle #10Preliminary action

2Extent of automation

If automated autonomous driving is implemented, then the maneuvering process is automated, but the system complexity increases

Engineering Contradiction:

Improvelevel of autonomous maneuveringVSAvoidcomplexity of control system

Core Design Contradiction:

Extent of automationVSDevice complexity

Solution Approach 1:

The system uses a multi-functional integrated approach where the same hardware components (cameras, processors) serve multiple functions: capturing trailer position, calculating trajectory, determining vehicle pose, and generating control commands, rather than requiring separate dedicated systems for each function

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Measurement precision

If precise vehicle position tracking is implemented, then the alignment accuracy improves, but the measurement and calculation complexity increases

Engineering Contradiction:

Improveprecision of vehicle position determinationVSAvoiddifficulty of position estimation

Core Design Contradiction:

Measurement precisionVSDifficulty of detecting and measuring

Solution Approach 1:

The system continuously compares the actual vehicle position (from wheel encoder feedback) with the estimated position (from trajectory modeling) and uses this feedback to correct pose estimation errors, improving measurement precision through iterative refinement

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system replaces complex mechanical position sensing systems with a computational approach that estimates vehicle pose by integrating wheel encoder data with geometric models of the vehicle-trailer configuration, reducing hardware complexity while maintaining precision

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS11603100B2Automated reversing by following user-selected trajectories and estimating vehicle motion

Publication Date: 2023.03.14 CONTINENTAL AUTONOMOUS MOBILITY US LLC

AI summary

A method includes receiving one or more images from a camera positioned on a back portion of the vehicle and receiving a driver planned path from a user interface. The driver planned path includes a plurality of waypoints. The method also includes transmitting one or more commands to a drive system causing the vehicle to autonomously maneuver along the driver planned path. The method also includes determining a current vehicle position and an estimated subsequent vehicle position. The method also includes determining a path adjustment from the current vehicle position to the estimated subsequent vehicle position. The method also includes transmitting instructions to the drive system causing the vehicle to autonomously maneuver towards the estimated subsequent vehicle position based on the path adjustment.