Vehicle-Trailer Reversing Corridors for Obstacle-Free Backing
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Solution Overview
Problem
Reversing with a trailer vehicle is challenging due to the need for wider driving corridors to steer the trailer effectively, and conventional methods rely on sensors on the trailer vehicle, excluding trailers without sensors and facing reliability issues with towing vehicle sensors being obstructed by the trailer.
Innovation Solution
A method for assisted reversing using a driver assistance system equipped on either the towing vehicle or the trailer, which records the forward trajectory, plans a reversing trajectory that deviates minimally from the forward path, and adjusts vehicle-specific reversing corridors to avoid obstacles, allowing for reliable and effortless reversing without trailer-mounted sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sensors are mounted on the trailer vehicle to detect objects during reversing, then object detection reliability is improved, but device complexity and cost increase due to requiring sensor-equipped trailers
Solution Approach 1:
The patent creates a virtual copy of the forward trajectory as a reversing trajectory. The driver assistance system records the forward path and generates a corresponding reversing path that accounts for the trailer's different steering characteristics, allowing the system to predict and avoid obstacles without requiring physical sensors on the trailer.
Solution Approach 2:
The system performs preliminary recording of the forward trajectory and pre-calculates the reversing trajectory before reversing begins. This advance preparation allows the system to identify potential obstacles and adjust the reversing path proactively, ensuring reliable detection without needing complex real-time sensor systems on the trailer.
2Ease of operation
If the towing vehicle drives a wider corridor to steer the trailer during reversing, then trailer steerability is improved, but the risk of colliding with objects in the original forward path increases
Solution Approach 1:
The system dynamically adjusts the reversing trajectory based on the recorded forward path and identified obstacles. The driver assistance system continuously modifies the reversing corridor to accommodate the trailer's steering requirements while avoiding collision with objects, creating an adaptive path that balances steerability and safety.
Solution Approach 2:
The system uses feedback from the recorded forward trajectory and obstacle detection to continuously refine the reversing path. By monitoring the relationship between the forward and reversing trajectories, the system adjusts the corridor width and positioning to maintain safe distances from obstacles while ensuring the trailer can be properly steered.
3Productivity
If the reversing trajectory follows the forward trajectory exactly, then path efficiency is improved, but collision risk with previously passed objects increases
Solution Approach 1:
The system performs preliminary detection of objects during the forward pass and uses this information to pre-adjust the reversing trajectory. By identifying obstacles beforehand and incorporating them into the trajectory calculation, the system can maintain高效率 reversing while avoiding collision with previously passed objects.
Solution Approach 2:
The reversing trajectory is dynamically adjusted based on the spatial relationship between the forward path and detected obstacles. The system optimizes the path by calculating the minimum necessary deviation from the forward trajectory to avoid collisions, maintaining reversing efficiency while ensuring safety.
Data Source
AI summary
The disclosure relates to a method and a driver assistance system for assisted reversing with a vehicle-trailer combination, wherein it is initially driven forwards, wherein a corresponding forward trajectory is stored and, by means of a sensor system of the towing vehicle, objects arranged laterally next to the forward trajectory are detected. A reversing trajectory, which deviates as little as possible from the driven forward trajectory, and, for each vehicle of the trailer, a vehicle-specific reversing corridor corresponding to the planned reversing trajectory are planned. The detected object in each case is classified as a collision object if it lies in at least one of the planned reversing corridors. In such a case, a new reversing trajectory and, for each vehicle, a new reversing corridor that is free of collision objects is generated. The trailer is then reversed along the new reversing trajectory with the aid of the driver assistance system.