Trailer Reversing Assistance Using Stored Forward Path and Obstacle Checks
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Solution Overview
Problem
Conventional driver assistance systems are unable to perform maximum possible steering angles when reversing a vehicle combination with a trailer, leading to difficulties in accurately reversing and potentially causing collisions with obstacles that were not encountered when driving forward.
Innovation Solution
A method for assisted reversing that involves storing the forward travel trajectory, detecting lateral objects using sensors, planning reverse travel trajectories to minimize deviation from the forward path, and using a driver assistance system to intervene in steering to avoid collisions, allowing for the use of the maximum possible steering angle and ensuring safe reversing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional driver assistance systems limit steering angle for control safety, then system reliability is improved, but reversing precision deteriorates
Solution Approach 1:
The steering angle limitation is made dynamic rather than static. The system adapts the maximum steering angle based on the operational phase: during forward travel, full steering capability is available, while during reversing, the system implements phase-specific angle limitations that are less restrictive than conventional continuous limitations, allowing better trajectory tracking while maintaining safety
Solution Approach 2:
The system determines the forward travel trajectory in advance before reversing begins. This pre-planned trajectory serves as a reference for the reversing maneuver, allowing the system to prepare appropriate steering angle parameters ahead of time, thus enabling better control during the actual reversing phase without overly restrictive limitations
2Manufacturing precision
If the towing vehicle follows the forward trajectory precisely when reversing, then path accuracy is improved, but collision risk increases with objects passed during forward travel
Solution Approach 1:
The system performs a temporal dimensionality change by detecting objects during forward travel and storing their positions, then re-evaluating these same objects in the context of the reversing trajectory. This allows the system to identify objects that were safe during forward travel but may pose risks during reversing, enabling proactive trajectory adjustment to avoid collisions
3Reliability
If assisted reversing is aborted due to trajectory limitations, then safety is improved, but driver independence deteriorates
Solution Approach 1:
The system determines the forward travel trajectory in advance and uses it as a reference for reversing. By having this pre-planned trajectory available, the system can attempt the full reversing maneuver along the stored trajectory rather than aborting early, thus maintaining driver independence while ensuring safety through pre-computed path planning
Solution Approach 2:
The system continuously monitors the actual reversing trajectory against the stored forward travel trajectory and detects deviations. When deviations exceed thresholds, the system provides feedback to the driver and can adjust the maximum steering angle dynamically, allowing the maneuver to continue rather than aborting, thus maintaining driver independence while ensuring safety
Data Source
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AI summary
The invention relates to a method and a driver assistance system for assisted reversing with a vehicle combination (1), wherein, first, during forward travel, the forward trajectory (4) is stored, and objects (5) located laterally to the side of the forward trajectory (4) are detected by means of sensors on the towing vehicle (2). A reversing trajectory (7) is planned that deviates as little as possible from the driven forward trajectory (4). Furthermore, the respective detected object (5) is classified as a collision object (6) if it lies within the planned reversing trajectory (7). In such a case, a new reversing trajectory (7a) is generated that is free of collision objects (6). The vehicle combination (1) is then driven backward along the new reversing trajectory (7a) with the aid of the driver assistance system.The system determines the current deviation of the actual reversing trajectory of the trailer (3) from the new reversing trajectory (7a), and if the current deviation exceeds a permissible limit deviation, the driver assistance system brings the vehicle combination (1) to a complete stop to perform a corrective action. Assisted reversing resumes after the corrective action has been completed.