Trailer Reversing Path Control With Obstacle-Aware Trajectory Replay
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Solution Overview
Problem
Conventional driver assistance systems fail to allow a maximally possible steering angle when reversing with a trailer, leading to difficulties in replicating forward driving paths accurately, which can result in collisions with obstacles.
Innovation Solution
A driver assistance system that plans and adjusts reversing trajectories based on forward travel data, using sensors to detect obstacles and adjust steering to avoid collisions, allowing for full or partial autonomous control of the vehicle during reversing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If conventional driver assistance systems limit the steering angle during reversing, then control stability is improved, but the ability to accurately replicate forward driving paths is degraded
Solution Approach 1:
The system dynamically adjusts the steering angle based on the operational phase: during forward driving, full steering angles are permitted for accurate path creation; during autonomous reversing, the steering angle is dynamically limited to maintain control stability. This dynamic parameter adjustment resolves the contradiction between stability and precision in different operational contexts.
Solution Approach 2:
The system performs preliminary path recording during forward driving before reversing occurs. By storing the complete forward trajectory data in advance, the system enables accurate path replication during reversing without requiring aggressive steering corrections, thus maintaining both stability and accuracy.
2Measurement precision
If the driver uses maximally possible steering angle during forward driving, then path definition accuracy is improved, but the ability to reverse along the same path with conventional assistance systems is degraded
Solution Approach 1:
The system creates a digital copy of the forward driving path by recording position, orientation, and steering data during forward travel. This copied trajectory is then used as a reference template during autonomous reversing, eliminating the need to physically re-trace the path through manual steering while ensuring accurate replication.
Solution Approach 2:
The system replaces the mechanical steering control during reversing with an automated control system that uses recorded path data. Instead of relying on the driver's manual steering input, the system autonomously calculates and executes the reversing trajectory based on the stored forward path, ensuring consistency and accuracy.
3Reliability
If assisted reversing is canceled due to control limitations, then safety is improved, but driver effort and complexity increase
Solution Approach 1:
The system performs all necessary path recording and trajectory calculation during forward driving, before reversing is initiated. This preliminary preparation ensures that when reversing begins, the system has complete path information and can execute the maneuver autonomously without requiring driver intervention or risking cancellation, thereby maintaining both safety and ease of operation.
Data Source
AI summary
The disclosure relates to a method and a driver assistance system for assisted reversing with a vehicle-trailer combination, wherein, initially when it is driven forwards, its forward trajectory is stored and objects arranged laterally next to the forward trajectory are detected. A reversing trajectory, which deviates as little as possible from the driven forward trajectory, is planned. The detected object is classified as a collision object if it lies in the planned reversing trajectory. In such case, a new reversing trajectory that is free of collision objects is generated. The trailer is reversed along the new reversing trajectory. A current deviation of an actual reversing trajectory of the trailer from the new reversing trajectory is thereby determined, and when the current deviation is greater than a permissible limit deviation, the trailer is stopped to allow performing a corrective action. The assisted reversing is resumed after corrective action has been performed.