Vehicle Combination Reversing Corridors Without Trailer Sensors
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Solution Overview
Problem
Reversing with a trailer vehicle is challenging due to the need for wider travel corridors and the limitations of existing systems that require sensors on the trailer vehicle, which excludes simple sensorless combinations and provides unreliable data with rear sensor systems of the towing vehicle covered by the trailer.
Innovation Solution
A method for assisted reversing using a driver assistance system that records the forward travel trajectory, plans vehicle-specific reverse travel corridors for both the towing and trailer vehicles, and intervenes in the vehicle control to guide the towing vehicle along new reverse trajectories, avoiding obstacles without relying on trailer sensors, ensuring safe and effortless reversing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sensors are installed on the trailer vehicle to detect obstacles during reversing, then obstacle detection reliability is improved, but device complexity and cost increase due to additional sensor requirements
Solution Approach 1:
The patent creates a virtual copy of the forward trajectory as a reference for reversing operations. By storing and reusing the forward path data, the system avoids the need for additional physical sensors on the trailer, achieving reliable obstacle detection through data replication rather than hardware multiplication
Solution Approach 2:
The control system acts as an intermediary that processes forward trajectory data and generates reversing path plans without requiring direct physical sensing during reversing. The system mediates between the stored trajectory data and the reversing vehicle control, eliminating the need for trailer-mounted sensors
2Ease of operation
If the towing vehicle uses a wider driving corridor to effectively steer the trailer during reversing, then reversing maneuverability is improved, but the risk of collision with objects increases
Solution Approach 1:
The system performs preliminary planning of the reversing trajectory by simulating the reversing path based on stored forward trajectory data before actual reversing begins. This advance planning allows the system to identify and avoid collision zones while maintaining the necessary wider corridor for trailer maneuverability
Solution Approach 2:
The reversing trajectory is dynamically adjusted during the reversing process. The control system continuously monitors the actual path against the planned trajectory and makes real-time adjustments to maintain safe distances from obstacles while preserving the maneuverability needed for effective trailer steering
3Manufacturing precision
If the vehicle follows the exact forward trajectory during reversing, then path accuracy is improved, but collision with previously passed obstacles becomes more likely
Solution Approach 1:
The system applies asymmetric treatment to the trajectory data by using the forward path as a reference but deliberately offsetting the reversing path to avoid obstacles that were on one side during forward travel. This asymmetric modification ensures path accuracy while eliminating collision risks with previously passed objects
Solution Approach 2:
The system inverts the approach by using forward trajectory data to plan the reversing path, rather than relying on sensors during reversing. By reversing the temporal sequence of data collection and path planning, the system achieves both accuracy and safety without requiring trailer sensors
4Device complexity
If rear sensors of the towing vehicle are used to detect obstacles during reversing, then device complexity is reduced, but measurement reliability deteriorates due to sensors being obscured by the trailer
Solution Approach 1:
The system collects and stores trajectory and obstacle data during forward travel before reversing begins. This preliminary data collection eliminates the need for rear-facing sensors during reversing, avoiding the obscuration problem entirely while maintaining system simplicity
Solution Approach 2:
The system uses a virtual copy of the forward environment data to plan and execute the reversing maneuver. By replicating the spatial information from the forward trajectory, the system achieves reliable obstacle detection without requiring physical sensors in the obscured rear position
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 the vehicle first drives forward, a corresponding forward trajectory (4) is stored, and objects (5) located laterally next to the forward trajectory (4) are detected by means of sensors on the towing vehicle (2). A reversing trajectory (7) that deviates as little as possible from the driven forward trajectory (4) is planned, and a vehicle-specific reversing corridor (8, 9) corresponding to the planned reversing trajectory (7) is planned for each vehicle (2, 3) of the vehicle combination (1). Furthermore, the respective detected object (5) is classified as a collision object (6) if it lies within at least one of the planned reversing corridors (8, 9).In such a case, a new reversing trajectory (7a) and a new reversing corridor (8a, 9a) are generated for each vehicle (2, 3), which is free of collision objects (6). The vehicle combination (1) is then driven in reverse along the new reversing trajectory (7a) using the driver assistance system.