Methods and systems are provided for a vehicle towing a trailer within a lane of a roadway, including: reconstructing, by a processor on the vehicle, a lane line of the trailer using a lane line sensed by camera data; transforming the reconstructed lane line into a view of the trailer using additional sensor data; using historical camera lane line information, articulated vehicle dynamics, hitch angle, and trailer size to position the trailer within the altered lane lines without the need to add additional trailer lane sensing cameras to the trailer; calculating the time value of the distance between the trailer and the vehicle exceeding the lane; generating a candidate mixed path of the trailer and the vehicle with the road lane center line; and controlling operation of the vehicle, the trailer, or both by instructions provided by the processor to maintain the vehicle, the trailer, or both within the driving lane.
提供了用于在道路的车道内牵引拖车的车辆的方法和系统,包括:通过车辆上的处理器,使用通过摄像头数据感测的车道线,重建拖车的车道线;使用额外的传感器数据将重建的车道线变换成拖车的视角;使用历史摄像头车道线信息、铰接车辆动态特性、挂接角度和拖车尺寸,在变换的车道线内定位拖车,而不需要向拖车添加额外的拖车车道感测摄像头;计算拖车和车辆的距超出车道的时间值;生成拖车和车辆与道路车道中心线的候选混合路径;以及通过处理器提供的指令控制车辆、拖车或两者的操作,以将车辆、拖车或两者保持在行驶车道内。
Trailer lane departure warning and lane keeping assistance
拖车车道偏离警告和车道保持辅助
2022-09-13
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |