Trailer lane departure warning and lane keep assist

    公开(公告)号:US11634128B2

    公开(公告)日:2023-04-25

    申请号:US17195347

    申请日:2021-03-08

    Abstract: Methods and systems are provided for a vehicle towing a trailer within a lane of a roadway that include: reconstructing, via a processor onboard the vehicle, lane markings for the trailer using lane markers as sensed via camera data; transforming the reconstructed lane markings, using additional sensor data, to a perspective of the trailer; localizing the trailer within the transformed lane markers using historical camera lane marking information, articulated vehicle dynamics, hitch angle, and trailer dimensions, without needing to add additional trailer lane sensing cameras to the trailer; calculating a time to lane crossing (T-TTLC) value for the trailer and vehicle; generating candidate blended paths of the trailer and the vehicle with a centerline of the lane of the roadway; and controlling operation of the vehicle, the trailer, or both, via instructions provided by the processor to keep the vehicle, the trailer, or both within a lane of travel.

    SYSTEM AND METHOD FOR CONTROL OF AN AUTONOMOUS VEHICLE

    公开(公告)号:US20200172106A1

    公开(公告)日:2020-06-04

    申请号:US16208824

    申请日:2018-12-04

    Abstract: An automotive vehicle includes an actuator, a sensor, and a controller configured to selectively control the actuator in an autonomous driving mode. The controller is configured to identify an adjacent driving lane proximate a current driving lane based on signals from the sensor. The controller is configured to access a current lane preference value and an adjacent lane preference value from non-transient data memory. The controller is configured to calculate a relative position and relative velocity of a target object external to the vehicle. The controller is configured to calculate a current lane weight value for the current driving lane and an adjacent lane weight value for the adjacent driving lane. The controller is configured to, in response to the adjacent lane weight value exceeding the current lane weight value, automatically control the actuator to perform a lane change maneuver from the current driving lane to the adjacent driving lane.

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