Method for assisting a driver of a motor vehicle combination, computer software product, lane departure warning system

• US 10,086,831 B2
• Filed: 09/19/2016
• Issued: 10/02/2018
• Est. Priority Date: 09/19/2015
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Wasiek, Dennis, Illium, Justus, Schramm, Thomas, Kanning, Torsten, Neitzke, Carsten
• Primary Examiner(s): Soofi, Yazan A
• Assistant Examiner(s): Martinez Borrero, Luis A
• Application Number:
  US15/268,871
• Publication Number:
  US 20170080928A1
• Time in Patent Office: 743 Days
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2300/14 Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/54 Audio sensitive means, e.g. ultrasound
• CPC Class Codes: B60W 2530/00 Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
• CPC Class Codes: B60W 2710/202 Steering torque
• CPC Class Codes: B60W 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 13/00 Steering specially adapted for trailers combined traction and steering hitches B60D
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A method for assisting a driver of a motor vehicle combination with a towing vehicle and a trailer is described. A width of the motor vehicle combination is determined and a traffic lane is detected. A space required by the motor vehicle combination when travelling is predicted. A nominal track for the towing vehicle is calculated such that the motor vehicle combination remains inside the traffic lane. A computer software product, a lane departure warning system and a towing vehicle are also described.

Claims

1. A method for assisting a driver of a motor vehicle combination with a towing vehicle and a trailer comprising:

determining, by a controller, a width of the motor vehicle combination;

detecting, by a lane detector, a traffic lane;

predicting, by the controller, a space required by the motor vehicle combination when travelling;

calculating, by the controller, a nominal track for the towing vehicle such that the motor vehicle combination remains within the traffic lane, wherein the nominal track provides an anticipated path to maintain the motor vehicle combination in the traffic lane including in a curve;

defining, by the controller, the nominal track through the curve based on the space required using a speed of the motor vehicle combination, a steering angle of the towing vehicle, and dimensions of motor vehicle combination;

detecting, by a lane departure warning system, when the motor vehicle combination is about to move outside the traffic lane; and

delivering, by the controller, a warning when the motor vehicle combination is about to move outside the traffic lane, as indicated by the motor vehicle combination moving off the nominal track.

2. The method according to claim 1, further comprising:

determining the speed of the motor vehicle combination;

determining the steering angle of the towing vehicle; and

determining, by a sensor and the controller, dimensions of the trailer;

wherein calculating the nominal track includes using the speed, the steering angle and the dimensions to calculate the nominal track.

3. The method according to claim 2, wherein the nominal track departs from a center of the traffic lane when the motor vehicle combination is anticipated to travel through the curve.

4. The method according to claim 3, further comprising calculating the width of the trailer based on a distance of trailer from towing vehicle and an angular determination between a reference point and a front outside edge of the trailer.

5. The method according to claim 3, further comprising controlling, by the controller, a steering system of the motor vehicle to maintain the motor vehicle combination on the nominal track.

6. The method according to claim 4, further comprising determining the distance of the trailer from towing vehicle using rear-facing ultrasonic sensors on the towing vehicle.

7. The method according to claim 2, wherein the nominal track is calculated to maintain the motor vehicle combination centered in the traffic lane except when the motor vehicle combination travels through a curve that requires departing from being centered in the traffic lane due to the space that is calculated.

8. The method according to claim 1, further comprising predicting the space required when travelling on the basis of the dimensions of the towing vehicle and the dimensions of the trailer.

9. The method according to claim 1, further comprising:

capturing, by a reversing camera, an angle α

, that is formed between front corners of the trailer; and

determining, by the controller, the width of the trailer from the distance and the angle α

.

10. The method according to claim 1, further comprising introducing a corrective steering moment into a steering system of the towing vehicle when the vehicle is about to move outside the traffic lane.

11. The method according to claim 1, further comprising activating the method by a trailer sensor.

12. A method for assisting a driver of a motor vehicle combination with a towing vehicle and a trailer comprising:

determining, by a controller, a width of the motor vehicle combination;

detecting, by a lane detector, a traffic lane;

reading an ultrasonic sensor;

calculating, by the controller using the reading from the ultrasonic sensor, a distance between the towing vehicle and the trailer;

detecting, by a rear-facing camera an image of the trailer;

calculating, by the controller using the image, an angle formed between a reference point and a front outside edge of the trailer;

predicting, by the controller using the distance and the angle, a space required by the motor vehicle combination when travelling;

calculating, by the controller, a nominal track for the towing vehicle such that the motor vehicle combination remains within the traffic lane, wherein the nominal track provides an anticipated path to maintain the motor vehicle combination in the traffic lane including in a curve, and when required by the space, defining the nominal path closer to the curve outside boundary of the traffic lane than the curve inside boundary, through the curve;

detecting, by a lane departure warning system, when the motor vehicle combination is about to move outside the traffic lane; and

delivering, by the controller, a warning to the driver when the motor vehicle combination is about to move outside the traffic lane, as indicated by the motor vehicle combination moving off the nominal track.

13. A lane departure warning system of a towing vehicle comprising:

a lane detector;

a lane departure warning system;

at least one rearward detecting sensor configured to capture a width of a trailer attached to the towing vehicle; and

a controller in communication with the sensor and configured to;

predict a space required by the motor vehicle combination when travelling;

calculate a nominal track for the towing vehicle such that the motor vehicle combination remains within the traffic lane, wherein the nominal track provides an anticipated path to maintain the motor vehicle combination in the traffic lane including in a curve;

allow departure of the towing vehicle from a center of the traffic lane through the curve;

detect, by the lane departure warning system, when the motor vehicle combination is about to move outside the traffic lane; and

deliver a warning when the motor vehicle combination is about to move outside the traffic lane, as indicated by the motor vehicle combination moving off the nominal track.

14. The lane departure warning system according to claim 13, further comprising:

a first sensor configured to capture a distance of the towing vehicle from the trailer; and

a second sensor configured to capture an angle formed by the trailer from a reference point;

wherein the controller is further configured to;

use a speed of the motor vehicle combination, a steering angle of the towing vehicle, the width of the trailer, the distance, and the angle to predict a space required for the motor vehicle combination when travelling through a curve; and

deliver a steering correction to towing vehicle to keep motor vehicle combination on the nominal track.

15. The lane departure warning system according to claim 14, further comprising:

an ultrasonic sensor for calculating the distance of the trailer; and

a rear-facing camera for detecting the angle wherein the angle is formed between a reference point and a front outside edge of the trailer.

16. The lane departure warning system according to claim 14, wherein the controller is further configured to deliver the steering correction to move the motor vehicle trailer combination away from being centered in the traffic lane when travelling through the curve and when required due to the space that is calculated.