TRAJECTORY PLANNER FOR A TRAILER BACKUP ASSIST SYSTEM
First Claim
1. A method for reversing a trailer, comprising:
- identifying a waypoint position;
determining a current position of the trailer relative to the waypoint position;
generating first and second circular trajectories tangent to one another connecting between the current and waypoint positions;
guiding the trailer on the first circular trajectory while regenerating the first and second circular trajectories; and
guiding the trailer on the second circular trajectory to the waypoint position.
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Accused Products
Abstract
In one embodiment of the disclosed subject matter, a trailer backup assist system includes a state estimator that determines a current position of a trailer relative to a waypoint position. In addition, the trailer backup assist system includes a trajectory planner that generates first and second circular trajectories tangent to one another spanning between the current and waypoint positions. The trailer backup assist system also includes a controller that reverses the trailer to the waypoint position along the first and second circular trajectories, which are dynamically regenerated as the trailer reverses along the first circular trajectory.
172 Citations
20 Claims
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1. A method for reversing a trailer, comprising:
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identifying a waypoint position; determining a current position of the trailer relative to the waypoint position; generating first and second circular trajectories tangent to one another connecting between the current and waypoint positions; guiding the trailer on the first circular trajectory while regenerating the first and second circular trajectories; and guiding the trailer on the second circular trajectory to the waypoint position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A trailer backup assist system comprising:
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a state estimator determining a current position of a trailer relative to a waypoint position; a trajectory planner generating first and second circular trajectories tangent to one another spanning between the current and waypoint positions; and a controller reversing the trailer to the waypoint position along the first and second circular trajectories, which are dynamically regenerated as the trailer reverses along the first circular trajectory. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A trajectory planner for reversing a trailer with a trailer backup assist system, comprising:
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a first operating mode dynamically generating first and second circular trajectories tangent to one another connecting between a current position of the trailer and a waypoint position as the trailer reverses along the first circular trajectory; and a second operating mode dynamically generating the second circular trajectory to the waypoint position as the trailer reverses along the second circular trajectory. - View Dependent Claims (19, 20)
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Specification