Trailer backup assist system with trajectory planner for multiple waypoints
First Claim
1. A trailer backup assist system comprising:
- a state estimator determining a current position of a trailer relative to a plurality of waypoints;
a trajectory planner for incrementally generating a path from the current position to the plurality of waypoints, comprising;
a first mode generating first and second circular trajectories tangent to one another connecting between the current position and a waypoint of the plurality of waypoints;
a second mode generating the second circular trajectory between the current position and the waypoint after the trailer traverses the first circular trajectory; and
a third mode switching to the first operating mode when the trailer reaches the waypoint for guidance to a subsequent waypoint of the plurality of waypoints; and
a curvature controller guiding the trailer based on a curvature of the respective first or second circular trajectories.
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Accused Products
Abstract
A trailer backup assist system, according to one embodiment, includes a state estimator that determines a current position of a trailer relative to a plurality of waypoints. A trajectory planner may then incrementally generate a path from the current position to the plurality of waypoints. The trajectory planner has a first mode that generates first and second circular trajectories tangent to one another connecting between the current position and a waypoint of the plurality of waypoints. A second mode of the trajectory planner generates the second circular trajectory between the current position and the waypoint after the trailer traverses the first circular trajectory. Also, a third mode of the trajectory planner switches to the first operating mode when the trailer reaches the waypoint for guidance to a subsequent waypoint. A curvature controller guides the trailer based on a curvature of the respective first or second circular trajectories.
192 Citations
20 Claims
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1. A trailer backup assist system comprising:
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a state estimator determining a current position of a trailer relative to a plurality of waypoints; a trajectory planner for incrementally generating a path from the current position to the plurality of waypoints, comprising; a first mode generating first and second circular trajectories tangent to one another connecting between the current position and a waypoint of the plurality of waypoints; a second mode generating the second circular trajectory between the current position and the waypoint after the trailer traverses the first circular trajectory; and a third mode switching to the first operating mode when the trailer reaches the waypoint for guidance to a subsequent waypoint of the plurality of waypoints; and a curvature controller guiding the trailer based on a curvature of the respective first or second circular trajectories. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A trailer backup assist system, comprising:
- a trajectory planner comprising;
a first mode generating first and second of circular trajectories tangent to one another connecting between a current position of a trailer and a waypoint of a plurality of waypoints; a second mode generating the second circular trajectory to the waypoint; and a third mode switching to the first operating mode at the waypoint if the plurality of waypoints includes a subsequent waypoint; and a controller guiding the trailer based on the first and second circular trajectories. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
- a trajectory planner comprising;
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17. A method for reversing a trailer between a plurality of waypoints, comprising:
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generating with a processor first and second circular trajectories tangent to one another connecting between a current position of the trailer and a first waypoint of the plurality of waypoints; guiding with a controller the trailer along the first circular trajectory while regenerating the first and second circular trajectories; guiding with the controller the trailer along the second circular trajectory to the first waypoint while regenerating the second circular trajectory; generating with the processor third and fourth circular trajectories tangent to one another connecting between the current position and a second waypoint of the plurality of waypoints; guiding with the controller the trailer along the third circular trajectory while regenerating the third and fourth circular trajectories; and guiding with the controller the trailer along the fourth circular trajectory to the second waypoint. - View Dependent Claims (18, 19, 20)
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Specification