Trailer length detection system

Patent metadata

Field	Value
Publication number	US-11215451-B2
Application number	US-201816135632-A
Country	US
Kind code	B2
Filing date	Sep 19, 2018
Priority date	Sep 20, 2017
Publication date	Jan 4, 2022
Grant date	Jan 4, 2022

Abstract

A method for determining a length of a trailer attached to a tow vehicle having one or more sensors positioned on a back portion of the tow vehicle facing the trailer is disclosed. The method includes receiving, at a data processing hardware in communication with the one or more sensors, first sensor data associated with a first position of the tow vehicle. The method includes receiving, at the data processing hardware, second sensor data associated with a second position of the tow vehicle. The second position is different from the first position. The method also includes receiving, at the data processing hardware, third sensor data associated with a third position of the tow vehicle. The third position is different from the first position and the second position. The method includes determining, at the data processing hardware, a length of the trailer based on the first, second, and third sensor data.

First claim

What is claimed is:

1. A method for determining a trailer length of a trailer attached to a tow vehicle while the tow vehicle follows a path, the tow vehicle having one or more sensors positioned on a back portion of the tow vehicle facing the trailer, the method comprising:
receiving, at a data processing hardware in communication with the one or more sensors, first sensor data associated with a first position of the tow vehicle along the path;
receiving, at the data processing hardware, second sensor data associated with a second position of the tow vehicle along the path, the second position being different from the first position;
receiving, at the data processing hardware, third sensor data associated with a third position of the tow vehicle along the path, the third position being different from the first position and the second position;
determining, at the data processing hardware, a trailer length based on the first, second, and third sensor data;
transmitting from the data processing hardware to a user interface in communication with the data processing hardware, instructions to display the trailer length,
wherein the one or more sensors comprises at least one of at least one camera, at least one LIDAR sensor, at least one LADAR sensor, at least one radar sensor, or at least one sonar sensor;
transmitting, from the data processing hardware to a user interface in communication with the data processing hardware, a command instructing the user interface to display a representation of a manual mode, a representation of a semi-manual mode, and a representation of an autonomous mode;
receiving, at the data processing hardware from the user interface, a selection of one of the representations of the manual mode, the semi-manual mode, and the autonomous mode;
receiving, at the data processing hardware, the selection of the autonomous mode;
receiving, at the data processing hardware, sensor data associated with sensors positioned on a front portion and side portions of the tow vehicle;
determining, at the data processing hardware, a vehicle path comprising one or more maneuvers that include positioning the tow vehicle at the first, second, and third positions, the one or more maneuvers comprising a first maneuver including turning front wheels of the tow vehicle in a first direction and moving the tow vehicle in a reverse direction to the first position, and a second maneuver including turning front wheels of the tow vehicle in a second direction opposite the first direction and moving the tow vehicle in the reverse direction or a forward direction to the second position; and
instructing a drive system in communication with the data processing hardware to follow the vehicle path.

2. The method of claim 1 , further comprising, before receiving the second sensor data:
determining, at the data processing hardware, a first trailer angle between the tow vehicle and the trailer based on the first sensor data; and
when the first trailer angle is not equal to zero, determining a second trailer angle after the tow vehicle has moved from the first position to the second position.

3. The method of claim 1 , wherein a distance between the first position and the second position, and a distance between the second position and the third position are each less than a predetermined distance.

4. The method of claim 1 , further comprises:
receiving, at the data processing hardware, the selection of the semi-manual mode;
before receiving the first sensor data associated with the first position of the tow vehicle:
transmitting, from the data processing hardware to the user interface, a command instructing the user interface to display a first maneuver to be taken by a driver of the tow vehicle to move the tow vehicle from an initial position to the first position, the first maneuver comprising turning front wheels of the tow vehicle in a first direction and moving the tow vehicle in a reverse direction;
receiving, at the data processing hardware, a confirmation from the driver via the user interface, the confirmation indicative of the driver following the first maneuver;
transmitting, from the data processing hardware to the user interface, a command instructing the user interface to display a second maneuver to be taken by the driver to move the tow vehicle from the first position to the second position, the second maneuver comprising turning the front wheels of the tow vehicle in a second direction opposite to the first direction and moving the tow vehicle from the first position to the second position in the reverse direction or in a forward direction; and
receiving, at the data processing hardware, a confirmation from the driver via the user interface, the confirmation indicative of the driver following the second maneuver.

5. The method of claim 1 , wherein the one or more sensors comprises at least one of at least one camera, at least one LIDAR sensor, at least one LADAR sensor, or at least one sonar sensor.

6. A method for determining a length of a trailer attached to a tow vehicle, the tow vehicle having one or more sensors positioned on a back portion of the tow vehicle facing the trailer, the method comprising:
receiving, at a data processing hardware in communication with the one or more sensors, first sensor data associated with a first position of the tow vehicle;
determining, by the data processing hardware, a trailer angle between the tow vehicle and the trailer based on the first sensor data;
when the trailer angle is not equal to zero:
receiving, at the data processing hardware, second sensor data associated with a second position of the tow vehicle after the tow vehicle has moved along a straight path for a first threshold distance; and
determining, by the data processing hardware, the trailer angle based on the second sensor data;

when the trailer angle is equal to zero:
receiving, at the data processing hardware, third sensor data associated with a third position after the tow vehicle has moved in a first direction for a second threshold distance;
receiving, at the data processing hardware, fourth sensor data associated with a fourth position after the tow vehicle has moved in a second direction being different from the first direction;
determining, at the data processing hardware, the length of the trailer based on the third sensor data and the fourth sensor data,

transmitting, from the data processing hardware to a user interface in communication with the data processing hardware, a command instructing the user interface to display a representation of a manual mode, a semi-manual mode, and an autonomous mode;
receiving, at the data processing hardware, the selection of the semi-manual mode;
when in the semi-manual mode:
before receiving the third sensor data associated with the third position of the tow vehicle, transmitting, from the data processing hardware to the user interface, a command instructing the user interface to display a first maneuver to be taken by a driver of the tow vehicle to move the tow vehicle from the second position to the third position, the first maneuver comprising turning front wheels of the tow vehicle in a first direction and moving the tow vehicle in a reverse direction;
receiving, at the data processing hardware, a confirmation from the driver via the user interface, the confirmation indicative of the driver having followed the first maneuver,
transmitting, from the data processing hardware to the user interface, a command instructing the user interface to display a second maneuver to be taken by the driver to move the tow vehicle from the third position to the fourth position, the second maneuver comprising turning the front wheels of the tow vehicle in a second direction opposite to the first direction and moving the tow veh

Assignees

• Continental automotive systems inc

Inventors

• Critchley James H
• Ahamed Nizar
• Alkeilani Abdulwahab

Classifications

• B60D1/245 Primary

  for facilitating push back or parking of trailers · CPC title

• G01S2013/9318

  Controlling the steering · CPC title

• G01S17/88

  Lidar systems specially adapted for specific applications · CPC title

• G01S13/931

  of land vehicles · CPC title

• B60W50/0098

  Details of control systems ensuring comfort, safety or stability not otherwise provided for · CPC title