Trailer backup assist system with trajectory planner for multiple waypoints
US9238483B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 21, 2014 |
| Grant date | Jan 19, 2016 |
| Priority date | — |
| Expiry date | Sep 20, 2034 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2540/18
- WIPO fieldTransport
- WIPO sectorMechanical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.