TRAJECTORY PLANNER FOR A TRAILER BACKUP ASSIST SYSTEM

摘要

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.

主权项

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.