Method for assisting driver of vehicle-trailer combination during driving along curve, involves detecting lane, and predetermining reference lane for drawing vehicle such that tractrix curve lies within lane or centered at lane

摘要

The method involves detecting a lane, and forecasting an area required by a vehicle-trailer combination during driving as tractrix curve (SK) of the vehicle-trailer combination. A reference lane (SP) is predetermined for a drawing vehicle such that the tractrix curve lies within the lane or centered at the lane. Holding guidance moment is generated based on momentary or predicted lane deviation of the drawing vehicle from the reference lane. A haptic feedback is provided to a driver over the guidance movement for holding the drawing vehicle on the reference lane.