System and Method to Dynamically Enable Rear Sensors While Towing a Trailer

摘要

The present invention provides a system and method to dynamically enable rear sensors such as ultrasonic and radar while towing a trailer. By utilizing the hitch articulation angle of the trailer, an appropriate sensor mask can be applied that allows the detection of pedestrians and other objects in the zones where the trailer is not present. Currently, vehicle rear sensing safety features are disabled when a trailer is connected. This invention proposes a two-stage solution to resolve this issue. An accurate model of the trailer tongue is achieved during a learning phase and is then used, along with the hitch articulation angle and trailer measurements, in the online phase to create a dynamic mask. The learning phase consists of having the customer drive the vehicle and trailer in a straight line. During this time, the radar and ultrasonic sensor data are fused to generate an accurate model of the trailer tongue. The online phase consists of using this trailer tongue mask, along with the hitch articulation angle and trailer measurements, to create a dynamic mask that is applied to rear facing sensors. This dynamic mask can reduce false positives and enable enhanced safety features. The flow diagram can be seen below.