Path Planning Prediction and Control for Trailer Lateral Collision Avoidance

摘要

The present invention provides a method for path planning, object motion prediction and control methodology for lateral trailer collision warning and avoidance. In one embodiment of the present invention, a central control module 1 receives road and lane marking information from onboard cameras, map, and LiDAR 2, vehicle accelerations and yaw rate form an Inertial Measurement Unit 3, driver applied torque from the steering wheel sensors 4, vehicle steering angle from the steering column or rack 5, wheel rotational velocities from the ABS system 6, trailer dimensions from the user input or onboard sensors and processing modules 7, hitch articulation angle from onboard sensors or processing modules 8, and surround object trajectory, size and type from onboard cameras, radars, LiDAR 2.