Trailer sway detection and control
System, methods, and other embodiments are described with respect to implementing trailer sway detection strategies. In one embodiment, a method includes receiving a lateral motion signal, determining if a number of peaks in the lateral motion signal satisfies a first criterion, determining if a cross-correlation of yaw acceleration and lateral acceleration satisfies a second criterion, disabling lane keeping assistance if the first criterion is satisfied, and determining if a trailer sway event is in progress if the first criterion and second criterion are satisfied.
1 . A system, comprising:
a processor; and
a memory communicably coupled to the processor and storing machine-readable instructions that, when executed by the processor, cause the processor to:
receive a lateral motion signal;
determine if a number of peaks in the lateral motion signal satisfies a first criterion;
determine if a cross-correlation of yaw acceleration and lateral acceleration satisfies a second criterion;
disable lane keeping assistance if the first criterion is satisfied; and
determine if a trailer sway event is in progress if the first criterion and second criterion are satisfied.
2 . The system of claim 1 , wherein the first criterion is that the number of peaks within a time period is above a first threshold.
3 . The system of claim 1 , wherein the second criterion is that the cross-correlation is below a second threshold.
4 . The system of claim 1 , wherein the machine-readable instructions further includes an instruction to:
generate an alert that the lane keeping assistance has been disabled.
5 . The system of claim 1 , wherein the machine-readable instructions further includes an instruction to:
generate an alert of a trailer sway event if it is determined that the trailer sway event is in progress.
6 . The system of claim 5 , wherein the machine-readable instruction to generate the alert of a trailer sway event further includes instructions to flash vehicle lights, honk a horn, or send a warning message to another vehicle.
7 . The system of claim 1 , wherein the machine-readable instructions further includes instructions to:
Disallow the lane keeping assistance to be enabled for a time period after the first criterion is no longer satisfied.
8 . A non-transitory computer-readable medium including instructions that when executed by one or more processors cause the one or more processors to:
receive a lateral motion signal;
determine if a number of peaks in the lateral motion signal satisfies a first criterion;
determine if a cross-correlation of yaw acceleration and lateral acceleration satisfies a second criterion;
disable lane keeping assistance if the first criterion is satisfied; and
determine if a trailer sway event is in progress if the first criterion and second criterion are satisfied.
9 . The non-transitory computer-readable medium of claim 8 , wherein the first criterion is that the number of peaks within a time period is above a first threshold.
10 . The non-transitory computer-readable medium of claim 8 , wherein the second criterion is that the cross-correlation is below a second threshold.
11 . The non-transitory computer-readable medium of claim 8 , wherein the instructions further includes an instruction to:
generate an alert that the lane keeping assistance has been disabled.
12 . The non-transitory computer-readable medium of claim 8 , wherein the instructions further includes an instruction to:
generate an alert of a trailer sway event if it is determined that the trailer sway event is in progress.
13 . The non-transitory computer-readable medium of claim 12 , wherein the instructions to generate the alert of a trailer sway event further includes instructions to flash vehicle lights, honk a horn, or send a warning message to another vehicle.
14 . A method, comprising:
receiving a lateral motion signal;
determining if a number of peaks in the lateral motion signal satisfies a first criterion;
determining if a cross-correlation of yaw acceleration and lateral acceleration satisfies a second criterion;
disabling lane keeping assistance if the first criterion is satisfied; and
determining if a trailer sway event is in progress if the first criterion and second criterion are satisfied.
15 . The method of claim 14 , wherein the first criterion is that the number of peaks within a time period is above a first threshold.
16 . The method of claim 14 , wherein the second criterion is that the cross-correlation is below a second threshold.
17 . The method of claim 14 , further comprising:
generating an alert that the lane keeping assistance has been disabled.
18 . The method of claim 14 , further comprising:
generating an alert of a trailer sway event if it is determined that the trailer sway event is in progress.
19 . The method of claim 18 , wherein generating the alert of a trailer sway event further includes at least one of flashing vehicle lights, honking a horn, or sending a warning message to another vehicle.
20 . The method of claim 14 , further comprising:
disallowing the lane keeping assistance to be enabled for a time period after the first criterion is no longer satisfied.