Trailer merge warning method and system for a motor vehicle
A trailer merge function of a tow vehicle includes receiving sensor data from one or more tow vehicle first sensors of an environment that is rearward of a connected tow vehicle. The method includes determining whether pattern associated with the sensor data matches a predetermined pattern corresponding to sensor data in which a field of view of the one or more first sensors is at least partly blocked by a trailer connected to the tow vehicle. Responsive to determining that the trailer at least partly obstructs the field of view of the one or more first sensors, sending a signal for warning a driver of the tow vehicle of lesser functionality of a trailer merge function, or increasing a reliance of one or more other sensors mounted to the tow vehicle, different from the one or more first sensors, in performing the trailer merge function.
1 . A method for operating a trailer merge warning function of a tow vehicle, the method comprising:
receiving sensor data from one or more first sensors, mounted along a rearward portion of a tow vehicle, of an environment that is rearward of a tow vehicle;
determining, by data processing hardware having at least one processor, whether a pattern associated with the sensor data matches a predetermined pattern corresponding to sensor data in which a field of view of the one or more first sensors is at least partly blocked by a trailer connected to the tow vehicle to an extent to adversely affect trailer merge functionality, further comprising defining a region of interest in the sensor data, wherein the pattern associated with the sensor data comprises a pattern associated with the sensor data within the region of interest, wherein the region of interest is located adjacent the trailer and extends beyond a rear portion of the trailer, wherein the region of interest has a rectangular shape and the pattern associated with the sensor data comprises the amount of radar returns or radar return clusters in a space having a right triangle shape with a right angle corner of the right triangle shape being located at a corner of the region of interest in the rear portion of the region of interest nearest the trailer; and
responsive to determining that the trailer connected to the tow vehicle at least partly obstructs the field of view of the one or more first sensors, sending, by the data processing hardware, a signal for warning a driver of the tow vehicle of lesser functionality of a trailer merge function, or increasing a reliance of one or more other sensors mounted to the tow vehicle, different from the one or more first sensors, in performing the trailer merge function.
2 . The method of claim 1 , wherein the one or more first sensors comprises one or more radar sensors.
3 . The method of claim 2 , wherein the pattern associated with the sensor data comprises an amount of radar returns or radar return clusters at a rear portion of the region of interest being below a predetermined threshold corresponding to the predetermined pattern.
4 . The method of claim 1 , wherein the trailer merge function comprises, subsequent to increasing a reliance of one or more other sensors, detecting, by the one or more first sensors and the one or more other sensors, a presence of a second vehicle in proximity with the tow vehicle or the connected trailer and located in a lane on a roadway that is adjacent to a lane in which the tow vehicle and connected trailer are traveling, and sending, by the data processing hardware, a second signal warning the driver of the tow vehicle of the presence of the second vehicle following the tow vehicle and connected trailer initiating merging into the lane in which the second vehicle is located.
5 . A trailer merge warning system for a tow vehicle, the tow vehicle comprising data processing hardware and non-transitory memory having stored therein program code instructions which, when executed by the data processing hardware causes the data processing hardware to perform trailer merge system operations comprising:
receiving sensor data from one or more first sensors, mounted along a rearward portion of a tow vehicle, of an environment that is rearward of the tow vehicle;
determining whether a pattern associated with the sensor data matches a predetermined pattern corresponding to sensor data in which a field of view of the one or more first sensors is at least partly blocked by a trailer connected to the tow vehicle to an extent to adversely affect trailer merge functionality, further comprising defining a region of interest in the sensor data, wherein the pattern associated with the sensor data comprises a pattern associated with the sensor data within the region of interest, wherein the region of interest is located adjacent the trailer and extends beyond a rear portion of the trailer, wherein the region of interest has a rectangular shape and the pattern associated with the sensor data comprises the amount of radar returns or radar return clusters in a space having a right triangle shape with a right angle corner of the right triangle shape being located at a corner of the region of interest in the rear portion of the region of interest nearest the trailer; and
responsive to determining that the trailer connected to the tow vehicle at least partly obstructs the field of view of the one or more first sensors, sending a signal for warning a driver of the tow vehicle of lesser functionality of a trailer function, or increasing a reliance of one or more other sensors mounted to the tow vehicle, different from the one or more first sensors, in performing the trailer merge function.
6 . The system of claim 5 , wherein the one or more first sensors comprises one or more radar sensors.
7 . The system of claim 6 , wherein the pattern associated with the sensor data comprises an amount of radar returns or radar return clusters at a rear portion of the region of interest being below a predetermined threshold corresponding to the predetermined pattern.
8 . The system of claim 5 , wherein the trailer merge function comprises, subsequent to increasing a reliance of one or more other sensors, detecting, by the one or more first sensors and/or the one or more other sensors, a presence of a second vehicle in proximity with the tow vehicle and/or the connected trailer and located in a lane on a roadway that is adjacent to a lane in which the tow vehicle and connected trailer are traveling, and warning the driver of the tow vehicle of the presence of the second vehicle following the tow vehicle and connected trailer initiating merging into the lane in which the second vehicle is located.
9 . A non-transitory, computer readable medium having stored therein program instructions which, when executed by at least one processor, causes the at least one processor to perform a method comprising:
receiving sensor data from one or more first sensors, mounted along a rearward portion of a tow vehicle, of an environment that is rearward of the tow vehicle;
determining whether a pattern associated with the sensor data matches a predetermined pattern corresponding to sensor data in which a field of view of the one or more first sensors is at least partly blocked by a trailer connected to the tow vehicle to an extent to adversely affect a trailer merge function, further comprising defining a region of interest in the sensor data, wherein the pattern associated with the sensor data comprises a pattern associated with the sensor data within the region of interest, wherein the region of interest is located adjacent the trailer and extends beyond a rear portion of the trailer, wherein the region of interest has a rectangular shape and the pattern associated with the sensor data comprises the amount of radar returns or radar return clusters in a space having a right triangle shape with a right angle corner of the right triangle shape being located at a corner of the region of interest in the rear portion of the region of interest nearest the trailer; and
responsive to determining that the trailer connected to the tow vehicle at least partly obstructs the field of view of the one or more first sensors, sending a signal for warning a driver of the tow vehicle of lesser functionality of a trailer function, or increasing a reliance of one or more other sensors mounted to the tow vehicle, different from the one or more first sensors, in performing the trailer merge function.
10 . The computer readable medium as recited in claim 9 , wherein the trailer merge function comprises, subsequent to increasing a reliance of one or more other sensors, detecting, by the one or more first sensors and/or the one or more other sensors, a presence of a second vehicle in proximity with the tow vehicle and/or the connected trailer and located in a lane on a roadway that is adjacent to a lane in which the tow vehicle and connected trailer are traveling, and warning the driver of the tow vehicle of the presence of the second vehicle following the tow vehicle and connected trailer initiating merging into the lane in which the second vehicle is located.
11 . The computer readable medium of claim 9 , wherein the one or more first sensors comprise one or more radar sensors.
12 . The computer readable medium of claim 11 , wherein the pattern associated with the sensor data comprises an amount of radar returns or radar return clusters at a rear portion of the region of interest being below a predetermined threshold corresponding to the predetermined pattern.