Distance control for a vehicle with trailer

1. A method for controlling a distance of a vehicle to a closest preceding vehicle, whereby the vehicle has a trailer connected thereto, the method comprising:

determining a velocity of the vehicle;

detecting a closest preceding vehicle;

determining a distance to the closest preceding vehicle;

determining a safe distance based on the velocity of the vehicle and the distance to the closest preceding vehicle;

identifying a type of the trailer based on a rear input from a rear camera of the vehicle;

determining an extra safe distance based on at least one characteristic of the trailer; and

performing a control of the distance to the closest preceding vehicle to stay above the safe distance plus the extra safe distance by:

comparing the distance to the closest preceding vehicle to the safe distance plus the extra safe distance, and

controlling the vehicle to reduce the distance to the closest preceding vehicle when the distance to the closest preceding vehicle is greater than the safe distance plus the extra safe distance, and

controlling the vehicle to increase the distance to the closest preceding vehicle when the distance to the closest preceding vehicle is smaller than the safe distance plus the extra safe distance, and

wherein determining the distance to the closest preceding vehicle comprises:

determining a road feature when appearing for a first time at a back of the closest preceding vehicle, determining a distance to the road feature with a pre-set period, until the road feature is not visible,

determining a change in distance of the road feature for each period based on a front input from a front camera of the vehicle, and

summing up the changes in the distance for all periods,

wherein determining the extra safe distance based on at least one characteristic of the trailer comprises:

determining a trailer motion model that generates a prediction of unstable swaying condition of the trailer based on odometry data of the trailer and an angle of the trailer, and

determining, under consideration of the trailer motion model, the extra safe distance based on the prediction of the unstable swaying condition.

2. The method according to claim 1 , wherein determining the extra safe distance based on at least one characteristic of the trailer further comprises determining trailer dimensions and determining the extra safe distance under consideration of the trailer dimensions.

3. The method according to claim 1 , wherein determining the extra safe distance based on at least one characteristic of the trailer further comprises determining the at least one characteristic of the trailer based on the type of the trailer.

4. A driving assistance system for a vehicle, wherein the driving assistance system is adapted to perform the method according to claim 1 to control the distance of the vehicle to the closest preceding vehicle.

5. The driving assistance system according to claim 4 , wherein the driving assistance system is an adaptive cruise control or an autonomous driving system.

6. A vehicle with a driving assistance system according to claim 4 .

7. The method according to claim 1 , further comprising:

receiving a velocity of the trailer, wherein determining the extra safe distance based on at least one characteristic of the trailer further comprises determining the extra safe distance under consideration of the velocity of the trailer.

8. The method according to claim 1 , wherein determining the road feature comprises scanning vertically down within road boundaries to identify a big texture change, providing a boundary box around the big texture change, and detecting the road feature within the boundary box.

9. The method according to claim 1 , wherein determining the distance to the closest preceding vehicle comprises generating a ground map, and determining the distance to the closest preceding vehicle based on the ground map.