Trailer sideswipe avoidance system
A trailer sideswipe avoidance system for a vehicle towing a trailer includes a sensor system configured to detect an object in an operating environment of the vehicle. The trailer sideswipe avoidance system also includes a controller that processes information received from the sensor system to determine whether an object detected in the operating environment of the vehicle is in a forward travel path of the towed trailer as the vehicle turns. The trailer sideswipe avoidance system further includes a visual display that displays bird's eye view representations of the vehicle and the trailer and a collision warning band that extends around at least a portion of the bird's eye view representation of the trailer. A portion of the collision warning band changes color based on the controller determining that the object is in the travel path of the towed trailer.
1. A trailer sideswipe avoidance system for a vehicle towing a trailer in a forward direction, comprising:
a sensor system configured to detect an object in an operating environment of the vehicle;
a controller that processes information received from the sensor system to determine whether the object detected in the operating environment of the vehicle is in a forward travel path of the towed trailer as the vehicle turns via:
determining the travel path of the forwardly towed trailer as the vehicle turns; and
determining whether the object detected in the operating environment of the vehicle is in the travel path of the forwardly towed trailer by determining whether an inner trailer boundary line intersects a virtual circle having a center point at a trailer turn center and a radius equal to a distance from the trailer turn center to the object; and
a visual display that displays bird's eye view representations of the vehicle and the trailer and a collision warning band that extends around at least a portion of the bird's eye view representation of the trailer, wherein a portion of the collision warning band changes color based on the controller determining that the object is in the travel path of the towed trailer, wherein a position, relative to the bird's eye view representation of the trailer, of the portion of the collision warning band that changes color corresponds with an intersection point of the inner trailer boundary line and the virtual circle.
2. The trailer sideswipe avoidance system of claim 1 , wherein the bird's eye view representations of at least one of the vehicle and the trailer is derived by stitching image data received from the sensor system.
3. The trailer sideswipe avoidance system of claim 2 , wherein the bird's eye view representations of at least one of the vehicle and the trailer is an icon of the at least one of the vehicle and the trailer.
4. The trailer sideswipe avoidance system of claim 1 , wherein a size of the portion of the collision warning band that changes color is based on a time until sideswiping of the object with the forwardly towed trailer determined by the controller.
5. The trailer sideswipe avoidance system of claim 4 , wherein the size of the portion of the collision warning band that changes color is a first size at a first determined time until sideswiping of the object with the forwardly towed trailer, and the size of the portion of the collision warning band that changes color is a second size at a second determined time until sideswiping of the object with the forwardly towed trailer, wherein the first size is larger than the second size, and the first time is greater than the second time.
6. The trailer sideswipe avoidance system of claim 1 , wherein the portion of the collision warning band that changes color based on the controller determining that the object is in the travel path of the towed trailer changes from a first color to a second color different than the first color based on a first time until sideswiping of the object with the forwardly towed trailer determined by the controller and changes from the second color to a third color different than the first and second colors based on a second time until sideswiping of the object with the forwardly towed trailer determined by the controller, wherein the first time is greater than the second time.
7. The trailer sideswipe avoidance system of claim 1 , wherein the collision warning band encircles the at least a portion of the bird's eye view representation of the trailer.
8. The trailer sideswipe avoidance system of claim 7 , wherein the collision warning band continuously encircles the at least a portion of the bird's eye view representation of the trailer.
9. The trailer sideswipe avoidance system of claim 1 , wherein the bird's eye view representation of the trailer moves relative to the bird's eye view representation of the vehicle based on a hitch angle of the trailer determined by the controller, such that the visual display depicts an angular position of the bird's eye view representation of the trailer relative to the bird's eye view representation of the vehicle that corresponds with an angular position of the trailer relative to the vehicle, and wherein the collision warning band moves with the bird's eye view representation of the trailer on the visual display.
10. A method of operating a trailer sideswipe avoidance system for a vehicle towing a trailer in a forward direction, comprising the steps of:
determining a hitch angle of the trailer relative to the vehicle;
displaying, on a visual display, a bird's eye view representation of the vehicle, a bird's eye view representation of the trailer, and a collision warning band that extends around at least a portion of the bird's eye view representation of the trailer in a first color, wherein the visual display depicts an angular position of the bird's eye view representation of the trailer relative to the bird's eye view representation of the vehicle that corresponds with an angular position of the trailer relative to the vehicle based on the determined hitch angle of the trailer relative to the vehicle;
detecting an object in an operating environment of the vehicle;
determining the object is in a travel path of the forwardly towed trailer;
determining a first time until sideswiping of the object with the forwardly towed trailer;
displaying, on the visual display, a portion of the collision warning band having a first size in a second color that is different than the first color based on the determination of the first time until sideswiping of the object with the forwardly towed trailer;
determining a second time until sideswiping of the object with the forwardly towed trailer that is less than the first time; and
displaying, on the visual display, a portion of the collision warning band having a second size in a third color that is different than the first and second colors based on the determination of the second time until sideswiping of the object with the forwardly towed trailer.
11. A trailer sideswipe avoidance system for a vehicle towing a trailer in a forward direction, comprising:
a sensor system configured to detect an object in an operating environment of the vehicle;
a controller that processes information received from the sensor system to determine whether the object detected in the operating environment of the vehicle is in a forward travel path of the towed trailer as the vehicle turns; and
a visual display that displays bird's eye view representations of the vehicle and the trailer and a collision warning band that extends around at least a portion of the bird's eye view representation of the trailer, wherein a portion of the collision warning band changes color based on the controller determining that the object is in the travel path of the towed trailer, wherein the portion of the collision warning band that changes color based on the controller determining that the object is in the travel path of the towed trailer changes from a first color to a second color different than the first color based on a first time until sideswiping of the object with the forwardly towed trailer determined by the controller and changes from the second color to a third color different than the first and second colors based on a second time until sideswiping of the object with the forwardly towed trailer determined by the controller, wherein the first time is greater than the second time.
12. The trailer sideswipe avoidance system of claim 11 , wherein the bird's eye view representations of at least one of the vehicle and the trailer is derived by stitching image data received from the sensor system.
13. The trailer sideswipe avoidance system of claim 12 , wherein the bird's eye view representations of at least one of the vehicle and the trailer is an icon of the at least one of the vehicle and the trailer.
14. The trailer sideswipe avoidance system of claim 11 , wherein the controller is configured to determine whether the object detected in the operating environment of the vehicle is in the forward travel path of the towed trailer as the vehicle turns via:
determining the travel path of the forwardly towed trailer as the vehicle turns; and
determining whether the object detected in the operating environment of the vehicle is in the travel path of the forwardly towed trailer by determining whether an inner trailer boundary line intersects a virtual circle having a center point at a trailer turn center and a radius equal to a distance from the trailer turn center to the object.
15. The trailer sideswipe avoidance system of claim 14 , wherein a position, relative to the bird's eye view representation of the trailer, of the portion of the collision warning band that changes color corresponds with an intersection point of the inner trailer boundary line and the virtual circle.
16. The trailer sideswipe avoidance system of claim 11 , wherein a size of the portion of the collision warning band that changes color is based on a time until sideswiping of the object with the forwardly towed trailer determined by the controller.
17. The trailer sideswipe avoidance system of claim 16 , wherein the size of the portion of the collision warning band that changes color is a first size at the first determined time until sideswiping of the object with the forwardly towed trailer, and the size of the portion of the collision warning band that changes color is a second size at the second determined time until sideswiping of the object with the forwardly towed trailer, wherein the first size is larger than the second size.
18. The trailer sideswipe avoidance system of claim 11 , wherein the collision warning band encircles the at least a portion of the bird's eye view representation of the trailer.
19. The trailer sideswipe avoidance system of claim 18 , wherein the collision warning band continuously encircles the at least a portion of the bird's eye view representation of the trailer.
20. The trailer sideswipe avoidance system of claim 11 , wherein the bird's eye view representation of the trailer moves relative to the bird's eye view representation of the vehicle based on a hitch angle of the trailer determined by the controller, such that the visual display depicts an angular position of the bird's eye view representation of the trailer relative to the bird's eye view representation of the vehicle that corresponds with an angular position of the trailer relative to the vehicle, and wherein the collision warning band moves with the bird's eye view representation of the trailer on the visual display.