# US 10,118,611 B2 · System and method for preventing contact between a truck cab and a fifth wheel trailer > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,118,611 B2 - Document ID: US10118611B2 - Status: Granted - Kind: B2 - Application number: 15/335,979 - Filed: 2016-10-27 - Published: 2018-05-03 - Granted: 2018-11-06 - Earliest claimed: 2016-10-27 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: Michael T. Chaney, Jr.; Allan K. Lewis; Mohammad Naserian - Web page: https://patentgrep.com/patent/US10118611B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 10/184: with wheel brakes - B60W 10/20: including control of steering systems - B60W 30/095: Predicting travel path or likelihood of collision - B60W 30/18036: {Reversing} - B60W 40/10: related to vehicle motion - B60W 40/114: Yaw movement - B60W 50/12: Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B62D 53/0871: {with stabilising means, e.g. to prevent jack-knifing, pitching, rolling, buck jumping (stabilising in general B62D37/00; tractors B62D49/08)} - B60W 2300/12: Trucks; Load vehicles - B60W 2300/145: Semi-trailers - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2420/54: Audio sensitive means, e.g. ultrasound - B60W 2422/00: Indexing codes relating to the special location or mounting of sensors - B60W 2422/70: on the wheel or the tyre - B60W 2510/109: Direction of power flow - B60W 2510/18: Braking system - B60W 2510/20: Steering systems - B60W 2520/22: Articulation angle, e.g. between tractor and trailer - B60W 2520/28: Wheel speed - B60W 2530/00: Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00 - B60W 2530/18: Distance travelled - B60W 2710/182: Brake pressure, e.g. of fluid or between pad and disc - B60W 2710/202: Steering torque - B60W 2754/30: Longitudinal distance - B60Y 2200/14: Trucks; Load vehicles, Busses - B60Y 2200/148: Semi-trailers, articulated vehicles - B60Y 2300/09: Taking automatic action to avoid collision, e.g. braking or steering - B60Y 2300/28: related to towing or towed situations - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract A system according to the present disclosure includes a trailer distance module, a trailer contact module, a trailer distance module, and at least one of a driver warning module, a brake control module, and a steering control module. The trailer distance module determines a distance from a cab of a truck to a fifth wheel trailer attached to the truck based on an input from a sensor. The trailer contact module identifies potential contact between the trailer and the truck cab based on the cab-to-trailer distance. The driver warning module warns a driver of the potential contact. The brake control module applies a brake of at least one of the truck and the trailer when potential contact is identified. The steering control module increases an amount of driver effort required to steer the truck in at least one direction when potential contact is identified. ## Claims ### Claim 1 A system comprising: a trailer distance module that determines a distance from a cab of a truck to a fifth wheel trailer attached to the truck based on an input from a sensor; a trailer contact module that identifies potential contact between the fifth wheel trailer and the truck cab based on the cab-to-trailer distance; and at least one of: a driver warning module that warns a driver of the potential contact between the fifth wheel trailer and the truck cab; a brake control module that applies a brake of at least one of the truck and the trailer when potential contact is identified; and a steering control module that increases an amount of driver effort required to steer the truck in at least one direction when potential contact is identified. ### Claim 2 (depends on 1) The system of claim 1 further comprising a trailer width module that determines a width of the fifth wheel trailer based on the cab-to-trailer distance, wherein the trailer contact module identifies potential contact between the fifth wheel trailer and the truck cab based on the cab-to-trailer distance and the trailer width. ### Claim 3 (depends on 2) The system of claim 2 further comprising a trailer angle module that, based on the cab-to-trailer distance and the trailer width, determines an angle between a centerline of the fifth wheel trailer and a centerline of the truck when the fifth wheel trailer contacts the truck cab, wherein the trailer contact module identifies potential contact between the fifth wheel trailer and the truck cab based on the contact angle. ### Claim 4 (depends on 3) The system of claim 3 wherein: the trailer angle module determine a current angle between the centerline of the fifth wheel trailer and the centerline of the truck; and the trailer contact module identifies potential contact between the fifth wheel trailer and the truck cab based on a comparison of the current angle and the contact angle. ### Claim 5 (depends on 1) The system of claim 1 wherein: the sensor is a camera mounted to the truck cab and operable to generate an image of the trailer; and the trailer distance module determines the cab-to-trailer distance based on the image. ### Claim 6 (depends on 5) The system of claim 5 wherein: the camera is operable to generate a first image of the fifth wheel trailer before the truck and the fifth wheel trailer travel a first distance; the camera is operable to generate a second image of the fifth wheel trailer after the truck and the fifth wheel trailer travel the first distance; and the trailer distance module determines the cab-to-trailer distance based on the first and second images of the trailer and the first distance using vision-based ranging. ### Claim 7 (depends on 5) The system of claim 5 wherein the trailer distance module determines the cab-to-trailer distance based on a distance travelled by the truck and the fifth wheel trailer, a position of the camera on the truck, a steering angle of the truck, an angle between a centerline of the fifth wheel trailer and a centerline of the truck, a track width of the truck, a wheelbase of the truck, a track width of the trailer, and a wheelbase of the trailer. ### Claim 8 (depends on 5) The system of claim 5 wherein: the camera is operable to generate an image of a front edge of the trailer and side edges of a bed of the truck when the fifth wheel trailer is attached to the truck; and the trailer distance module determines the cab-to-trailer distance based on a location of an intersection between a plane in which the front edge of the trailer is disposed and at least one of the side edges of the truck bed. ### Claim 9 (depends on 8) The system of claim 8 further comprising an edge detection module that detects the front edge of the trailer and the side edges of the truck bed in the image. ### Claim 10 (depends on 9) The system of claim 9 further comprising: a pixel-to-width ratio module that selects a pixel-to-width ratio based on the cab-to-trailer distance; and a trailer width module that determines a width of the trailer based on a number of pixels spanning across the width of the trailer in the image and the pixel-to-width ratio, wherein the trailer contact module identifies potential contact between the fifth wheel trailer and the truck cab based on the cab-to-trailer distance and the trailer width. ### Claim 11 A method comprising: determining a distance from a cab of a truck to a fifth wheel trailer attached to the truck based on an input from a sensor; identifying potential contact between the fifth wheel trailer and the truck cab based on the cab-to-trailer distance; and at least one of: warning a driver of the potential contact between the fifth wheel trailer and the truck cab; applying a brake of at least one of the truck and the trailer when potential contact is identified; and increasing an amount of driver effort required to steer the truck in at least one direction when potential contact is identified. ### Claim 12 (depends on 11) The method of claim 11 further comprising: determining a width of the fifth wheel trailer based on the cab-to-trailer distance; and identifying potential contact between the fifth wheel trailer and the truck cab based on the cab-to-trailer distance and the trailer width. ### Claim 13 (depends on 12) The method of claim 12 further comprising: based on the cab-to-trailer distance and the trailer width, determining an angle between a centerline of the fifth wheel trailer and a centerline of the truck when the fifth wheel trailer contacts the truck cab; and identifying potential contact between the fifth wheel trailer and the truck cab based on the contact angle. ### Claim 14 (depends on 13) The method of claim 13 wherein: determining a current angle between the centerline of the fifth wheel trailer and the centerline of the truck; and identifying potential contact between the fifth wheel trailer and the truck cab based on a comparison of the current angle and the contact angle. ### Claim 15 (depends on 11) The method of claim 11 wherein the sensor is a camera mounted to the truck cab and operable to generate an image of the trailer, the method further comprising determining the cab-to-trailer distance based on the image. ### Claim 16 (depends on 15) The method of claim 15 wherein: the camera is operable to generate a first image of the fifth wheel trailer before the truck and the fifth wheel trailer travel a first distance; and the camera is operable to generate a second image of the fifth wheel trailer after the truck and the fifth wheel trailer travel the first distance, the method further comprising determining the cab-to-trailer distance based on the first and second images of the trailer and the first distance using vision-based ranging. ### Claim 17 (depends on 15) The method of claim 15 further comprising determining the cab-to-trailer distance based on a distance travelled by the truck and the fifth wheel trailer, a position of the camera on the truck, a steering angle of the truck, an angle between a centerline of the fifth wheel trailer and a centerline of the truck, a track width of the truck, a wheelbase of the truck, a track width of the trailer, and a wheelbase of the trailer. ### Claim 18 (depends on 15) The method of claim 15 wherein the camera is operable to generate an image of a front edge of the trailer and side edges of a bed of the truck when the fifth wheel trailer is attached to the truck, the method further comprising determining the cab-to-trailer distance based on a location of an intersection between a plane in which the front edge of the trailer is disposed and at least one of the side edges of the truck bed. ### Claim 19 (depends on 18) The method of claim 18 further comprising detecting the front edge of the trailer and the side edges of the truck bed in the image. ### Claim 20 (depends on 19) The method of claim 19 further comprising: selecting a pixel-to-width ratio based on the cab-to-trailer distance; determining a width of the trailer based on a number of pixels spanning across the width of the trailer in the image and the pixel-to-width ratio; and identifying potential contact between the fifth wheel trailer and the truck cab based on the cab-to-trailer distance and the trailer width.