# US 11,897,541 B2 · Method for guiding a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,541 B2 - Document ID: US11897541B2 - Status: Granted - Kind: B2 - Application number: 17/350,315 - Filed: 2021-06-17 - Published: 2022-01-06 - Granted: 2024-02-13 - Earliest claimed: 2020-07-03 - Assignees: Volvo Truck Corporation - Applicants: Volvo Truck Corporation - Inventors: Daniel Johansson - Web page: https://patentgrep.com/patent/US11897541B2 ## CPC - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - B62D 15/026: {combined with automatic distance control, i.e. electronic tow bar} - 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) ## Abstract The invention relates to a method for guiding a vehicle (1) during reversing along a desired travelling path (TP), wherein the guiding is based on a lateral offset (y) between a preview point (P) located at a preview distance (Pd) behind the vehicle (1) and the desired travelling path (TP), the method comprising: determining (S1) a curvature of the desired travelling path (TP) behind the vehicle (1); adaptively adjusting (S2) the preview distance (Pd) in dependence on the determined curvature, thereby adaptively adjusting the preview point (P); and guiding (S3) the vehicle (1) along the desired travelling path (TP) by use of the lateral offset (y) between the adjusted preview point (P) and the desired travelling path (TP). The present invention further relates to a control unit (100), to a vehicle (1), to a computer program and to a computer readable medium. ## Claims ### Claim 1 A method for guiding a vehicle during reversing along a desired travelling path, wherein the vehicle is a vehicle combination comprising a towing vehicle and at least one trailer, wherein the guiding is based on a lateral offset between a preview point located at a preview distance behind the trailer and the desired travelling path, the method comprising: determining a curvature of the desired travelling path behind the vehicle; adaptively adjusting the preview distance in dependence on the determined curvature, thereby adaptively adjusting the preview point, wherein the preview distance is a distance from a rearmost position of the trailer and the preview point; and guiding the vehicle along the desired travelling path by use of the lateral offset between the adjusted preview point and the desired travelling path. ### Claim 2 (depends on 1) The method according to claim 1, wherein the preview distance is adaptively adjusted so that it increases with decreasing curvature of the desired travelling path and decreases with increasing curvature of the desired travelling path. ### Claim 3 (depends on 1) The method according to claim 1, wherein the curvature is determined based on a plurality of points of the desired travelling path. ### Claim 4 (depends on 1) The method according to claim 1, wherein determining the curvature comprises: determining a first curvature at a first point of the desired travelling path which is associated with the preview point, determining a second curvature at a second point of the desired travelling path which is associated with a rear-most wheel axle of the vehicle. ### Claim 5 (depends on 4) The method according to claim 4, wherein the first point of the desired travelling path is a closest point to the preview point. ### Claim 6 (depends on 4) The method according to claim 4, where the second point of the desired travelling path is a closest point to the rear-most wheel axle of the vehicle. ### Claim 7 (depends on 4) The method according to claim 4, further comprising selecting the largest of the first curvature and the second curvature as the curvature to be used for adaptively adjusting the preview distance. ### Claim 8 (depends on 4) The method according to claim 4, wherein the preview distance is adaptively adjustable in dependence on a difference between the first curvature and the second curvature. ### Claim 9 (depends on 1) The method according to claim 1, wherein the preview distance is adaptively adjustable between a predefined maximum and/or minimum value. ### Claim 10 (depends on 1) The method according to claim 1, wherein the adaptively adjustable preview distance has a linear dependency on the determined curvature. ### Claim 11 (depends on 1) The method according to claim 1, wherein guiding the vehicle along the desired travelling path comprises determining a desired steering intervention of the vehicle to be used in order to follow the desired travelling path, wherein the desired steering intervention is based on the lateral offset between the adjusted preview point and the desired travelling path. ### Claim 12 (depends on 11) The method according to claim 11, wherein the desired steering intervention is determined by use of a rear-most articulation angle required to follow the desired travelling path, which angle is based on the lateral offset between the adjusted preview point and the desired travelling path. ### Claim 13 (depends on 1) The method according to claim 1, wherein the vehicle is automatically guided along the desired travelling path. ### Claim 14 (depends on 1) A control unit for guiding a vehicle during reversing along a desired travelling path, the control unit being configured to perform the steps of the method according to claim 1. ### Claim 15 (depends on 14) A vehicle comprising at least one articulation joint, comprising a rear-facing sensor and a control unit according to claim 14. ### Claim 16 (depends on 1) A non-transitory computer readable medium carrying a computer program comprising program code for performing the steps of claim 1 when said program code is run on a control unit. ### Claim 17 (depends on 1) The method according to claim 1, wherein the preview distance behind the trailer is a point which is offset from the rearmost position of the trailer.