US 12,391,280 B2
Method for ascertaining a spatial orientation of a trailer
Ganesh Nageswaran, Benningen am Neckar (DE); Benjamin Haas, Stuttgart (DE); Daniel Eckstein, Stuttgart (DE); Daniel Kuhner, Marbach (DE); Jannik Steinkamp, Stuttgart (DE); Benjamin Classen, Weinsberg (DE); Eva Zimmermann, Reutlingen (DE); and Robert Herzig, Stuttgart (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Feb. 10, 2022, as Appl. No. 17/668,522.
Claims priority of application No. 10 2021 201 522.0 (DE), filed on Feb. 17, 2021.
Prior Publication US 2022/0258766 A1, Aug. 18, 2022
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/0015 (2020.02) [B60W 2300/145 (2013.01); B60W 2520/22 (2013.01); B60W 2530/201 (2020.02); B60W 2540/18 (2013.01); B60W 2554/80 (2020.02)] 12 Claims
OG exemplary drawing
 
1. A method for ascertaining a spatial orientation of a trailer of an autonomously driving towing vehicle with trailer, the method comprising the following steps:
processing respective sensor data of each of a plurality of different sensor types to identify the trailer and objects in an environment in each of the respective sensor data;
combining the processed respective sensor data with one another; and
determining a movement path of the trailer relative to the objects in the environment based on the combined sensor data, wherein a factor is calculated indicating how reliably the trailer was identified in each of the respective sensor data, wherein when the factor is greater than or equal to a specified value, the sensor data is forwarded to the processing, the combining, and the determining, wherein a value of the factor varies depending on whether the respective sensor data is from a first one of the different sensor types or from a second one of the different sensor types.