Detection of and counter-measures for jackknife enabling conditions during trailer backup assist

• US 9,037,350 B2
• Filed: 10/11/2013
• Issued: 05/19/2015
• Est. Priority Date: 04/19/2011
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Rupp, Matt Y., Smit, David Dean, Lavoie, Erick Michael, Trombley, Roger Arnold, Pilutti, Thomas Edward
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): SMITH-STEWART, DEMETRA R
• Application Number:
  US14/052,062
• Publication Number:
  US 20140046545A1
• Time in Patent Office: 585 Days
• Field of Search: None
• US Class Current: 701/41
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/02 Steering position indicators ; Steering position determination; Steering aids
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287

Abstract

A trailer backup control system includes a jackknife enabling condition detector and a jackknife counter-measures controller. The jackknife counter-measures controller alters a setting of at least one vehicle operating parameter for alleviating an adverse jackknife condition during backing of the trailer by the vehicle when the jackknife enabling condition detector determines that a jackknife enabling condition has been attained at a particular point in time during backing of the trailer by the vehicle, restricts a trailer backup steering input apparatus and issues a warning to the driver using the trailer backup steering input apparatus.

Claims

1. A method for preventing a jackknife condition between a vehicle and a trailer towed by the vehicle, the vehicle having a trailer backup assist system and a trailer backup steering input apparatus associated therewith for inputting a driver requested curvature command to the trailer backup assist system, the method comprising the steps of:

assessing jackknife information and a jackknife condition threshold during backing of the trailer to detect an imminent jackknife condition; and

implementing a jackknife counter-measure in response to detection of the imminent jackknife condition during backing of the trailer by the vehicle, wherein implementing the jackknife counter-measure further comprises restricting the trailer backup steering input apparatus.

2. The method of claim 1, wherein the steering input apparatus is a rotational control input device having an at-rest position between opposing rotational ranges of motion and the step of restricting the trailer backup steering input apparatus further comprises:

the trailer backup assist system activating a wanting at the rotational control input device as an indication that the trailer backup assist system has restricted a commanded curvature of a path of travel of the trader.

3. The method of claim 2 wherein the step of activating a warning further comprises initiating a tactile warning at the rotational control input device.

4. The method of claim 2 wherein the step of activating a warning further comprises initiating an illuminated warning.

5. The method of claim 2 wherein the step of activating a warning further comprises initiating an audible signal.

6. The method of claim 1 wherein the step of restricting the trailer backup steering input apparatus further comprises limiting a transient of the driver requested curvature command.

7. The method of claim 6 wherein the step of restricting the trailer backup steering input apparatus further comprises limiting a rate that curvature command transients change as they are sent from the trailer backup steering input apparatus to the trailer backup assist system.

8. The method of claim 7 wherein the step of limiting the rate that trailer curvature command transients change as they are sent to the trailer backup assist system is in response to a vehicle speed that exceeds a predetermined threshold.

9. The method of claim 7 wherein the step of limiting the rate that trailer curvature command transients change as they are sent to the trailer backup assist system is in response to the trailer backup assist system detecting an accelerator pedal transient that exceeds a predetermined threshold.

10. The method of claim 6 wherein the step of limiting the trailer backup steering input apparatus further comprises limiting a magnitude that curvature command transients change as they are sent from the trailer backup steering input apparatus to the trailer backup assist system.

11. The method as claimed in claim 10 wherein the step of limiting the magnitude that trailer curvature command transients change as they are sent to the trailer backup assist system is in response to a vehicle speed that exceeds a predetermined threshold.

12. The method as claimed in claim 10 wherein the step of limiting the magnitude that trailer curvature command transients change as they are sent to the trailer backup assist system is in response to the trailer backup assist system detecting an accelerator pedal transient that exceeds a predetermined threshold.

13. The method as claimed in claim 6 wherein the step of limiting the trailer backup steering input apparatus further comprises limiting a rate and a magnitude that curvature command transients change as they are sent from the trailer backup steering input apparatus to the trailer backup assist system.

14. The method as claimed in claim 13 wherein the step of limiting the rate and the magnitude that trailer curvature command transients change as they are sent to the trailer backup assist system is in response to a vehicle speed that exceeds a predetermined threshold.

15. The method as claimed in claim 13 wherein the step of limiting the rate and the magnitude that trailer curvature command transients change as they are sent to the trailer backup assist system is in response to the trailer backup assist system detecting an accelerator pedal transient that exceeds a predetermined threshold.

16. A trailer backup assist system for a vehicle capable of towing a trailer, comprising:

a trailer angle detection apparatus configured for generating a signal as a function of an angle between the vehicle and the trailer;

a trailer backup steering input apparatus for commanding a trailer curvature; and

a jackknife counter-measure controller configured for restricting the trailer backup steering input apparatus and altering at least one vehicle operating parameter when a jackknife condition is imminent during backing of the trailer by the vehicle.

17. The system of claim 16 wherein:

the jackknife counter-measure controller initiates a jackknife warning to a driver of the vehicle when a jackknife condition is imminent; and

the jackknife wanting is provided to the driver using the trailer backup steering input apparatus.

18. The system of claim 16 wherein the jackknife warning is a tactile warning.

19. The system of claim 16 wherein the jackknife warning is a visual warning.

20. The system of claim 16 wherein the jackknife warning is an audible warning.

21. The system of claim 16 wherein restricting the trailer backup steering input apparatus further comprises the jackknife counter-measure controller limiting a rate that curvature command inputs can change and be implemented by the trailer backup steering input apparatus to the trailer backup assist system.

22. The system of claim 21 wherein the trailer backup steering input apparatus further comprises a rotatable control element and the rate that curvature commands can change and be implemented by the trailer backup system is dependent upon a rate of movement of the rotatable control element wherein the jackknife counter-measure controller causes an increase in tension of the rotatable control element.

23. The system of claim 16 wherein restricting the trailer backup steering input apparatus further comprises the jackknife counter-measure controller limiting a magnitude that curvature command inputs can change and be implemented by the trailer backup assist system.

24. The system of claim 23 wherein the trailer backup steering input apparatus further comprises a rotatable control element and the magnitude of curvature command inputs can change and be implemented by the trailer backup assist system is dependent upon a rate of movement of the rotatable control element wherein the jackknife counter-measure controller causes an increase in tension of the rotatable control element.

25. The system of claim 16 wherein restricting the trailer backup steering input apparatus further comprises the jackknife counter-measure controller limiting a rate and a magnitude that the curvature command inputs can change and be implemented by the trailer backup assist system.

26. The system of claim 25 wherein the trailer backup steering input apparatus further comprises a rotatable control element and the rate and magnitude that curvature commands can change is dependent upon a rate and magnitude of movement of the rotatable control element and wherein the jackknife counter-measure controller causes an increase in tension of the rotatable control element.

27. A method for preventing a jackknife condition between a vehicle and a trailer towed by the vehicle, the vehicle having a trailer backup assist system and a trailer backup steering input apparatus associated therewith, the method comprising the steps of:

receiving a trailer curvature command from the trailer backup steering input apparatus;

assessing jackknife determining information for a vehicle and a trailer towably to the vehicle; and

implementing a jackknife counter-measure in response to the jackknife determining information indicating that a jackknife condition is imminent at a particular point in time during backing of the trailer by the vehicle, wherein implementing the jackknife counter-measure includes restricting the trailer backup steering input apparatus such that a decrease in a radius of curvature of the path of trailer is inhibited.

28. The method of claim 27 further comprising the step of initiating a jackknife warning to a driver of the vehicle in response to the jackknife determining information indicating that a jackknife condition is imminent.

29. The method of claim 28 wherein the step of initiating the jackknife warning further comprises initiating the jackknife warning using the trailer backup steering input apparatus.

30. The method of claim 29 wherein the step of initiating the jackknife warning further comprises activating a tactile warning at the trailer backup steering input apparatus.

31. The method of claim 28 wherein the step of initiating the jackknife warning further comprises activating an audible warning.

32. The method of claim 28 wherein the step of initiating the jackknife warning further comprises activating a visual warning.

33. The method of claim 27 wherein the trailer backup steering input apparatus further comprises a rotatable control element and restricting the trailer backup steering input apparatus further comprises increasing a tension of the rotatable control element to limit a rate that trailer curvature commands can change and be implemented by the trailer backup assist system.

34. The method of claim 27 wherein the trailer backup steering input apparatus thriller comprises a rotatable control element and restricting the trailer backup steering input apparatus further comprises increasing a tension of the rotatable control element to limit a magnitude that trailer curvature commands can change and be implemented by the trailer backup assist system.

35. The method of claim 27 wherein the trailer backup steering input apparatus further comprises a rotatable control element and restricting the trailer backup steering input apparatus further comprises increasing a tension of the rotatable control element to limit a rate and a magnitude that trailer curvature commands can change and be implemented by the trailer backup assist system.