Detection of and counter-measures for jackknife enabling conditions during trailer backup assist
First Claim
1. A method for preventing a jackknife between a vehicle having a controller and a trailer towed by the vehicle, comprising the steps of:
- implementing a trailer path curvature command for a reversing path of travel of the trailer during backing of the trailer, the trailer path curvature command is relative to a zero curvature command position that is defined by backward movement of the trailer along a substantially straight path defined by a centerline longitudinal axis of the trailer;
determining a jackknife threshold based on kinematics of the trailer and the vehicle;
detecting an imminent jackknife condition of the reversing, path based on jackknife information and the jackknife threshold; and
implementing as jackknife counter-measure in response to the imminent jackknife condition by altering an operating parameter of the vehicle.
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Accused Products
Abstract
A vehicle comprises a trailer angle detection apparatus and a trailer backup control system coupled to the trailer angle detection apparatus. The trailer angle detection apparatus is configured for outputting a signal generated as a function of an angle between the vehicle and a trailer towably attached to the vehicle. The 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.
53 Citations
19 Claims
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1. A method for preventing a jackknife between a vehicle having a controller and a trailer towed by the vehicle, comprising the steps of:
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implementing a trailer path curvature command for a reversing path of travel of the trailer during backing of the trailer, the trailer path curvature command is relative to a zero curvature command position that is defined by backward movement of the trailer along a substantially straight path defined by a centerline longitudinal axis of the trailer; determining a jackknife threshold based on kinematics of the trailer and the vehicle; detecting an imminent jackknife condition of the reversing, path based on jackknife information and the jackknife threshold; and implementing as jackknife counter-measure in response to the imminent jackknife condition by altering an operating parameter of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A trailer backup control system for a vehicle towing a trailer, comprising:
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an input apparatus for providing a trailer path curvature signal approximating a desired curvature for a reverse path of travel of the trailer relative to a zero curvature position for backward movement of the trailer in a straight path defined by a centerline longitudinal axis of the trailer; a trailer angle sensor for sensing a hitch angle between the vehicle and the trailer; and a trailer backup assist controller determining vehicle steering information based on the trailer path curvature signal and the hitch angle and the trailer backup assist controller altering a vehicle operating parameter when a jackknife condition is imminent. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A method for preventing a jackknife between a vehicle having a controller and a trailer, the method comprising the steps of:
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implementing a vehicle steering command generated from to driver input desired curvature for a reverse path of travel of the trailer during hacking of the trailer by the vehicle, the desired curvature is relative to a zero curvature command position that is defined by backward movement of the trailer along a substantially straight path defined by a centerline;
longitudinal axis of the trailer;sensing a hitch angle between the vehicle and the trailer; determining a jackknife threshold for reversing the trailer based on kinematics of the vehicle and the trailer; detecting an imminent jackknife condition during backing of the trailer based on the hitch angle and the jackknife threshold; and altering an operating parameter of the vehicle in response to detecting the imminent jackknife condition. - View Dependent Claims (16, 17, 18, 19)
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Specification