Trailer backup assist system with adaptive steering angle limits
First Claim
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1. A trailer backup assist system, comprising:
- a sensor measuring a hitch angle between a vehicle and a trailer;
a steering system controlling a steering angle of the vehicle between physical angle limits; and
a controller generating adaptive angle limits from a substantially linear function based on a hitch angle rate and generating a steering command based on a most restrictive of the physical and adaptive angle limits for the vehicle to guide the trailer on a desired curvature.
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Abstract
A trailer backup assist system includes a sensor that measures a hitch angle between a vehicle and a trailer. A steering system controls a steering angle of the vehicle between physical angle limits. A controller of the trailer backup assist system generates adaptive angle limits based on a maximum hitch angle rate and generates a steering command within the physical and adaptive angle limits for the vehicle to guide the trailer on a desired curvature.
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Citations
20 Claims
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1. A trailer backup assist system, comprising:
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a sensor measuring a hitch angle between a vehicle and a trailer; a steering system controlling a steering angle of the vehicle between physical angle limits; and a controller generating adaptive angle limits from a substantially linear function based on a hitch angle rate and generating a steering command based on a most restrictive of the physical and adaptive angle limits for the vehicle to guide the trailer on a desired curvature. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A trailer backup assist system, comprising:
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a hitch angle sensor sensing a hitch angle between a vehicle and a trailer; a speed sensor sensing a speed of the vehicle; a steering system controlling a steering angle of the vehicle; and a controller generating an adaptive limit of the steering angle defining a substantially linear function based on a maximum hitch angle rate. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17)
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18. A method, comprising:
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sensing a hitch angle between a vehicle and a trailer; sensing a speed of the vehicle; generating adaptive steering angle limits for the vehicle based on a maximum hitch angle rate, the speed, and the hitch angle within physical angle limits; and setting a steering angle of the vehicle to the physical steering angle limit if a desired steering angle is outside of the physical limits. - View Dependent Claims (19, 20)
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Specification