Vehicle-trailer backing up jackknife detection and warning system
First Claim
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1. A method of determining if a jackknife condition exists in a vehicle having a trailer comprising:
- determining an angle of at least one vehicle steering wheel;
calculating a hitch equilibrium position;
determining a hitch angle;
comparing the hitch angle to the hitch equilibrium position;
determining if the hitch angle is approaching the hitch equilibrium position; and
if the hitch angle is not approaching the hitch equilibrium position, then estimate a hitch angle rate, calculate a critical hitch angle as a function of the hitch angle rate, a predetermined maximum critical hitch angle and a predetermined tolerant time period, if the hitch angle is larger than the critical hitch angle, then generate an alarm.
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Abstract
This invention provides a system to detect in real time the condition of jackknifing tendency during vehicle-trailer backing up, and to provide steering direction assistance. The system utilizes rates of change of a vehicle-trailer articulation angle to determine a critical articulation angle.
106 Citations
18 Claims
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1. A method of determining if a jackknife condition exists in a vehicle having a trailer comprising:
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determining an angle of at least one vehicle steering wheel;
calculating a hitch equilibrium position;
determining a hitch angle;
comparing the hitch angle to the hitch equilibrium position;
determining if the hitch angle is approaching the hitch equilibrium position; and
if the hitch angle is not approaching the hitch equilibrium position, then estimate a hitch angle rate, calculate a critical hitch angle as a function of the hitch angle rate, a predetermined maximum critical hitch angle and a predetermined tolerant time period, if the hitch angle is larger than the critical hitch angle, then generate an alarm. - View Dependent Claims (2, 3, 4, 5, 6)
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7. The jackknife warning system for a vehicle coupled to a trailer with a trailer hitch, the system comprising:
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a hitch articulation angle sensor configured to measure an articulation angle between the vehicle and the trailer;
a processor configured to receive signals indicative of a vehicle wheel angle, vehicle travel speed and hitch articulation angle;
wherein the processor is configured to calculate an equilibrium angle, hitch angle rate and a critical hitch angle, the processor is further configured to determine if the hitch articulation angle is approaching the hitch equilibrium angle;
if the processor determines the hitch articulation angle is not approaching the hitch equilibrium position, the processor is configured to calculate a critical angle as a function of hitch angle rate, the processor is further configured to compare the critical hitch angle to the articulation angle, if the processor determines the articulation angle is larger then the critical hitch angle, the processor is configured to issue a proper warning signal. - View Dependent Claims (8, 9, 10, 11, 12, 13, 18)
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14. The jackknife warning system for a vehicle coupled to a trailer with a trailer hitch, the system comprising:
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a wheel angle sensor;
a hitch articulation angle sensor configured to measure an articulation angle between the vehicle and the trailer;
a vehicle speed sensor;
a processor configured to receive signals indicative of a vehicle wheel angle from the wheel angle sensor, vehicle travel speed and hitch articulation angle; and
wherein the processor is configured to calculate an equilibrium angle as a function of the vehicle wheel angle(s), hitch angle rate and a critical hitch angle as a function of the hitch angle rate, a predetermined maximum critical hitch angle and a predetermined tolerant time period, the processor is further configured to determine if the hitch articulation angle is converging to the hitch equilibrium angle;
if the processor determines the hitch articulation angle is not converging on the equilibrium position, the processor is configured to calculate a critical hitch angle as a function of hitch angle rate, the processor is then configured to estimate the hitch angle rate and compare the critical hitch angle to the articulation angle, if the processor determines the articulation angle is larger than the critical hitch angle, the processor is configured to issue a warning signal, if the, processor determines the articulation angle is smaller than the critical hitch angle, the processor is configured to receive a second signal from the hitch angle sensor. - View Dependent Claims (15, 16, 17)
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Specification