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

• US 8,825,328 B2
• Filed: 04/10/2012
• Issued: 09/02/2014
• Est. Priority Date: 04/19/2011
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company), University of Michigan
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company), Board of Regents of the University of Michigan (University of Michigan)
• Inventors: Rupp, Matt Y., Shim, Taehyun, Smit, David Dean, Lavoie, Erick Michael, Trombley, Roger Amold, Pilutti, Thomas Edward
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): SMITH-STEWART, DEMETRA R
• Application Number:
  US13/443,743
• Publication Number:
  US 20120271512A1
• Time in Patent Office: 875 Days
• Field of Search: None
• US Class Current: 701/70
• 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 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.

Claims

1. A method for preventing a jackknife condition between a vehicle having a data processing device and a trailer towed by the vehicle, 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 detecting the imminent jackknife condition during backing of the trailer by the vehicle, implementing the jackknife counter-measure includes at least one of reducing a speed of the vehicle, increasing a radius of a curvature of a path of the trailer, and inhibiting a decrease in the radius of the curvature of the path of the trailer.

2. The method of claim 1 wherein:

the jackknife information includes an accelerator pedal transient value, a hitch angle value, a hitch angle rate, vehicle velocity, vehicle acceleration, trailer yaw rate and a trailer path curvature value;

the jackknife condition threshold being met includes the accelerator pedal transient value, the hitch angle value, hitch angle rate, vehicle velocity, vehicle acceleration, trailer yaw rate and the trailer path curvature value simultaneously meeting respective threshold values; and

wherein implementing the jackknife counter-measure includes to at least one of reducing a speed of the vehicle, increasing a radius of a curvature of a path of the trailer, and inhibiting a decrease in the radius of the curvature of the path of the trailer.

3. The method of claim 2 wherein implementing the jackknife counter-measure includes restricting powertrain torque to driven wheels of the vehicle.

4. The method of claim 1 wherein:

the jackknife information includes a vehicle speed value and a trailer path curvature value;

a jackknife condition threshold being met includes the vehicle speed value and the trailer path curvature value simultaneously meeting respective threshold values; and

implementing the jackknife counter-measure includes at least one of reducing a speed of the vehicle, increasing a radius of a curvature of a path of the trailer, and inhibiting a decrease in the radius of the curvature of the path of the trailer.

5. The method of claim 4 wherein implementing the jackknife counter-measure includes restricting powertrain torque to driven wheels of the vehicle.

6. A trailer backup control 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 jackknife condition detector; and

a jackknife counter-measure controller configured for altering at least one vehicle operating parameter when a jackknife condition is imminent during backing of the trailer by the vehicle, altering at least one vehicle operating parameters includes at least one of reducing a speed of the vehicle, increasing a radius of a curvature of a path of the trailer, and inhibiting a decrease in the radius of the curvature of the path of the trailer.

7. The trailer backup control system of claim 6 wherein:

the jackknife counter-measure controller causes a restriction of powertrain torque available to driven wheels of the vehicle in response to altering the setting of the at least one vehicle operating parameter; and

the jackknife counter-measure controller altering the setting of the at least one vehicle operating parameter further includes causing at least one of a speed of the vehicle to be reduced, a radius of a curvature of a path of the trailer to be increased, and a decrease in the radius of the curvature of the path of the trailer to be inhibited.

8. The trailer backup control system of claim 6 wherein:

the jackknife condition has been attained when as jackknife condition threshold has been met, the jackknife condition threshold includes an accelerator pedal transient value, a hitch angle value, and a trailer path curvature value simultaneously meeting respective threshold values; and

the jackknife counter-measure controller altering the setting of the at least one vehicle operating parameter includes at least one of reducing a speed of the vehicle, increasing as radius of a curvature of a path of the trailer, and inhibiting a decrease in the radius of the curvature of the path of the trailer.

9. The trailer backup control system of claim 6 wherein:

the jackknife condition has been attained when a jackknife condition threshold has been met, the jackknife condition threshold further includes a vehicle speed value and a trailer path curvature value simultaneously meeting respective threshold values; and

the jackknife counter-measure controller altering the setting of the at least one vehicle operating parameter further includes at least one of reducing a speed of the vehicle, increasing a radius of a curvature of a path of the trailer, inhibiting a decrease in the radius of the curvature of the path of the trailer.

10. An electronic control system having at least one data processing device and a set of instructions to carry out operations for:

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 detecting the imminent jackknife condition during backing of the trailer by the vehicle, wherein implementing the jackknife counter-measure includes at least one of reducing a speed of the vehicle, increasing a radius of a curvature of a path of the trailer, and inhibiting a decrease in the radius of the curvature of the path of the trailer.

11. The electronic control system of claim 10 wherein:

the jackknife information includes an accelerator pedal transient value, a hitch angle value, a hitch angle rate, a vehicle speed, a vehicle longitudinal acceleration, a trailer yaw rate and a trailer path curvature value;

the jackknife condition threshold being met includes the accelerator pedal transient value, the hitch angle value, the hitch angle rate, the vehicle speed, the vehicle longitudinal acceleration, the trailer yaw rate and the trailer path curvature value simultaneously meeting respective threshold values; and

wherein implementing the jackknife counter-measure includes reducing a speed of the vehicle, increasing a radius of a curvature of a path of the trailer, and inhibiting a decrease in the radius of the curvature of the path of the trailer.

12. The electronic control system of claim 10 wherein:

the jackknife information includes a vehicle speed value and a trailer path curvature value;

the jackknife condition threshold being met includes the vehicle speed value and the trailer path curvature value simultaneously meeting respective threshold values; and

wherein implementing the jackknife counter-measure includes reducing a speed of the vehicle, increasing a radius of a curvature of a path of the trailer, and inhibiting a decrease in the radius of the curvature of the path of the trailer.