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

摘要

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.

主权项

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.