Trailer Backup Collision Mitigation via Hitch Angle Control
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Solution Overview
Problem
Reversing a vehicle while towing a trailer is challenging due to the need for opposite steering inputs and amplified steering errors, which can lead to jackknife conditions and potential collisions, and existing systems are complex and costly with assumptions of straight paths and require complex human-machine interfaces.
Innovation Solution
A trailer backup assist system using a camera to determine a collision angle and control the steering system to maintain a hitch angle below a maximum controllable angle, allowing for curved path navigation and preventing jackknife conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a trailer backup assist system assumes a zero curvature path (straight path), then the system complexity is reduced, but the system usefulness is significantly limited for real-world curved path use cases
Solution Approach 1:
The system dynamically adapts between simplified straight-path mode and curved-path mode based on detected conditions. The controller monitors steering input and determines when curved path navigation is required, adjusting the assistance level accordingly. This allows the system to remain simple for straightforward cases while providing advanced curved path assistance when needed.
2Measurement precision
If complex human machine interface devices and path planning algorithms are used to specify path, obstacles and goal, then path specification accuracy is improved, but the system complexity and cost increase
Solution Approach 1:
The system automatically determines the backup path and monitors obstacles without requiring complex user input. The controller uses sensors to detect the trailer position and automatically calculates the appropriate steering corrections, eliminating the need for complex HMI devices, map data, or manual path planning by the user.
Solution Approach 2:
The patent replaces complex mechanical and computational path planning systems with a simpler sensor-based detection and automatic control system. Instead of using cameras, inertial navigation, or high-precision GPS to determine path following, the system uses straightforward sensor data to directly control steering and maintain safe operation.
3Productivity
If maximum steering input is applied to correct small errors while backing, then the trailer returns to the desired path faster, but steering errors are amplified causing the trailer to depart from the desired path
Solution Approach 1:
The system continuously monitors the trailer position relative to the desired path and provides proportional steering assistance. Rather than applying maximum correction that could cause overshoot, the controller applies graduated steering input based on the detected deviation, creating a stable feedback loop that gradually guides the trailer back to the desired path without amplifying errors.
Data Source
AI summary
A backup assist system for a vehicle and trailer combination includes a vehicle steering system, a camera generating images of the trailer, and a controller. The controller processes sequential images the trailer, selects a baseline image, and determines a collision angle based on a location of a feature of the trailer in the baseline image. The controller further controls the steering system to maintain a hitch angle below a lesser of a maximum controllable angle and the collision angle.