Jackknife condition for backing up of a vehicle attached to a long wheelbase dual axle trailers

A non-transitory computer readable medium configured to store instructions for assisting a driver in a reverse drive maneuver of a trailer, the instructions when executed by a processor cause the processor to:

• receive an operator-controlled vehicle steering able for steering a vehicle during the reverse drive maneuver;
• receive a hitch angle representing an angle between the vehicle and a trailer at a hitch angle wherein the trailer is coupled to the vehicle at the hitch, the vehicle having a front axle with steerable front wheels and a rear axle with non-steerable rear wheels, and the trailer having a rear axle with steerable rear wheels and a front axle with non-steerable front wheels;
• determine a directional jackknife warning condition based on the received vehicle steering angle, the directional jackknife warning condition representing a condition of the hitch angle at which, if the vehicle steering angle is maintained, no allowable steering angle can be determined that will reduce the hitch angle between the vehicle and the trailer if the vehicle drives in reverse;
• and
• responsive to the hitch angle satisfying the directional jackknife warning condition, notify the driver.

A controller configured for assisting a driver in a reverse drive maneuver of a trailer, the controller comprising:

• a processor;
• and
• a non-transitory computer readable medium configured to store instructions, the instructions when executed by the processor cause the processor to:
• receive an operator-controlled vehicle steering able for steering a vehicle during the reverse drive maneuver;
• receive a hitch angle representing an angle between the vehicle and a trailer at a hitch angle wherein the trailer is coupled to the vehicle at the hitch, the vehicle having a front axle with steerable front wheels and a rear axle with non-steerable rear wheels, and the trailer having a rear axle with steerable rear wheels and a front axle with non-steerable front wheels;
• determine a directional jackknife warning condition based on the received vehicle steering angle, the directional jackknife warning condition representing a condition of the hitch angle at which, if the vehicle steering angle is maintained, no allowable steering angle can be determined that will reduce the hitch angle between the vehicle and the trailer if the vehicle drives in reverse;
• and
• responsive to the hitch angle satisfying the directional jackknife warning condition, notify the driver.