A system for warning of an imminent collision between a towing vehicle (2) and a trailer (3) when reversing includes an arrangement for providing a warning signal to a driver of the vehicle dependent on an angle between a longitudinal axis of the towing vehicle (2) and a longitudinal axis of the trailer (3), when there is the threat of a collision between the towing vehicle (2) and the trailer (3) while reversing.

A trailer backup assist system for a vehicle reversing a trailer includes a sensor module adapted to attach to the trailer and generate a trailer yaw rate or a trailer speed. The trailer backup assist system also includes a vehicle sensor system that generates a vehicle yaw rate and a vehicle speed. Further, the trailer backup assist system includes a controller that estimates a hitch angle based on the trailer yaw rate or the trailer speed and the vehicle yaw rate and the vehicle speed in view of a kinematic relationship between the trailer and the vehicle.

A method for determining a trailer angle for a trailering assist system of a vehicle includes providing a rearward facing camera at a rearward portion of a vehicle and a control that processes image data captured by the camera. Responsive to processing by the processor of captured image data, a location of a portion of the trailer relative to the vehicle and a trailer angle of the trailer relative to a longitudinal axis of the vehicle are determined. During a reversing maneuver, a rearward trajectory of the trailer is determined and a graphic overlay may be generated to overlay displayed images to indicate the determined rearward trajectory. During forward travel, a degree of swing of the trailer may be determined and a threshold level of swing may be adjusted based at least in part on a speed of the vehicle and trailer and/or a load of the trailer.

A trailer sway warning system, according to one embodiment, includes a hitch angle sensor for sensing a hitch angle between a vehicle and a trailer. The trailer sway warning system includes a vehicle sensor for sensing a dynamic parameter of the vehicle, such as a steering angle rate or a yaw rate of the vehicle. Further, the trailer sway warning system includes a controller that generates a warning signal when the hitch angle is oscillating at a magnitude that exceeds a warning threshold and the dynamic parameter is substantially constant.

A trailering assist system for a vehicle includes a rearward facing camera disposed at a rearward portion of a vehicle equipped with the trailering assist system. The rearward facing camera is operable to capture image data representative of the scene rearward of the equipped vehicle. When a trailer is near and/or attached to the equipped vehicle and is rearward of the equipped vehicle, a processor is operable to process the captured image data and, responsive at least in part to such processing, is operable to determine a trailer angle of the trailer relative to a longitudinal axis of the equipped vehicle.

A jackknife prevention device installed adjacent a trailer hitch of a vehicle includes: a base plate mounted at the trailer hitch of the vehicle adjacent to a ball mount of the trailer hitch; a first arm pivotally associated with the base plate at a proximal end of the first arm, the first arm including a bumper portion located at a distal end of the first arm, the first arm movable between a first position and second position; and a second arm pivotally associated with the base plate at a proximal end of the second arm, the second arm including a bumper portion located at a distal end of the second arm, the second arm extending in a direction that is divergent from a direction of the first arm, the second arm movable between a first position and a second position. The first arm and second arm are releasably engaged with the base plate to pivot between the first and second positions.

A trailer backup assist system for a vehicle reversing a trailer includes a sensor module adapted to attach to the trailer and generate a trailer yaw rate or a trailer speed. The trailer backup assist system also includes a vehicle sensor system that generates a vehicle yaw rate and a vehicle speed. Further, the trailer backup assist system includes a controller that estimates a hitch angle based on the trailer yaw rate or the trailer speed and the vehicle yaw rate and the vehicle speed in view of a kinematic relationship between the trailer and the vehicle.

Methods and systems are provided for controlling towing of a trailer by a vehicle. Sensors are configured to at obtaining sensor data pertaining to the vehicle and the trailer. The non-transitory computer readable storage medium is configured to store parameters that include dimensions pertaining to the vehicle, the trailer, or hitching of the trailer to the vehicle via a hitch. A processor is coupled to the sensors and to the non-transitory computer readable storage medium, and is configured to at least facilitate determining when instability of the trailer is likely to occur at a future time, using the sensor data and the parameters from the non-transitory computer readable storage medium; and taking vehicle actions, in accordance with instructions provided by the processor, when it is determined that the instability of the trailer is likely to occur at the future time.

Methods and systems are provided for controlling towing of a trailer by a vehicle. Sensors are configured to at obtaining sensor data pertaining to the vehicle and the trailer. The non-transitory computer readable storage medium is configured to store parameters that include dimensions pertaining to the vehicle, the trailer, or hitching of the trailer to the vehicle via a hitch. A processor is coupled to the sensors and to the non-transitory computer readable storage medium, and is configured to at least facilitate determining when instability of the trailer is likely to occur at a future time, using the sensor data and the parameters from the non-transitory computer readable storage medium; and taking vehicle actions, in accordance with instructions provided by the processor, when it is determined that the instability of the trailer is likely to occur at the future time.

A hitch angle calculation device calculates coordinates of left and right lower ends of a trailer and hitch ball included in an image shot by a vehicle-mounted camera after calibration travel of a vehicle towing the trailer via a tow bar, transforms them to coordinates in a world coordinate system, calculates distance between the left lower end and the hitch ball and distance between the right lower end and the hitch ball, corrects the coordinate of the left lower end so that the distance between the left lower end and the hitch ball is equal to an average value, corrects the coordinate of the right lower end so that the distance between the right lower end and the hitch ball is equal to the average value, and calculates a hitch angle of the trailer based on the corrected coordinates of the left and the right lower ends.