The Effect of Sideslip on Jackknife Limits during Low Speed Trailer Operation

Jackknifing refers to the serious situation where a vehicle-trailer system enters jackknife state and vehicle trailer eventually collide if operation is not corrected. This paper considers low speed maneuvering typical of backing. Jackknife limits can vary due sideslip caused by physical interaction between vehicle, trailer, environment. Analysis kinematic model at wheels. Results indicate that systems should be divided into three categories based on ratio hitch length tongue length, each with distinct behaviors. The Long Trailer category may have no jackknifing while other two always states leading jackknifing. It found limits, which are boundaries recoverable regions, safe unsafe limits. latter must avoided. Simulations experiments support these results provide insight about implications slip lead also demonstrate benefit considering new slip-based in backing control.