Patent ID: 11858492
Assignee: VOLVO TRUCK CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 6:
7. The method of claim 1, further comprising issuing a warning signal, by the control unit, when the following condition is fulfilled:, ❘
    "\[LeftBracketingBar]"
   
   
    ϕ
    +
    
     
      ϕ
      ˙
     
     (
     
      
       
        v
        x
       
       
        a
        x
       
      
      +
      
       t
       reac
      
     
     )
    
    +
    
     
      
       
        ϕ
        ¨
       
       (
       
        
         
          v
          x
         
         
          a
          x
         
        
        +
        
         t
         reac
        
       
       )
      
      2
     
     /
     2
    
   
   
    ❘
    "\[RightBracketingBar]"
   
  
  >
  
   ϕ
   lim, wherein vx corresponds to the reversing speed, ax corresponds to the achievable acceleration rate of the vehicle combination's braking system, Φ corresponds to the articulation angle, ϕ corresponds to the first order time derivative of the articulation angle, ϕ corresponds to the second order time derivative of the articulation angle, treac corresponds to an estimated driver reaction time from the warning signal is issued until a braking action has been initiated by the driver and Φlim corresponds to the maximum safe articulation angle.