PROPEL LIMITING SYSTEM AND METHOD FOR REAR COLLISION AVOIDANCE

A rear collision avoidance system and method for a machine with left and right side traction devices for moving the machine. Sensors monitor obstacles around the machine. A commanded reverse path is calculated based on operator traction device commands. If an obstacle is in the commanded reverse path, the system automatically adjusts the traction device commands to avoid collision with the obstacle. A time to collision can be calculated, and the traction device commands adjusted only when it is below a threshold. Adjusting the traction device commands to avoid collision can include determining reverse propel and steer components based on the traction device commands; and if the reverse propel is greater than a propel threshold then adjusting the traction device commands to reduce reverse propel but maintain the reverse path; and if steer is greater than propel then adjusting the traction device commands to reduce reverse propel.