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Estimation of trailer position relative to truck position and articulation angel between truck and trailer using electromagnetic or optical sensor

A technology for tractors and trailers, applied in the field of using electromagnetic or optical sensors to estimate the position of the trailer relative to the position of the tractor and the articulation angle between the tractor and the trailer, which can solve the problems of no public information

Pending Publication Date: 2021-02-05
WABCO GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Discloses passing this information to the control unit, however does not disclose how this information is determined

Method used

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  • Estimation of trailer position relative to truck position and articulation angel between truck and trailer using electromagnetic or optical sensor
  • Estimation of trailer position relative to truck position and articulation angel between truck and trailer using electromagnetic or optical sensor
  • Estimation of trailer position relative to truck position and articulation angel between truck and trailer using electromagnetic or optical sensor

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0042] The road train 1 comprises a tractor 2 and a trailer 4, wherein the trailer 4 is connected to the tractor 2 via a steering pin KP.

[0043] exist figure 1 In , the trailer distance d is shown, which is the distance between the steering pin of the trailer 4 and the rear axle 30 . exist figure 1 Among them, the central axis of the three rear axles is selected as the rear axle 30 . The total trailer length TL may be greater than the trailer distance d.

[0044] The idea of ​​the present disclosure is to estimate the position of the trailer 4 relative to the tractor 2 by: providing or acquiring a kinematic model 3 of the road train 1; providing or acquiring an estimated length TL of the trailer 4; measuring the relationship between the tractor 2 and the trailer 4 The position of the trailer 4 relative to the tractor 2 is determined using the kinematic model 3 , the estimated length TL and the measured articulation angle mθ. In particular, the method estimates the traile...

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PUM

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Abstract

The invention relates to a method for estimating a position of a trailer (4) relative to a truck (2) of a road train (1), the method comprising: providing or obtaining a kinematic model (3) of the road train (1); providing or obtaining a length estimation (TL) of the trailer (4); measuring an articulation angle (m0) between the truck (2) and the trailer (4); and determining a position of the trailer (4) relative to the truck (2) using the kinematic model (3), the length estimation (TL) and the measured articulation angle (m[theta], v[theta]). The invention moreover relates to a computer program and to a control unit.

Description

technical field [0001] The invention relates to a method, a computer program and a control unit for a road train for estimating the position of a trailer of a road train relative to a tractor. Background technique [0002] Knowing the position of the road train's trailer is important for steering assistance applications that assist the driver during steering maneuvers and can indicate the presence of vulnerable road users or other objects in the vicinity of the road train. [0003] In particular, when a road train performs a steering maneuver, the position and how that position changes during the maneuver is critical. The length of the trailer, or the distance between the steering pin that mounts the trailer on the towing vehicle, and the trailer's rear axle greatly affects the trailer's position. This length is also critical for the space needed to perform steering maneuvers without colliding with anything. [0004] While it is possible to determine the trailer's position...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/10B60W40/114B60W40/12B60W50/00
CPCB60W2520/22B60W40/114B60W40/10B60W40/12B60W2300/14B60W2300/145B60W2050/0031B60W2520/10B60W2420/408B60W40/105B60W2520/12B60W2520/14G01B11/26G01S7/4817G01S17/08
Inventor 考斯图伯·乔希理查德·马特伊
Owner WABCO GMBH