Adaptive Vehicle Turning Model for Precise Trailer Coupling
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Solution Overview
Problem
Vehicles, especially large trucks and vans, face challenges in backing up due to poor rear visibility and the need for precise alignment when coupling with trailers, leading to frequent coupling failures and potential damage.
Innovation Solution
An integrated system using electronic control units (ECUs) with sensors like video cameras, lidar, and stereo cameras to detect trailers and adjust vehicle position, controlling throttle, clutch, braking, steering, and suspension height for autonomous backing and coupling, without requiring detailed vehicle configuration programming.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a driver manually backs up a vehicle to couple with a trailer, then the vehicle can be positioned and oriented, but poor rear visibility and non-intuitive steering make precise alignment difficult, leading to coupling failures
Solution Approach 1:
The system continuously monitors the relative position and orientation between the vehicle and trailer using sensors (cameras, lidar, ultrasonic sensors) and provides real-time feedback to the control unit. This feedback loop enables the system to detect deviations from the desired coupling position and automatically adjust vehicle parameters to achieve precise alignment, eliminating the visibility and steering intuition problems that plague manual operation.
Solution Approach 2:
The patent replaces the manual mechanical control system with an automated electronic control system. Instead of relying on the driver's visual estimation and manual steering input, the system uses electronic sensors to detect position and orientation, processes this data through a control unit, and automatically adjusts vehicle parameters (steering angle, speed, suspension height) to achieve precise coupling alignment.
2Reliability
If the vehicle uses a fixed model of turning dynamics, then the system is simpler to implement, but the model may not accurately represent the actual vehicle behavior under varying conditions, leading to coupling failures
Solution Approach 1:
The system transitions from a static, fixed turning dynamics model to a dynamic, adaptive model that continuously updates based on actual vehicle behavior. The control unit monitors the relationship between steering input and actual vehicle response, and adjusts the turning dynamics model parameters in real-time to match the vehicle's actual behavior under varying conditions (load, terrain, temperature), thereby improving coupling reliability.
Solution Approach 2:
The system performs self-calibration by automatically updating its own turning dynamics model based on observed vehicle behavior during operation. The control unit uses the sensor data and control inputs to refine the model parameters without requiring external intervention or manual reconfiguration, enabling the system to adapt to its specific vehicle characteristics and improve performance over time.
3Adaptability or versatility
If the vehicle parameters are manually configured and programmed, then the system is easier to set up, but any changes in vehicle configuration require reprogramming, reducing adaptability
Solution Approach 1:
The system automatically determines and configures its own vehicle parameters by monitoring the relationship between control inputs and actual vehicle response during operation. The control unit uses sensor data to identify vehicle-specific characteristics (wheelbase, turning radius, suspension behavior) and configures the turning dynamics model accordingly, eliminating the need for manual configuration and enabling automatic adaptation to different vehicle setups.
Solution Approach 2:
The system uses feedback from sensors monitoring vehicle state and sensor data about the environment to automatically adjust and configure vehicle parameters. The control unit continuously compares expected vehicle behavior based on the model with actual observed behavior and refines the configuration accordingly, enabling the system to adapt to different vehicle configurations without manual reprogramming.
Data Source
AI summary
In some embodiments, techniques for updating a model that represents turning dynamics of a vehicle are provided. In some embodiments, an initial location and orientation of the vehicle with respect to an object outside the vehicle are determined using information from environment sensors including but not limited to image sensors and/or range sensors. In some embodiments, vehicle state information including but not limited to steering angle and wheel speed is received before determining a new location and orientation of the vehicle with respect to the object. In some embodiments, the model is updated using the initial location and orientation, the new location and orientation, and the vehicle state information.