Articulated Vehicle Steering Control Using Trailer Orientation

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Solution Overview

Problem

Existing driver assistance models for articulated vehicles face challenges in maneuverability and stability, particularly at low speeds, and require high processing capacity, which is inefficient and not suitable for all driving conditions.

Innovation Solution

A method for steering an articulated vehicle that determines the position and orientation of the tractor and trailer relative to the road, adjusting steering based on current input parameters like trailer orientation and angular velocity, reducing the need for predictive control and processing capacity, using object sensors and simple proportional regulation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If a two-stage preview model with predictive control is used for steering, then tracking performance is improved, but processing capacity requirements increase significantly

Engineering Contradiction:

Improvetracking performanceVSAvoidprocessing capacity

Core Design Contradiction:

Measurement precisionVSPower

Solution Approach 1:

The patent extracts only the essential current state parameters (tractor position, trailer orientation, angular velocity) from the complex predictive model, eliminating the need for repetitive trajectory calculations while maintaining adequate steering control

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

Instead of predicting future positions and working forward as in traditional models, the patent uses current measured parameters directly to determine steering adjustments, inverting the computational approach from predictive to reactive based on real-time sensor data

Inventive Principle:

Principle #13The other way round (Inversion)

2Measurement precision

If complex predictive control calculations are performed, then steering accuracy is improved, but device complexity increases

Engineering Contradiction:

Improvesteering accuracyVSAvoidcontrol unit complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent replaces complex, expensive predictive control algorithms with simple, computationally inexpensive calculations based on current sensor measurements, sacrificing long-term predictive accuracy for immediate responsiveness and reduced complexity

Inventive Principle:

Principle #27Cheap short-living objects (Disposable)

Solution Approach 2:

The control system uses its own current state measurements (position, orientation, angular velocity) directly to determine steering adjustments, eliminating the need for external predictive models and complex calculations

Inventive Principle:

Principle #25Self-service

3Ease of operation

If traditional driver assistance models are used, then maneuverability is maintained, but lateral distance offset increases at low speeds

Engineering Contradiction:

ImprovemaneuverabilityVSAvoidlateral distance offset

Core Design Contradiction:

Ease of operationVSManufacturing precision

Solution Approach 1:

The patent applies different control considerations to different operational conditions, specifically addressing low-speed cornering by using trailer orientation and angular velocity parameters that are particularly effective for maintaining lateral position at low speeds while preserving overall maneuverability

Inventive Principle:

Principle #3Local quality

Data Source

PatentUS11840275B2Method for steering an articulated vehicle

Publication Date: 2023.12.12 VOLVO AUTONOMOUS SOLUTIONS AB

AI summary

A method for steering an articulated vehicle traveling on a road, the vehicle comprising a tractor and a trailer, the method comprising determining a position of the tractor in relation to the road, and adjusting the steering in dependence on the determined tractor position. The method further comprises determining an orientation of the trailer in relation to the road, and/or an angular velocity of the trailer in relation to the road, and adjusting the steering in dependence on the determined trailer orientation and/or the determined angular velocity.