Autonomous Docking Control for Truck Speed and Torque
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Solution Overview
Problem
Current truck motion control systems face challenges in efficiently and gently positioning vehicles, such as trailers, near loading docks or coupling with kingpins, often resulting in damage due to harsh impacts or prolonged operation times.
Innovation Solution
An autonomous dock system utilizing a computer-controlled transmission system with sensing mechanisms and transponders, which calculates connection distances and autonomously ramps vehicle speed to align and connect with targets, employing triangulation techniques and adaptive control schemes to prevent damage and optimize docking procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the vehicle moves quickly to the loading dock to reduce positioning time, then productivity is improved, but the vehicle contacts the dock harshly causing damage and operator dissatisfaction
Solution Approach 1:
The transmission system dynamically adjusts gear ratios during the docking maneuver, transitioning from higher gears for faster approach to lower gears for controlled deceleration and soft contact with the dock, enabling both quick positioning and gentle contact
Solution Approach 2:
The system changes operational parameters by selecting different transmission gears at different stages of the docking process, allowing the vehicle to achieve high speed during approach while maintaining the capability for controlled, low-speed contact with the dock
2Object-affected harmful factors
If the vehicle moves slowly to the loading dock to avoid harsh contact, then impact harshness is reduced, but positioning time increases unacceptably
Solution Approach 1:
The transmission system employs periodic gear shifts during the docking sequence, using higher gears for rapid approach phases and lower gears for controlled deceleration phases, creating a rhythm of fast-slow-fast motion that reduces overall positioning time while ensuring gentle contact
Solution Approach 2:
The system performs preliminary positioning at higher speeds using appropriate gears, then transitions to lower gears for final approach and soft contact, allowing the majority of the positioning distance to be covered quickly while reserving slow, controlled motion for the critical final contact phase
3Productivity
If the tractor backs quickly to couple with the trailer, then productivity is improved, but the kingpin and latching mechanism are damaged
Solution Approach 1:
The transmission system dynamically selects gear ratios to enable rapid backing approach followed by controlled deceleration, allowing the tractor to cover the distance to the trailer quickly while ensuring gentle engagement of the kingpin with the latching mechanism
Solution Approach 2:
The system changes transmission gear parameters during the coupling maneuver, using higher gears for the approach phase to maximize speed and lower gears for the final coupling phase to minimize impact forces on the kingpin and latching mechanism
4Productivity
If the vehicle decouples from the trailer quickly, then productivity is improved, but torque transients and accelerations cause dissatisfaction
Solution Approach 1:
The transmission system uses periodic gear transitions during decoupling, alternating between higher gears for rapid movement phases and lower gears for controlled deceleration phases, reducing torque transients while maintaining overall quick decoupling
Solution Approach 2:
The system dynamically adjusts gear ratios during the decoupling maneuver to smooth torque delivery, using appropriate gear selection to minimize acceleration and deceleration shocks while maintaining efficient decoupling speed
Data Source
AI summary
An autonomous dock system for a vehicle, comprises a control system with instructions comprising steps for receiving a request to implement an autonomous dock routine. A vehicle speed and clutch position are calculated. A clutch position controller is commanded to maintain the calculated clutch position. An actual torque amount is iteratively detected as transferred across the clutch. A vehicle speed-control mechanism is commanded to maintain the calculated vehicle speed, and the actual vehicle speed is iteratively detected. When comparing the commanded vehicle speed to the detected actual vehicle speed indicates that the detected actual vehicle speed is below a speed threshold, and when the actual torque amount transferred across the clutch exceeds a torque threshold, the control system commands an increase in vehicle speed.