Autonomous Steering Control for Multi-Pivot Vehicle Reversal
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Solution Overview
Problem
Multi-pivot vehicle systems, such as long combination vehicles, face challenges in stable reversal control due to sensitivity to steering adjustments, leading to unrecoverable states like jackknifing, especially during low-speed maneuvers, which increases cognitive load on drivers and complicates steering.
Innovation Solution
A vehicle control system that includes a sensor suite, a computing system with state estimation and planning modules, and optional steering axle actuators, autonomously controlling the secondary steering axle to adjust the steering angle based on vehicle state estimates, reducing the complexity of driver adjustments and minimizing sweep area during reversal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multi-pivot vehicle systems perform reversal maneuvers with traditional steering control, then the vehicle can be reversed, but the system becomes highly sensitive to steering adjustments leading to unrecoverable states like jackknifing
Solution Approach 1:
The patent replaces traditional mechanical steering control with an autonomous control system that uses sensors, computing systems, and actuators to automatically adjust the secondary steering axle. This substitution eliminates the direct connection between driver input and steering response, allowing for precise, algorithm-driven control that prevents jackknifing while simplifying driver operation to basic forward/reverse commands.
Solution Approach 2:
The system continuously monitors vehicle state through sensors and uses this feedback to dynamically adjust the secondary steering axle position. The computing system processes real-time data about vehicle orientation, speed, and pivot angles, then commands the actuator to make corrective steering adjustments that maintain stable reversal without requiring driver expertise in complex steering techniques.
2Ease of operation
If multi-pivot vehicle systems use secondary steering axle during reversal, then maneuverability is improved, but the cognitive load on drivers increases due to sensitivity to steering adjustments
Solution Approach 1:
The secondary steering axle system serves itself by automatically sensing vehicle state and adjusting its own position through the actuator. The computing system enables the steering axle to autonomously manage its own control without requiring the driver to understand or manage the complex interactions between multiple pivots and steering angles, thus improving maneuverability while reducing cognitive load.
Solution Approach 2:
The patent separates the complex steering control function from the basic reversal operation. The autonomous control system handles the complex task of coordinating the secondary steering axle with the primary steering and drive axles, while the driver only needs to provide simple forward/reverse commands. This segmentation of control responsibilities reduces device complexity from the driver's perspective while maintaining full maneuverability.
3Ease of operation
If traditional steering control is used during vehicle reversal, then driver control is maintained, but unrecoverable states like jackknifing occur due to sensitivity to steering adjustments
Solution Approach 1:
The autonomous control system acts as an intermediary between the driver's simple reversal command and the complex multi-axle steering system. Rather than the driver directly controlling each axle, the intermediary computing system translates the high-level command into coordinated control signals for the primary steering axle, secondary steering axle actuator, and drive axles, ensuring stable reversal while maintaining driver authority over the overall maneuver.
Data Source
AI summary
A method S100 can include: determining a set of inputs Silo; determining a vehicle state estimate S120; determining a vehicle command based on the vehicle state estimate S130; and optionally controlling the vehicle based on the vehicle command S140. However, the method S100 can additionally or alternatively include any other suitable elements. The method S100 functions to facilitate vehicle reversal and/or tractable vehicle control (e.g., during reversal). Additionally or alternatively, the method can function to reduce and/or eliminate unrecoverable vehicle state incidence during vehicle reversal (a.k.a., vehicle backing). Additionally or alternatively, the method can function to autonomously augment and/or assist vehicle control (e.g., during vehicle reversal).