Combination Vehicle Articulation Angle Estimation From Yaw Rates

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Solution Overview

Problem

Existing methods for estimating articulation angles in combination vehicles, such as trucks and trailers, are inaccurate during steering changes or instability events, particularly when relying on steering wheel angle measurements.

Innovation Solution

A computer system estimates articulation angles using yaw rates, longitudinal speeds, wheelbase lengths, and coupling lengths of vehicle units, employing trigonometric models or machine learning, without requiring expensive sensors.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If steering wheel angle is used to estimate articulation angle, then the estimation is simple to obtain, but the estimation becomes inaccurate during steering changes or instability events

Engineering Contradiction:

Improveease of obtaining estimation dataVSAvoidarticulation angle estimation accuracy

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The patent changes the parameters used for articulation angle estimation from steering wheel angle to a combination of yaw rates, longitudinal speeds, wheelbase lengths, and coupling lengths. This parameter substitution resolves the contradiction by using data that remains accurate during steering changes and instability events while still being readily available from vehicle sensors.

Inventive Principle:

Principle #35Parameter changes

2Measurement precision

If expensive sensors are used to measure articulation angle, then measurement precision is improved, but device complexity and cost increase

Engineering Contradiction:

Improvearticulation angle measurement accuracyVSAvoidsensor system complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent creates a computational model that calculates articulation angle by combining data from existing vehicle sensors (yaw rate sensors, speed sensors). This copying approach uses readily available vehicle data to derive the articulation angle, eliminating the need for expensive dedicated articulation angle sensors while maintaining measurement precision.

Inventive Principle:

Principle #26Copying

Solution Approach 2:

The patent replaces potential expensive mechanical or optical sensing systems with a computational estimation model. By using trigonometric relationships and vehicle dynamics equations, the system substitutes complex physical measurement devices with mathematical calculations based on readily available sensor data.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS20250289516A1Estimating articulation angle of a combination vehicle

Publication Date: 2025.09.18 VOLVO TRUCK CORP

AI summary

A computer system comprising processing circuitry configured to estimate an articulation angle for a combination vehicle is provided. A second vehicle unit is connected to a first vehicle unit at a first coupling point forming a first articulation angle. The processing circuitry is configured to estimate the first articulation angle based on a first indication, a longitudinal speed along a first longitudinal axis of the first vehicle unit, a wheelbase length of the second vehicle unit, and a coupling length between a rear axle group of the first vehicle unit and the first coupling point. The first indication is indicative of a first yaw rate of a first vehicle unit and/or of a towing articulation angle between the first vehicle unit and a towing vehicle unit.