Combination Vehicle Steering Control Using Virtual Hitch Angle Feedback
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Solution Overview
Problem
The nonlinearity between the direction of travel of a trailer and the steered angle of a tractor in combination vehicles makes it difficult to design a controller for controlling the direction of travel of the trailer.
Innovation Solution
A control device for combination vehicles that performs processes for acquiring hitch and steered angles, calculating virtual steering angles, and performing feedback control to manipulate the steered angle of the tractor based on these angles, using a proportional controller and map data to achieve accurate steering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional control methods are used for combination vehicles, then the controller design becomes complex due to nonlinearity, but the trailer direction control accuracy deteriorates
Solution Approach 1:
The patent introduces a virtual steering angle as an intermediary variable that represents the direction of travel at the connection point between tractor and trailer. This virtual angle serves as a mediator that simplifies the control relationship by providing a linear feedback signal, eliminating the need for complex nonlinear control algorithms while achieving accurate trailer direction control.
Solution Approach 2:
The patent transforms the control parameter from direct trailer angle control to virtual steering angle control. By changing the controlled parameter to a virtual representation that has a linear relationship with tractor steering input, the system achieves both simplicity and accuracy in controller design.
2Reliability
If complex nonlinear control algorithms are implemented, then control accuracy may improve, but the device complexity and specification requirements increase
Solution Approach 1:
The virtual steering angle acts as an intermediary that linearizes the control relationship, allowing simple proportional control algorithms to achieve reliable trailer direction control without requiring complex nonlinear algorithms or high-specification controllers.
Solution Approach 2:
The patent implements feedback control using the virtual steering angle as the feedback signal. This feedback mechanism provides continuous correction to maintain accurate trailer direction while using simple control logic that reduces specification requirements for the controller.
Data Source
AI summary
A control device is applied to a combination vehicle including a tractor and a trailer that is towed by the tractor. The control device is configured to perform a hitch angle variable acquisition process, a steered angle variable acquisition process, a virtual steering angle variable calculation process, a target virtual steering angle variable acquisition process, and a feedback process.