Jackknife Suppression Control Using Predicted Hitch Angle
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Solution Overview
Problem
Existing systems cannot prevent a jackknife state from occurring before it happens, as they only detect the state after it has been reached, leaving no opportunity to take preventive measures.
Innovation Solution
A jackknife suppression device, method, and program for combined vehicles that acquire hitch and steered angles, predict potential jackknife risks, and operate hardware to prevent jackknife occurrence by limiting vehicle speed and steering adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a device only detects jackknife state after hitch angle exceeds maximum steering angle, then detection simplicity is maintained, but preventive capability is lost
Solution Approach 1:
The system performs preliminary prediction of hitch angle using current steered angle and hitch angle data before the jackknife state actually occurs. By calculating predicted hitch angle in advance and comparing it with threshold values, the system enables preventive action rather than reactive detection, resolving the contradiction between early prevention and system complexity.
Solution Approach 2:
The system dynamically adjusts the maximum steering angle threshold based on real-time conditions. When predicted jackknife risk is detected, the maximum steering angle is reduced adaptively, allowing the system to respond to changing operational conditions without requiring completely new detection infrastructure, thus balancing prevention capability with system simplicity.
2Reliability
If maximum steering angle is reduced to prevent jackknife, then jackknife risk is decreased, but vehicle maneuverability is limited
Solution Approach 1:
The maximum steering angle is dynamically adjusted based on real-time prediction of hitch angle and current operational conditions. When jackknife risk is low, normal steering angles are permitted maintaining maneuverability. When predicted risk exceeds thresholds, the system adaptively reduces maximum steering angle only as necessary, thus preventing jackknife while minimizing impact on vehicle operation.
Solution Approach 2:
The system changes the steering angle parameter adaptively based on predicted hitch angle conditions. By modifying this key operational parameter in response to predicted risk levels rather than maintaining a fixed limit, the system achieves jackknife prevention while preserving vehicle maneuverability during normal operating conditions.
3Reliability
If predictive algorithms are implemented to calculate future hitch angle, then prevention capability is enhanced, but computational requirements increase
Solution Approach 1:
The prediction algorithm uses a simplified mathematical model that calculates predicted hitch angle based on current steered angle and hitch angle data without requiring complex simulations. By applying partial action (using essential variables only) rather than exhaustive analysis, the system achieves sufficient prediction accuracy while minimizing computational energy consumption.
Solution Approach 2:
The system changes computational parameters by using readily available sensor data (steered angle, hitch angle) rather than requiring additional complex measurements or simulations. This parameter selection strategy enables effective prediction while reducing computational load and energy consumption.
Data Source
AI summary
A jackknife suppression device is configured to execute an acquisition process, a prediction process, a determination process, and a treatment process. The acquisition process is a process of acquiring a hitch angle variable and a steered angle variable. The prediction process is a process of calculating a predicted value of the hitch angle using the hitch angle variable and the steered angle variable as inputs. The determination process is a process of determining whether there is a high risk that a jackknife occurs using the predicted value and the steered angle variable as inputs. The treatment process is a process of operating predetermined hardware in order to suppress occurrence of the jackknife when it is determined that the risk is high.