Multi-Trailer Articulation Control via Sub-Combination Segmentation
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Solution Overview
Problem
Existing methods for assisting drivers when maneuvering motor vehicle combinations with multiple trailers are limited, as they primarily focus on controlling the articulation angle for combinations with only one trailer, failing to effectively manage the articulation angles of vehicles with multiple trailers.
Innovation Solution
A method that subdivides the vehicle combination into sub-combinations, allowing for the specification and application of a target articulation angle between towing and trailer units, using steering actuators to adjust the articulation angles across multiple trailers, with stand-alone controllers determining target angles for each sub-combination to achieve the desired overall articulation angle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing methods for controlling articulation angle are used, then control is achieved for single-trailer combinations, but control of multiple trailers cannot be managed
Solution Approach 1:
The patent divides the motor vehicle combination into multiple sub-combinations, where each sub-combination consists of a towing vehicle unit and a trailer unit. This segmentation allows the control system to handle each sub-combination independently through successive determination of target angles, making multi-trailer control manageable while maintaining systematic organization.
2Measurement precision
If the vehicle combination is subdivided into sub-combinations with successive target angle determination, then precise control of multiple trailers is achieved, but calculation complexity increases
Solution Approach 1:
The control algorithm performs preliminary determination of target angles for each sub-combination in sequence, starting from the first sub-combination and proceeding to subsequent ones. This preliminary calculation approach allows the system to pre-determine all necessary steering angles before execution, ensuring precise control while organizing the computational complexity in a structured, manageable sequence.
Data Source
AI summary
The invention relates to a method for assisting a driver in maneuvering a motor-vehicle combination (1) comprising, as vehicles, at least one tractor motor vehicle (2) and at least two trailers (3a, 3b) coupled thereto, wherein a target articulation angle (γ2) at least between two of the vehicles (3a, 3b) is externally specified and is adjusted by means of at least one steering actuator (5a, 5b) of at least one of the vehicles (2). The method comprises at least the following steps: a) dividing the motor-vehicle combination (1) into at least two sub-combinations (1a, 1b) in such a way that adjacent vehicles (2, 3a, 3b) form a sub-combination (1a, 1b) in pairs, in which sub-combination a first vehicle is used as a trailer unit (3a, 3b) and a second vehicle is used as a tractor vehicle unit (2, 3a), at least virtually; b) repeatedly determining a target angle (α, γ1, γ2) for a number of consecutive sub-combinations (1a, 1b) from a specified target articulation angle (γ1, γ2) between the tractor vehicle unit (2, 3a) and the trailer unit (3a, 3b), beginning with the sub-combination (1a) whose target articulation angle (γ2) was specified externally, wherein: —the determined target angle is adjusted as a target steering angle (α) for the tractor vehicle unit (2) of the sub-combination (1b) by means of the at least one steering actuator (5a, 5b) of the associated vehicle (2) if the tractor vehicle unit (2) has the at least one steering actuator (5a, 5b), or —the determined target angle is specified as the target articulation angle (γ1) for the next sub-combination (1b).