Platooning Controller Hitch Angle Braking Control
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Solution Overview
Problem
During platooning, the weak braking force of trailers can lead to a jackknife phenomenon when the hitch angle exceeds a certain threshold, affecting steering control of following vehicles.
Innovation Solution
A platooning controller that uses steering angle control and differential braking to reduce the hitch angle of trailers before braking, ensuring the hitch and heading angles meet predetermined reference angles to prevent jackknife occurrences.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If braking control is performed when the hitch angle is large, then the braking response is fast, but the jackknife phenomenon occurs
Solution Approach 1:
The system performs preliminary hitch angle reduction control before executing braking control. When the hitch angle exceeds the reference angle, the controller first adjusts the steering angle and applies differential braking to reduce the hitch angle to below the reference angle, then proceeds with normal braking control. This preliminary action ensures that braking can be performed safely without causing jackknife phenomenon.
2Reliability
If the hitch angle is reduced before braking, then the jackknife phenomenon is prevented, but the braking time is delayed
Solution Approach 1:
The system dynamically adjusts the hitch angle control strategy based on the current hitch angle magnitude. When the hitch angle is moderately large (greater than reference angle), preliminary reduction control is performed. When the hitch angle is extremely large (greater than predetermined angle), the system prioritizes immediate braking control to prevent more severe jackknife phenomenon, accepting higher risk in exchange for faster response. This dynamic adjustment optimizes the balance between safety and response time.
3Manufacturing precision
If steering angle control and differential braking are applied, then the hitch angle is reduced effectively, but the control complexity increases
Solution Approach 1:
The system continuously monitors the hitch angle through sensors and uses this feedback to adjust the steering angle and braking force. The controller calculates the difference between the current hitch angle and the reference angle, then applies appropriate steering and differential braking corrections. This closed-loop feedback control achieves precise hitch angle management while using standard vehicle control systems.
Data Source
AI summary
A platooning controller, a vehicle system including the same, and a method thereof perform braking control based on a hitch angle. The platooning controller includes a processor that controls platooning of one or more vehicles, each with a trailer, and includes a storage storing information for controlling the platooning. The processor controls a host vehicle such that a hitch angle of the host vehicle with the trailer meets a predetermined reference angle, when it is necessary to perform braking control, and controls the host vehicle to perform the braking control.