Radar Articulation Angle Detection for Vehicle Combinations

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Solution Overview

Problem

Existing methods for determining the articulation angle between vehicles in a combination, such as trailers and towing vehicles, are either impractical or require high implementation costs, and existing contactless scanning methods like imaging sensors are susceptible to illumination and weather conditions.

Innovation Solution

Utilizing radar sensors to ascertain articulation angles by calculating position information based on radar data, incorporating micro-Doppler information for wheel detection, and correcting the angles using vehicle combination models to enhance accuracy and robustness against environmental factors.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If imaging sensors are used to scan the vehicle surrounding environment, then the articulation angle can be determined contactlessly, but the measurement is susceptible to illumination and weather influences

Engineering Contradiction:

Improveavailability of articulation angle determinationVSAvoidillumination and weather influences

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The patent replaces optical imaging sensors with radar sensors to measure the articulation angle. Radar sensors use electromagnetic waves in the microwave range, which are not affected by illumination conditions or weather factors like rain or fog that impair optical sensors. This substitution maintains contactless measurement capability while eliminating susceptibility to environmental harmful factors.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Measurement precision

If mechanical sensors are installed in the semi-trailer coupling, then the articulation angle can be measured directly, but the sensors are exposed to wear and require additional components

Engineering Contradiction:

Improvedirect articulation angle measurementVSAvoidadditional components and wear exposure

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent replaces mechanical contact sensors in the coupling with contactless radar sensors mounted on the towing vehicle. This eliminates mechanical wear in the harsh coupling environment and reduces device complexity by utilizing existing radar infrastructure rather than adding specialized mechanical sensors to the trailer.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent leverages the existing radar sensor already installed in the towing vehicle for driver assistance functions. By repurposing this existing component to also measure articulation angle, the system avoids additional hardware costs and complexity while maintaining measurement capability.

Inventive Principle:

Principle #25Self-service

3Adaptability or versatility

If a plurality of rotation points are present (pivot plate trailers or multiple trailers), then more complex vehicle combinations can be handled, but a sensor system becomes excessively costly or impossible

Engineering Contradiction:

Improvehandling of complex vehicle combinationsVSAvoidsensor system cost and complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent creates a universal measurement system using radar that can handle multiple rotation points and various trailer configurations without requiring additional sensors. The radar-based approach provides multi-functionality, serving both existing driver assistance functions and new articulation angle measurement for complex vehicle combinations, thereby avoiding excessive cost and complexity.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Ensures high availability and accuracy in determining articulation angles, independent of illumination and weather, with minimal additional hardware requirements, leveraging existing radar systems in vehicles.

Implementation Method 1

radar data are ascertained by at least one radar sensor situated on a vehicle of the vehicle combination

Methodology Applied

Scientific EffectRadar: Radar

Implementation Method 2

the calculation of the at least one item of position information includes the determining of an item of micro-Doppler information based on the ascertained radar data

Methodology Applied

Scientific EffectDoppler effect: Doppler Effect

Data Source

PatentUS12560700B2Method and device for determining at least one articulation angle of a vehicle combination

Publication Date: 2026.02.24 ROBERT BOSCH GMBH

AI summary

A method for determining at least one articulation angle of a vehicle combination. The method includes: ascertaining of radar data by at least one radar sensor situated on a vehicle of the vehicle combination; calculating, on the basis of the ascertained radar data, at least one item of position information that relates to a vehicle position of at least one additional vehicle of the vehicle combination; and calculation of the at least one articulation angle between the vehicle and the at least one additional vehicle of the vehicle combination, using the calculated position information.