Radar Ground-Speed Sensing With Wheel Slip Adjustment
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Solution Overview
Problem
There is a continuing need for reliable and cost-effective methods to determine vehicle speed over ground for heavy-duty vehicles, especially in challenging environments where GPS accuracy is compromised.
Innovation Solution
A Vehicle Motion Management (VMM) system that includes a radar module to determine speed over ground, a motion estimation function to estimate vehicle motion state, and an MSD coordination function to coordinate actuation of motion support devices based on vehicle motion requests and states, with the ability to reduce wheel slip set-points if radar performance metrics do not meet predetermined criteria.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If GPS receiver is used to determine vehicle speed over ground, then cost-effectiveness is improved, but reliability deteriorates in challenging environments such as low friction conditions and during maneuvering involving large wheel forces
Solution Approach 1:
The patent introduces radar as an intermediary measurement system to determine vehicle speed over ground when GPS becomes unreliable. The radar module provides an alternative measurement path that works independently of satellite signals, ensuring continuous reliable speed determination in challenging environments where GPS fails.
Solution Approach 2:
The system dynamically changes the measurement parameter source based on operating conditions. It switches between GPS-based speed determination and radar-based speed determination depending on which system provides reliable measurements, adapting to environmental conditions such as low friction surfaces and high wheel force maneuvers.
2Reliability
If radar module is used to determine vehicle speed over ground, then reliability is improved, but device complexity increases
Solution Approach 1:
The system implements dynamic configuration where the radar module and its associated processing functions are activated only when needed. The MSD coordination function dynamically adjusts wheel slip set-points based on radar performance metrics, enabling the system to adapt its complexity level to operational requirements rather than maintaining fixed high complexity.
Solution Approach 2:
The radar module serves multiple functions: it determines vehicle speed over ground, provides performance metrics for system monitoring, and enables reliable speed measurement in conditions where GPS fails. This multi-functionality justifies the added complexity by providing comprehensive speed determination capabilities across all operating conditions.
3Measurement precision
If wheel slip set-point is reduced to compensate for poor radar performance, then accuracy of speed determination is improved, but vehicle motion performance deteriorates
Solution Approach 1:
The system applies partial wheel slip reduction only to the extent necessary to improve speed determination accuracy. Instead of completely eliminating wheel slip, it reduces the set-point to a level that provides sufficient accuracy for radar-based speed measurement while maintaining adequate vehicle motion performance. The MSD coordination function optimizes this balance based on current operational requirements.
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
The system ensures accurate and reliable vehicle speed determination and motion management by compensating for radar performance issues through wheel slip reduction, thereby minimizing the impact on overall vehicle motion.
Implementation Method 1
at least one radar module configured to determine a speed over ground of the heavy-duty vehicle
Data Source
AI summary
A vehicle motion management, VMM, system for a heavy-duty vehicle has at least one radar module configured to determine a speed over ground of the heavy-duty vehicle, a motion estimation function configured to estimate a vehicle motion state based at least in part on the speed over ground, and a motion support device, MSD, coordination function configured to coordinate actuation of a plurality of MSDs of the heavy-duty vehicle in dependence of a vehicle motion request and the vehicle motion state. The radar module outputs a radar performance metric to the MSD coordination function indicative of an accuracy of the determined speed over ground. The MSD coordination function reduces a wheel slip set-point of one or more wheels of the heavy-duty vehicle in case the radar performance metric does not meet a pre-determined acceptance criterion.