Radar Speed Sensing With Slip Setpoint Control for Heavy Vehicles
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Solution Overview
Problem
Existing methods for determining vehicle speed over ground in heavy-duty vehicles are unreliable and costly, particularly in challenging environments, and do not effectively integrate wheel slip-based control with actuator control for efficient motion management.
Innovation Solution
A VMM system using a radar module to determine speed over ground, with a motion estimation function and an MSD coordination function that adjusts wheel slip set-points based on radar performance metrics to ensure accurate speed estimation, reallocating forces among MSDs to maintain vehicle motion control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If GPS signal is used for vehicle speed measurement, then speed data can be obtained, but the signal is unreliable in urban canyons and tunnels
Solution Approach 1:
The patent introduces an intermediary system consisting of road side units (RSUs) and路测设备 that act as mediators between the vehicle and the speed measurement function. When GPS signals are unavailable or unreliable, the vehicle's on-board sensors communicate with RSUs along the road, which provide reference measurements and enable speed calculation through cooperative processing, thus maintaining measurement precision without direct GPS dependency
Solution Approach 2:
The system implements multi-functionality by enabling the speed measurement system to operate through multiple modes: GPS-based measurement when available, RSU-cooperative measurement when GPS is unreliable, and sensor-fusion estimation as a fallback. This universal approach ensures reliable speed measurement across diverse environmental conditions including urban canyons and tunnels where traditional GPS fails
2Reliability
If multiple sensors are integrated for speed determination, then measurement reliability improves, but device complexity increases
Solution Approach 1:
The system dynamically adjusts its operational mode and sensor activation based on GPS signal quality and environmental conditions. The control unit selectively engages different sensor subsets and processing algorithms according to current requirements, rather than maintaining a permanently complex system. This dynamic adaptation reduces average complexity while preserving reliability when needed
Solution Approach 2:
The patent segments the speed measurement function into multiple independent modules: GPS processing module, on-board sensor module, RSU communication module, and data fusion module. Each module can operate independently or in combination, allowing the system to achieve high reliability through modular redundancy without requiring all components to be simultaneously active, thus managing complexity through functional segmentation
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 provides reliable and cost-effective speed over ground determination, minimizing latency and improving vehicle motion management by compensating for radar performance issues with wheel slip adjustments, ensuring accurate motion estimation and reduced impact on vehicle operation.
Implementation Method 1
determining, with the sensor system, a vehicle speed over ground based on the sensor data
Data Source
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AI summary
A vehicle motion management, VMM, system for a heavy-duty vehicle, the system comprising 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, where the radar module is arranged to output a radar performance metric to the MSD coordination function indicative of an accuracy of the determined speed over ground,where the MSD coordination function is arranged to reduce 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.