Dynamic Speed Limit for Reversing Vehicle Combinations
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Solution Overview
Problem
Existing reverse assistance systems for heavy vehicle combinations lack an effective method to determine a maximum speed limit, particularly during reversing maneuvers, which can impact safety, comfort, and precision, especially when handling sharp turns and varying load conditions.
Innovation Solution
A method that simulates the reversing maneuver using a control algorithm and state space model to calculate a maximum speed limit based on predefined limiting conditions such as steering actuator rate, braking capacity, and comfort limitations, allowing for dynamic speed adjustments across different sub-paths to ensure safe and precise path following.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a fixed low speed limit is imposed on the reversing vehicle combination, then safety is improved, but productivity and maneuvering efficiency deteriorate
Solution Approach 1:
The patent implements dynamic speed adjustment by calculating a maximum speed profile that varies along the reversing path based on real-time conditions. The control system continuously updates the speed limit according to the vehicle's position, path curvature, and actuator capabilities, replacing fixed speed limits with adaptive, condition-based speed regulation that optimizes both safety and efficiency
Solution Approach 2:
The system changes the speed parameter dynamically based on multiple factors including path geometry, steering actuator rate limits, and vehicle state. By adjusting the speed parameter in response to changing operational conditions rather than maintaining a constant limit, the system resolves the contradiction between safety requirements and maneuvering productivity
2Productivity
If the reversing speed is increased to improve productivity, then maneuvering efficiency is improved, but path following precision and safety deteriorate
Solution Approach 1:
The system dynamically adjusts speed based on path characteristics and vehicle state. During straight sections or gentle curves, higher speeds are permitted to improve productivity. During sharp turns or critical maneuvering phases, the speed automatically reduces to maintain path following precision, eliminating the need to maintain a consistently low speed limit
Solution Approach 2:
The speed parameter is continuously modified based on the relationship between vehicle speed, steering actuator rate, and path curvature. The control algorithm calculates optimal speed values that maintain precision during critical phases while allowing higher speeds during less demanding sections, resolving the contradiction between productivity and precision
3Productivity
If a high maximum speed is allowed during reversing, then productivity is improved, but the risk of deviation from the predefined path increases
Solution Approach 1:
The system performs preliminary simulation of the complete reversing maneuver using a state space model before execution. This simulation predicts the steering behavior and identifies critical phases where path following accuracy is most sensitive to speed variations. Based on these predictions, the system pre-calculates an optimal speed profile that maintains accuracy while maximizing productivity
Solution Approach 2:
The control system continuously monitors actual vehicle position and compares it with the predefined path during reversing. Based on this feedback and the current deviation state, the system adjusts the maximum speed limit in real-time, allowing higher speeds when tracking is accurate and reducing speeds when deviation risk increases, thus resolving the contradiction between productivity and path following reliability
Data Source
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AI summary
A method for determining a maximum speed limit for a reversing vehicle combination comprising a towing vehicle and at least one towed trailer, comprising the steps of determining a manoeuvre that is to be performed by the vehicle combination, simulating the complete manoeuvre in advance by using a control algorithm and a state space model, thereby obtaining the steering behaviour of the vehicle combination during the manoeuvre, and calculating the maximum speed limit for the vehicle combination during the manoeuvre by using at least one predefined limiting condition. The advantage of the invention is that a maximum speed limit for a reverse assistance function can be estimated in advance, which allows for a faster and more efficient reversing of the vehicle combination, and at the same time allows for an improved comfort for the driver.