Heavy-Duty Vehicle Reversing Path Control With Virtual Front Wheel
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Solution Overview
Problem
Existing path following algorithms for heavy-duty vehicles face challenges in reversing maneuvers, particularly when using the rear wheel as a reference point, leading to undesired large front wheel movements, necessitating complex algorithms that increase computational burden.
Innovation Solution
A method utilizing a virtual front wheel geometry mirroring the steered front wheel about a non-steered rear wheel, establishing a control relationship to enable the reuse of forward driving path following algorithms for reversing maneuvers, allowing for simpler and more efficient control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the rear wheel is used as reference point in path following algorithm, then the algorithm can be simpler to implement, but large front wheel movements occur which is undesired
Solution Approach 1:
The patent inverts the conventional reference point from the rear wheel to the front wheel. By using the front wheel as the reference point for path following calculations, the system achieves both simplicity in algorithm implementation and control over front wheel movements, resolving the contradiction between algorithm simplicity and movement control.
2Ease of operation
If complex algorithms dedicated to reversing are used, then large front axle movement during reversal is reduced, but computational burden increases
Solution Approach 1:
The patent creates a universal path following algorithm that works for both forward driving and reversal maneuvers by using the front wheel as reference point. This single algorithm serves multiple functions (forward and reverse control) without requiring separate complex algorithms, thereby reducing computational burden while maintaining control effectiveness.
3Stability of the object's composition
If the front wheel is used as reference point in path following algorithm, then the rear axle follows desired path without large deviation, but the algorithm becomes less effective for reversing maneuvers
Solution Approach 1:
The patent introduces dynamic adaptation by detecting whether the vehicle is in forward or reverse motion and adjusting the reference point accordingly. During forward motion, the front wheel serves as reference for stable rear axle following. During reversal, the system dynamically switches to using the rear wheel as reference, enabling effective reversal control while maintaining the stability benefits of front-wheel reference during forward operation.
Data Source
AI summary
A computer implemented method controls a non-articulated heavy-duty vehicle during a reversal maneuver. The method includes obtaining a pose path indicative of a path to be followed by the vehicle and an orientation to be adhered to by the vehicle during the reversal maneuver, determining a virtual front wheel geometry of the vehicle by mirroring a steered front wheel of the vehicle about a non-steered rear wheel location on the vehicle, along a longitudinal extension direction of a wheelbase of the vehicle, where the mirrored steered front wheel corresponds to a virtual front wheel in the virtual front wheel geometry, establishing a control relationship between the virtual front wheel and the steered front wheel, such that a steered angle at the virtual front wheel corresponds to an equivalent steered angle at the steered front wheel, determining a virtual front wheel target path based on the virtual front wheel geometry of the vehicle and on the pose path, and controlling the heavy-duty vehicle by controlling the virtual front wheel to follow the virtual front wheel target path.