Road Train Steering Control for Stable Single-Track Reversing

Solution Overview

Problem

Existing road train systems lack sufficient stability and single-track behavior, particularly when reversing, due to inadequate control of follower vehicle steering axles, which results in deviations during direction changes and increased driver effort.

Innovation Solution

A motorized road train with a lead vehicle and follower vehicles equipped with CAN communication links, electric assisted steering systems, orientation sensors, and angular hitching sensors, using kinematic control laws to optimize the angular orientation of follower vehicle steering axles based on lead vehicle wheel angles and hitching orientations, ensuring a single-track trajectory.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Device complexity

If follower vehicle steering axles are controlled only based on lateral forces at the coupling, then the system structure is simple, but the train lacks sufficient stability and single-track behavior

Engineering Contradiction:

Improvecontrol system structureVSAvoidtrain stability

Core Design Contradiction:

Device complexityVSStability of the object's composition

Solution Approach 1:

The patent implements feedback control by using sensors to detect the actual position and orientation of follower vehicles and hitching points, then comparing these measurements with desired trajectories. The control system continuously adjusts steering angles based on position errors to maintain single-track behavior and stability during train operation.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent replaces purely mechanical force-based steering control with an electro-mechanical control system that uses electronic sensors, microprocessors, and actuators. This substitution enables precise measurement of positions and orientations, complex kinematic calculations, and accurate control of steering axles to achieve better stability and single-track behavior.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Device complexity

If follower vehicle steering axles are controlled only based on lateral forces at the coupling, then the control system is simple, but the train exhibits insufficient single-track behavior

Engineering Contradiction:

Improvecontrol system structureVSAvoidtrajectory precision

Core Design Contradiction:

Device complexityVSManufacturing precision

Solution Approach 1:

The patent implements feedback control by using sensors to detect the actual position and orientation of follower vehicles and hitching points, then comparing these measurements with desired trajectories. The control system continuously adjusts steering angles based on position errors to maintain single-track behavior and stability during train operation.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent replaces purely mechanical force-based steering control with an electro-mechanical control system that uses electronic sensors, microprocessors, and actuators. This substitution enables precise measurement of positions and orientations, complex kinematic calculations, and accurate control of steering axles to achieve better stability and single-track behavior.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Device complexity

If the train uses traditional steering control without kinematic control laws, then the system is simpler to implement, but reversing maneuvers are inadequate and require a control station

Engineering Contradiction:

Improvecontrol system structureVSAvoidreversing maneuver capability

Core Design Contradiction:

Device complexityVSEase of operation

Solution Approach 1:

The patent replaces purely mechanical force-based steering control with an electro-mechanical control system that uses electronic sensors, microprocessors, and actuators. This substitution enables precise measurement of positions and orientations, complex kinematic calculations, and accurate control of steering axles to achieve better stability and single-track behavior.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent implements dynamic control laws that adapt steering commands based on real-time train configuration, speed, and desired trajectory. The control system calculates optimal steering angles for follower vehicles considering the dynamic kinematic constraints of the articulated train, enabling smooth and accurate reversing maneuvers without requiring a control station.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS20250010914A1Train of vehicles and steering control system for such a train

Publication Date: 2025.01.09 LOHR IND

AI summary

A motorized road train includes a lead vehicle and at least one follower vehicle which are hitched to one another, and a CAN communication link linking the vehicles in the train. Each of the vehicles includes a rear axle, a front, steering axle, and electric steering control system including a steering rack, an actuator which acts on the angular orientation of the front, steering axle and a controller which drives the actuator. The controllers of the vehicles are parameterized to generate angular orientation instructions for the front, steering axle of the or each follower vehicle. Each of the vehicles is equipped both with an orientation sensor for determining the angle of the wheels of the front, steering axle and with an angular hitching sensor for determining the yaw angular orientation of the hitch relative to the chassis of the vehicle.