Steering Angle Determination for Articulated Vehicle Reversing
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Solution Overview
Problem
Articulated vehicles, such as those with a tractor and trailer, require complex steering maneuvers during backing-up, especially when rear visibility is limited, as existing systems do not provide adequate assistance for aligning the vehicle with a target point, necessitating manual sequencing of steering lock and opposite lock operations.
Innovation Solution
A method to determine a setpoint angle for the steering of articulated vehicles by calculating the ideal steering angle based on the target point and vehicle geometry, using feedback control to automatically adjust the steering angle, incorporating components for curvature, angle differences, and jack-knifing prevention, allowing for optimized alignment and reduced risk of jack-knifing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the driver manually controls the steering angle during backing-up maneuvers, then the driver has full control over the maneuver, but the driver requires significant skill and experience to string together steering lock and opposite lock operations appropriately
Solution Approach 1:
The system continuously monitors the actual steering angle and compares it with the target steering angle calculated from the desired path. The difference (error signal) is fed back to a PID controller that adjusts the steering actuator accordingly, creating a closed-loop control system that automatically maintains the desired steering angle throughout the maneuver.
Solution Approach 2:
The control system automatically performs the steering adjustments without requiring manual driver intervention. The system calculates the required steering angle based on the desired path and vehicle state, then autonomously actuates the steering mechanism to achieve and maintain the target angle, making the vehicle self-steering during backing-up maneuvers.
2Manufacturing precision
If steering lock and opposite lock operations are applied sequentially to achieve the desired path, then the vehicle can follow the desired backing-up path, but the driver must precisely time and sequence these operations which is difficult without rear visibility
Solution Approach 1:
The system continuously monitors the actual steering angle and compares it with the target steering angle calculated from the desired path. The difference (error signal) is fed back to a PID controller that adjusts the steering actuator accordingly, creating a closed-loop control system that automatically maintains the desired steering angle throughout the maneuver.
Solution Approach 2:
The system pre-calculates the required steering angle sequence based on the desired path and current vehicle state. By anticipating the needed steering adjustments and applying them in the correct sequence before the vehicle reaches critical positions, the system enables precise path following without requiring the driver to manually time steering lock and opposite lock operations.
3Loss of information
If rear view mirrors are mounted on the tractor vehicle, then the tractor driver can see behind the tractor, but the driver cannot see the space behind the trailer when it is not perfectly aligned with the tractor
Solution Approach 1:
The patent replaces the mechanical mirror-based visual inspection system with an electronic control system that calculates and executes the precise steering angle sequence automatically. This substitution eliminates the need for the driver to visually monitor the path while maintaining full control over the maneuver execution.
Data Source
AI summary
The invention relates to a method for determining a set steering angle βo of steered wheels of a vehicle comprising a tractor and a trailer that is articulated with regard to the tractor. This method makes it possible to produce a set value that can be used for various purposes. This set value can thus be used for controlling an actuator acting upon the steering angle or for being communicated in order to inform the driver. According to the invention, during reversing maneuvers: based on a target point C via which the driver would like the path of the vehicle to pass, an angle set value ?c between the axes of the trailer and of the tractor is determined according to said target point C and to the dimensions of the vehicle, and; the set steering angle β of the steered wheels is determined according to a servo-system causing the measured angle ? between the axis of the trailer and the tractor to tend toward said angle set value ?c.