Tractor-Trailer Angle Determination Using Wheel Axle Speeds
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Solution Overview
Problem
Existing methods for determining the angle between the longitudinal axes of articulated tractor-trailer combinations are complex and require specialized sensor systems, making them difficult to implement accurately and simply.
Innovation Solution
A method that calculates the angle using travel speeds and angular speeds of wheel axles or wheel axle groups, eliminating the need for special sensor systems by utilizing available data from wheel rotation speeds and steering angles, with equations such as tan(α) = (vi+1*Li,K2*ωi - vi*Li+1,K1*ωi+1) / (vi+1*vi+Li,K2*Li+1,K1*ωi+1*ωi or α = ∫(ωi+1 - ωi)dt + α0, where vi and ωi represent travel and angular speeds, and Li,K represent geometrical dimensions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If specialized sensor systems (near-field radar, ultrasonic, light, Lidar sensors, or rangefinders) are used to determine the angle between longitudinal axes of component vehicles, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The control unit utilizes wheel rotation speed data and steering angle data that are already being collected for other control purposes of the vehicle. By processing this existing data through mathematical relationships, the system determines the angle between longitudinal axes without requiring additional dedicated sensors, thus making the existing measurement infrastructure serve multiple functions
Solution Approach 2:
The control unit is designed to perform multiple functions: it processes wheel rotation speed data for speed control, steering angle data for steering control, and simultaneously uses these same data sources to calculate the angle between longitudinal axes of component vehicles. This multi-functionality eliminates the need for specialized sensor systems
2Reliability
If multiple sensors are installed on component vehicles to measure relative position and calculate angles, then measurement reliability is improved, but ease of manufacture and system simplicity deteriorate
Solution Approach 1:
The control unit utilizes wheel rotation speed data and steering angle data that are already being collected for other control purposes of the vehicle. By processing this existing data through mathematical relationships, the system determines the angle between longitudinal axes of component vehicles without requiring additional dedicated sensors, thus making the existing measurement infrastructure serve multiple functions
Solution Approach 2:
The system combines wheel rotation speed measurements and steering angle measurements into a unified calculation framework to determine the angle between longitudinal axes. This merging of multiple data sources into a single computational process simplifies the overall system while maintaining reliability through cross-validation of measurements
Data Source
AI summary
A method for determining an angle between a longitudinal axis of a first, leading component vehicle and a longitudinal axis of a second, trailing component vehicle. For at least one wheel axle or wheel axle group of the first, leading component vehicle a travel speed and/or an angular speed of the wheel axle or wheel axle group concerned is determined, and for at least one wheel axle or wheel axle group of the second, trailing component vehicle a travel speed and/or an angular speed of the wheel axle or wheel axle group concerned is determined. From the travel speeds and/or angular speeds determined for the wheel axles or wheel axle groups of the first, leading component vehicle and of the second, trailing component vehicle, the angle between the longitudinal axes of the first, leading component vehicle and the second, trailing component vehicle is then calculated.