Trailer Articulation Angle Estimation for Jack-Knife-Safe Reversing
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Solution Overview
Problem
Reversing a vehicle combination with a towing vehicle and trailer is challenging due to the risk of jack-knifing, where the articulation angle between connected members can lead to a collision, and existing systems lack flexibility in adapting to varying trailer dimensions and proportions.
Innovation Solution
A method that estimates and updates the maximum safe articulation angle during forward driving, using signals from angle sensors, cameras, or GPS, to prevent jack-knifing by adjusting the articulation angle limit for reversing operations, allowing for increased flexibility and safety without requiring knowledge of the vehicle combination's dimensions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a preset maximum safe articulation angle is used for reversing operations, then the risk of jack-knifing is reduced, but the flexibility to handle different trailer dimensions and proportions is limited
Solution Approach 1:
The maximum safe articulation angle is no longer a fixed preset value but is dynamically determined based on actual vehicle combination parameters. The system calculates the articulation angle limit in real-time considering the specific dimensions and proportions of the connected trailer, allowing the safety parameter to adapt to different vehicle combinations while maintaining jack-knifing prevention
Solution Approach 2:
The system changes the parameter of maximum safe articulation angle from a static preset value to a dynamic calculated value based on vehicle combination characteristics. By using sensors to detect actual dimensions and proportions, the system adjusts the articulation angle parameter to match each specific trailer configuration, resolving the contradiction between safety and adaptability
2Reliability
If a large safety margin is maintained before reaching the jack-knifing condition, then the risk of collision is reduced, but the efficiency of reversing operations decreases
Solution Approach 1:
The system continuously monitors the actual articulation angle during reversing operations using sensors and compares it against the dynamically calculated maximum safe articulation angle. This feedback mechanism allows the system to maintain an optimized safety margin rather than a conservative fixed margin, improving reversing efficiency while ensuring collision prevention through real-time angle verification
Solution Approach 2:
The safety margin is dynamically adjusted based on real-time vehicle combination parameters and actual articulation angle measurements. Rather than maintaining a fixed large safety margin, the system calculates the precise safe limit for each situation, allowing more efficient reversing operations while maintaining adequate collision prevention
Data Source
AI summary
The disclosure relates to a method for estimating a maximum safe articulation angle (Φlim) to be used in reversing of a vehicle combination (1) comprising a towing vehicle (10) and at least one trailer (20), said method comprising: S1) providing a preset maximum safe articulation angle (Φlim) for the towing vehicle (10) or the vehicle combination (1), S2) receiving a signal being indicative of an articulation angle (Φ) of the vehicle combination (1) during forward driving of the vehicle combination (1), and S3) updating the maximum safe articulation angle (Φlim) when the articulation angle (Φ) of the vehicle combination (1) during forward driving is larger than the preset maximum safe articulation angle (Φlim). The disclosure also relates to a method for reversing a vehicle combination (10), to a control unit (11), to a towing vehicle (10), to a computer program and to a computer readable medium.