Trailer Articulation Angle Detection Using Steering Data
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Solution Overview
Problem
Reversing with a trailer, especially with an unknown trailer, is challenging due to the lack of essential information such as the drawbar length, which affects the dynamics and articulation angle between the motor vehicle and the trailer, and existing detection devices typically provide only relative changes in articulation angle, requiring a training phase to obtain an absolute angle.
Innovation Solution
A method that detects steering angle information at stable states, calculates the relative articulation angle, and uses predefined vehicle geometry data to determine the drawbar length and absolute articulation angle, enabling immediate support for the driver through information output or driving interventions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a training phase is used to obtain absolute articulation angle, then measurement precision is improved, but loss of time increases
Solution Approach 1:
The system performs preliminary actions by detecting multiple steering angle values at different detection times and using these to calculate the drawbar length before absolute articulation angle measurement is needed. This preliminary characterization of the trailer enables immediate absolute angle calculation without requiring a separate training phase.
Solution Approach 2:
The detection device uses its own measured data (steering angle changes at different times) to automatically determine the drawbar length and enable absolute articulation angle measurement. The system serves itself by extracting the necessary geometric parameter from its operational data rather than requiring external calibration or training procedures.
2Measurement precision
If drawbar length is entered manually, then measurement precision is improved, but ease of operation deteriorates
Solution Approach 1:
The system automatically determines the drawbar length using its own detection device measurements of steering angle at different detection times. The trailer itself provides the information needed for characterization through its dynamic behavior during normal operation, eliminating the need for manual entry while maintaining precise measurement.
Solution Approach 2:
The manual mechanical input process is replaced by an automated sensor-based detection system that measures steering angle changes and calculates drawbar length through electronic processing. This substitution eliminates manual operation while preserving measurement accuracy.
3Device complexity
If relative articulation angle changes are detected, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
The system performs preliminary detection of steering angle changes at multiple detection times to calculate the drawbar length. This preliminary action with the simpler relative angle sensor enables the subsequent calculation of absolute articulation angle, effectively using the simple sensor data to achieve precise measurement through computational processing.
Data Source
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AI summary
A method for operating a driver assistance system in a motor vehicle, wherein the motor vehicle has a detection device for detecting articulation angle changes between a trailer of the motor vehicle and the motor vehicle, comprising the steps of: a) initiating the detection of articulation angle changes, b) acquiring a first steering angle information describing a steering angle of the motor vehicle by a steering angle detection device at a first detection time at which a stability condition evaluating an articulation angle change is satisfied, c) acquiring a second steering angle information at a second detection time at which the stability condition is satisfied, d) determining a relative articulation angle value as the sum of the articulation angle changes between the first and the second detection time.e) Calculating a drawbar length value for the trailer and/or an absolute articulation angle value at the first and/or second detection time depending on the first steering angle information, the second steering angle information, the relative articulation angle value and specified vehicle geometry data, and f) Controlling a driving intervention and/or outputting information depending on the calculated drawbar length value and/or the calculated absolute articulation angle value.