Trailer-Mounted Control Unit for Articulated Vehicle Parking
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Solution Overview
Problem
Existing methods for controlling the maneuvering of vehicle combinations, such as those with articulated couplings, are inflexible and require a single control unit in the towing vehicle, making it cumbersome to assemble and manage different towing and trailer vehicles, especially in scenarios like forwarding agencies where combinations frequently change.
Innovation Solution
A method and device where a first electronic control unit on the trailer vehicle evaluates sensor data, including environment and vehicle sensors, to determine a target trajectory, which is then transmitted to a second control unit on the towing vehicle, allowing the vehicle combination to be maneuvered independently of the towing vehicle's composition, with the towing vehicle following the specified trajectory to guide the trailer to its target position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single control unit in the towing vehicle is used to control the maneuvering, then the control system is simple in structure, but it becomes inflexible and cumbersome when assembling different towing and trailer vehicle combinations
Solution Approach 1:
The control system is segmented into two independent control units: a first control unit in the trailer vehicle and a second control unit in the towing vehicle. Each control unit independently evaluates sensor data and determines trajectory segments, allowing the system to adapt to different vehicle combinations without requiring complete system reconfiguration. This segmentation enables flexibility while maintaining manageable complexity through modular design.
Solution Approach 2:
The control units are designed with universal functionality to work with any towing and trailer vehicle combination. The first control unit in the trailer vehicle evaluates environment sensor data and determines the target trajectory independently, while the second control unit in the towing vehicle evaluates vehicle sensor data and determines the steering trajectory. This universal design allows the same control system architecture to accommodate various vehicle types and configurations.
2Measurement precision
If the control system requires complete sensor data from both towing and trailer vehicles to determine trajectory, then the trajectory accuracy is high, but the data processing complexity and communication requirements increase
Solution Approach 1:
The trajectory determination process is segmented into two independent evaluation stages performed by separate control units. The first control unit evaluates environment sensor data (camera, ultrasonic sensors) to determine the target trajectory, while the second control unit evaluates vehicle sensor data (steering angle, position) to determine the steering trajectory. This segmentation reduces communication overhead while maintaining comprehensive data evaluation for accurate trajectory determination.
Solution Approach 2:
The first control unit in the trailer vehicle acts as an intermediary that processes environment sensor data and generates the target trajectory, which is then transmitted to the second control unit. This intermediary approach allows the system to process sensor data in a distributed manner, reducing the complexity of direct communication between all sensors and the final control unit while maintaining trajectory accuracy.
Data Source
Figure 1a
Figure 1b
Figure 2a
AI summary
The method involves transmitting data of a target trajectory to an electronic control device (21) arranged at a towing vehicle (2.1) by another electronic control device (26) of a trailer vehicle (3.1). Measurement data of a towing vehicle sensor system (37) is evaluated in the former device based on dimensions and landing gear geometry of the towing vehicle. A distance-based curve of a target steering amount of steering wheels (5a, 5b) is determined during a parking procedure. A vehicle/trailer combination (1.1) is controlled during a reverse movement of the combination along the trajectory. The trailer vehicle is designed as a three-axle trailer. An independent claim is also included for a device for controlling a parking procedure of a vehicle/trailer combination.