Trailer Coupling Steering Control for Turn-Induced Angle Errors
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Solution Overview
Problem
Existing vehicle coupling assistance systems face accuracy issues due to self-aligning torque and lateral forces during turns, leading to decreased coupling accuracy.
Innovation Solution
A vehicle coupling assistance system that selects between two steering angle control modes based on the angle of the trailer's coupling part relative to the vehicle's coupling part, using either synchronized or differential steering angles for the front and rear wheels to minimize steering errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If automatic steering control is used for vehicle coupling, then coupling automation is improved, but steering angle accuracy deteriorates due to self-aligning torque and lateral forces during turns
Solution Approach 1:
The system dynamically switches between first steering angle control mode (synchronized front and rear wheel steering angles) and second steering angle control mode (differentiated steering angles) based on the detected angle of the trailer coupling part. This dynamic adaptation allows the system to maintain high steering angle accuracy while achieving automated coupling, resolving the contradiction between automation extent and measurement precision.
Solution Approach 2:
The control device changes the steering angle parameters by selecting different control modes depending on the coupling angle condition. When the trailer coupling part angle indicates a turning situation, the system switches to the second control mode with differentiated steering angles to compensate for self-aligning torque and lateral force effects, thereby maintaining accuracy during automated operation.
2Adaptability or versatility
If the vehicle turns during coupling, then coupling flexibility is improved, but steering angle error increases due to self-aligning torque and lateral forces
Solution Approach 1:
The system employs dynamic mode switching between first and second steering angle control modes based on real-time detection of the trailer coupling part angle. This allows the vehicle to flexibly adapt to different coupling scenarios while maintaining steering angle precision by applying the appropriate control strategy for each situation.
Solution Approach 2:
The control device continuously detects the angle of the trailer coupling part and uses this feedback information to determine which steering angle control mode to apply. This closed-loop feedback mechanism ensures that the system maintains high precision by selecting the appropriate control mode based on actual coupling conditions, preventing excessive steering angle errors during turns.
Data Source
AI summary
Provided is a vehicle coupling assistance device which is configured to select, in accordance with a physical quantity relating to an angle of a second coupling part of a trailer with respect to a first coupling part of a vehicle, as a steering angle control mode, any one of a first steering angle control mode in which a steering angle of front wheels of the vehicle and a steering angle of rear wheels of the vehicle are controlled to achieve the same steering angle and a second steering angle control mode f in which the steering angle of the front wheels and the steering angle of the rear wheels are controlled to achieve different steering angles, and to output steering angle control commands for executing control in the selected steering angle control mode to a front-wheel steering device and a rear-wheel steering device of the vehicle.