Trailer Dynamics Monitoring via Wheel Position and Coupler Angle
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Solution Overview
Problem
Autonomous vehicles face challenges in accurately determining trailer loading configurations, particularly in quantifying dynamics such as the center of mass and moment of inertia, which are crucial for maintaining stability and handling.
Innovation Solution
The system employs sensors like radar or LiDAR to determine the turn rate of the trailer, calculate the center of mass, and assess the moment of inertia by analyzing the position of the trailer wheels relative to the towing vehicle, using a model that accounts for the coupling angle and distance from the coupling point.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If human crew detection methods are used to identify trailer loading issues, then operational simplicity is maintained, but measurement precision and reliability of trailer dynamics quantification deteriorate
Solution Approach 1:
The patent replaces human visual inspection and manual assessment with an automated sensor system that uses cameras, LIDAR, or radar to detect trailer wheel positions and calculate dynamics parameters. The system substitutes human perception with mechanical/optical sensing devices that provide objective, quantifiable measurements of trailer loading conditions.
Solution Approach 2:
The patent introduces an intermediary computational system that processes sensor data to determine trailer dynamics parameters. Rather than directly observing the trailer, the system uses intermediate calculations based on wheel position data, coupling angle, and distance measurements to derive center of mass and moment of inertia values that feed into the control system.
2Measurement precision
If automated sensor systems are deployed to measure trailer dynamics, then measurement precision and reliability improve, but device complexity increases
Solution Approach 1:
The patent employs distance sensors that serve multiple functions: they measure the distance to trailer wheels, determine coupling angle, calculate wheelbase, and provide data for both detection and control functions. This multi-functionality reduces the need for separate dedicated sensors for each measurement, thereby limiting the increase in device complexity.
Solution Approach 2:
The system uses existing autonomous vehicle sensors (designed for other purposes) to also perform trailer dynamics measurement. The distance sensors already present on the vehicle for navigation and obstacle detection are repurposed to measure trailer wheel positions and calculate dynamics parameters, eliminating the need for additional specialized hardware.
3Reliability
If real-time trailer dynamics monitoring is implemented, then vehicle stability and safety improve, but use of energy increases
Solution Approach 1:
The patent implements opportunistic sampling where the distance sensor measures trailer wheel positions at specific intervals or under specific conditions (e.g., during turns, at loading docks, or when sway is detected) rather than continuously. This periodic measurement approach reduces energy consumption compared to continuous monitoring while still providing sufficient data for stability control.
Solution Approach 2:
The system performs trailer dynamics assessment in advance before critical instability occurs. By continuously monitoring wheel positions and calculating dynamics parameters proactively, the system can identify loading issues early and adjust vehicle operation beforehand, preventing the need for high-energy emergency corrections later.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables autonomous vehicles to accurately assess trailer loading dynamics, allowing for informed navigational actions such as speed adjustments and route planning to ensure stability and safety.
Implementation Method 1
the autonomous vehicle can include a sensor to determine a distance measurement such as a distance sensor such as a radar or Light Detection And Ranging (LiDAR) system
Implementation Method 2
a distance sensor such as a radar or Light Detection And Ranging (LiDAR) system
Implementation Method 3
The one or more processors can determine a doppler shift indicative of a speed of a wheel of the first wheel assembly from the data
Data Source
AI summary
Trailer detection is provided. An autonomous vehicle can receive, from a time of flight sensor, an indication of a position of a wheel assembly of a trailer. The vehicle can determine a rotation of a rotatable coupler. The vehicle can determine a centerline distance from the rotatable coupler to the wheel assembly.