Autonomous Trailer Dynamics Assessment via Sensor Fusion

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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

VSEngineering 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 data deteriorate

Engineering Contradiction:

Improveoperational simplicityVSAvoidtrailer dynamics quantification

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The patent replaces human visual inspection and manual assessment with automated sensor systems (cameras, LiDAR, radar) and computational models that objectively measure trailer dynamics parameters such as center of mass position, moment of inertia, and sway characteristics, thereby achieving precise quantitative data without compromising operational simplicity

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The system enables the autonomous vehicle to self-assess its trailer loading configuration by automatically collecting sensor data, processing it through dynamics models, and generating loading assessments without requiring human intervention, thus maintaining ease of operation while improving measurement precision

Inventive Principle:

Principle #25Self-service

2Measurement precision

If automated sensor systems are deployed to measure trailer dynamics, then measurement precision improves, but device complexity increases

Engineering Contradiction:

Improvetrailer dynamics quantificationVSAvoidsensor and processing system complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent employs multi-functional sensor systems that serve multiple purposes: the same sensors used for primary autonomous navigation and obstacle detection are also utilized to measure trailer dynamics parameters, thereby improving measurement precision without proportionally increasing device complexity

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The system combines multiple sensing modalities (visual, range, velocity) and integrates them with physics-based dynamics models into a unified assessment framework, allowing comprehensive trailer dynamics measurement while managing system complexity through integrated processing

Inventive Principle:

Principle #5Merging (Combining)

3Reliability

If detailed trailer loading assessment is performed, then reliability of vehicle control decisions improves, but loss of time in data processing increases

Engineering Contradiction:

Improvevehicle control decision accuracyVSAvoiddata processing time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The system pre-computes trailer dynamics parameters and loading assessments during periods when the vehicle is stationary or moving at constant velocity, preparing control recommendations in advance so that real-time decision-making can rely on preprocessed data, thereby maintaining reliability while minimizing processing time delays

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system continuously collects and processes trailer dynamics data throughout operation, maintaining an updated assessment rather than performing discrete measurements, which allows for timely control decisions based on current loading conditions without requiring intensive batch processing

Inventive Principle:

Principle #20Continuity of useful action

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 maintain stability and safety.

Implementation Method 1

determine a distance to a portion of the trailer from the data

Methodology Applied

Scientific EffectTime of flight: Time of Flight

Implementation Method 2

determine a doppler shift indicative of a speed of a wheel of the first wheel assembly from the data

Methodology Applied

Scientific EffectDoppler effect: Doppler Effect

Data Source

PatentUS20250060454A1Systems and methods of monitoring and control for trailer dynamics

Publication Date: 2025.02.20 TORC ROBOTICS INC

AI summary

Trailer detection is provided. A vehicle can determine a distance to a portion of the trailer from the time-of-flight sensor data. The vehicle can determine a doppler shift indicative of a speed of a wheel of a wheel assembly from the data. The vehicle can determine, based on the distance and the doppler shift, a wheelbase of the trailer.