Trailer Hitch Angle Sensing Without Cameras or Trailer Hardware
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Solution Overview
Problem
Existing methods for determining the angle of a trailer relative to a tractor are often complex and require additional hardware or the use of cameras for computer vision, which can be costly and impractical.
Innovation Solution
A method using three distance sensors (a center distance sensor and two outside distance sensors) to measure the distance between the tractor and trailer, calculate angles based on these measurements, and determine the hitch angle without the need for cameras or additional trailer hardware.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If camera systems or additional hardware are used to determine trailer angle, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent extracts the angle determination function from complex camera systems and additional hardware, using only the existing distance sensors already present on the tractor. By taking out the unnecessary components and relying solely on distance sensor data combined with kinematic modeling, the solution achieves angle measurement without adding device complexity.
Solution Approach 2:
The patent creates a virtual model (kinematic model) of the tractor-trailer system that replicates the physical relationship between components. This digital copy allows angle calculation through mathematical relationships rather than physical sensors, eliminating the need for expensive hardware while maintaining measurement precision.
2Measurement precision
If kinematic models requiring trailer length knowledge are used, then angle estimation accuracy is improved, but adaptability decreases
Solution Approach 1:
The patent implements a dynamic kinematic model that adapts to different trailer configurations in real-time. Rather than requiring pre-programmed trailer length values, the model dynamically calculates effective lengths based on current distance sensor measurements and tractor-trailer geometry, allowing it to work with various trailer types without recalibration.
Solution Approach 2:
The system changes the approach from using fixed trailer length parameters to using variable geometric parameters derived from distance measurements. By calculating angles based on real-time distance data between sensors and trailer contact points, the system adapts to different trailer lengths and types without requiring prior knowledge of specific trailer dimensions.
Data Source
AI summary
A method determines a hitch angle of a trailer relative to a tractor via three distance sensors including a center distance sensor, a first outside distance sensor, and a second outside distance sensor. The method includes: measuring a distance between the tractor and the trailer via each of the three distance sensors; determining a first angle between the first outside distance sensor and the center distance sensor and a second angle between the second outside distance sensor and the center distance sensor based on the measured distances and the mounting distances between the three distance sensors; and, determining the hitch angle from the first angle and the second angle.