Trailer Load Center-of-Mass Estimation Using Vehicle Dynamics
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Solution Overview
Problem
Autonomous vehicles face challenges in determining and maintaining a stable load center of mass, which can lead to instability and non-compliance with loading regulations due to the inability to accurately monitor and adjust load distribution in real-time.
Innovation Solution
A center-of-mass system that uses sensor data and vehicle response analysis to determine the load center of mass without additional sensors, allowing for adjustments in vehicle control inputs to maintain stability and compliance with loading regulations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If additional sensors are installed to accurately determine load center of mass, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The vehicle's existing sensors and control systems serve dual purposes: their primary function for vehicle operation and an additional function for determining load center of mass. The system utilizes data from existing accelerometers, steering angle sensors, and vehicle dynamics models to calculate load center of mass without requiring dedicated measurement sensors, thereby avoiding increased device complexity while maintaining measurement precision
Solution Approach 2:
Existing vehicle components and sensors are made multi-functional by programming them to perform both their original functions and load center of mass determination. The vehicle's motion sensors, steering systems, and control units are utilized for both operational control and load analysis, eliminating the need for separate dedicated sensor systems
2Stability of the object's composition
If real-time monitoring of load distribution is implemented, then stability is improved, but use of energy increases
Solution Approach 1:
Instead of continuous real-time monitoring, the system performs load center of mass calculations at periodic intervals or triggered by specific events such as loading/unloading operations or significant vehicle maneuvers. This approach maintains vehicle stability by providing timely updates while significantly reducing energy consumption compared to continuous monitoring
Solution Approach 2:
The system performs load center of mass calculations in advance during loading operations or before critical vehicle maneuvers, allowing proactive stability management. By determining load distribution before potential instability issues arise, the system maintains vehicle stability while minimizing the frequency and duration of energy-consuming calculations
3Stability of the object's composition
If load adjustments are made frequently to maintain center of mass within target range, then stability is improved, but productivity decreases
Solution Approach 1:
The system calculates load center of mass and compares it to target ranges, providing feedback that guides load adjustment decisions. By using this feedback to determine when adjustments are actually necessary rather than making frequent routine adjustments, the system maintains load stability within acceptable ranges while minimizing disruptions to loading operations and preserving productivity
Solution Approach 2:
The system defines acceptable target ranges for load center of mass rather than requiring precise positioning at a single point. By allowing the load center to vary within a defined range, the system maintains vehicle stability while reducing the frequency of load adjustments needed, thereby improving loading efficiency and productivity
Data Source
AI summary
Various examples are directed to systems and methods for operating a vehicle comprising a tractor and a trailer attached for pulling behind the tractor. A center-of-mass system may determine a mass of the trailer and a tractor understeer. The center-of-mass system may determine the tractor understeer using steering input data describing a steering angle of the tractor and yaw data describing a yaw of the tractor. The center-of-mass system may determine a load center of mass using the tractor understeer and a mass of the trailer. The center-of-mass system may further determine that the load center of mass transgresses a center-of-mass threshold and send an alert message indicating that the load transgresses the load center-of-mass threshold.