Truck-Trailer Position Estimation Using Articulation Angle and Lidar
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Solution Overview
Problem
Existing turn assist systems for road trains face challenges in accurately estimating the position of a trailer relative to the truck, especially during turn maneuvers, as they often require additional sensors on the trailer and do not account for the trailer's length and position effectively, leading to potential collisions with objects.
Innovation Solution
A method that uses a kinematic model and measured articulation angle between the truck and trailer, combined with length estimation, to determine the trailer's position without additional sensors on the trailer, utilizing electromagnetic wave-based measurements and a Lidar sensor to calculate the articulation angle and yaw rate, and referencing a database for trailer length validation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensors are mounted on the trailer to determine trailer position, then measurement precision of trailer position is improved, but device complexity and cost increase due to additional sensors and adaptation requirements
Solution Approach 1:
The invention extracts the measurement function from the trailer and relocates it to the truck. The Lidar sensor and articulation angle measurement are performed from the truck, eliminating the need for sensors on the trailer. This resolves the contradiction by maintaining measurement precision while reducing device complexity on the trailer side.
Solution Approach 2:
The invention introduces an intermediary approach by using the articulation angle measurement as a mediator to indirectly determine trailer position. Instead of directly measuring trailer position with sensors, the system measures the articulation angle between truck and trailer and calculates position based on this intermediate parameter, reducing sensor requirements.
2Adaptability or versatility
If the system uses actual size of road train and articulation angle for turn maneuver monitoring, then adaptability to different trailers is improved, but the ability to accurately determine trailer position deteriorates without proper measurement methods
Solution Approach 1:
The invention achieves universality by using the articulation angle measurement combined with trailer length data to determine trailer position for any trailer type. The system can adapt to different trailers without requiring trailer-specific sensors, as the articulation angle measurement is universally applicable to all road train configurations.
Solution Approach 2:
The invention performs preliminary action by obtaining trailer length information in advance and using it together with the measured articulation angle to calculate trailer position. This preliminary preparation of length data enables accurate position determination without requiring real-time measurement of trailer dimensions.
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 allows for accurate and efficient estimation of the trailer's position relative to the truck, enhancing safety by providing precise data for turn assist systems to prevent collisions, without the need for sensors on the trailer, and is adaptable to various trailer types.
Implementation Method 1
utilizing electromagnetic wave-based measurements and a Lidar sensor to calculate the articulation angle and yaw rate
Data Source
AI summary
A method for estimating a position of a trailer relative to a truck of a road train includes providing or obtaining a kinematic model of the road train, providing or obtaining a length estimation of the trailer, and measuring an articulation angle between the truck and the trailer. The method further includes determining a position of the trailer relative to the truck using the kinematic model, the length estimation, and the measured articulation angle.