Trailer Reverse Path Control With Damped Steering Correction
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Solution Overview
Problem
Reversing a trailer along a predefined path is challenging for vehicle operators due to frequent deviations from the intended path, leading to oscillations caused by over- or under-correction in steering, which existing autonomous and semi-autonomous systems struggle to mitigate effectively.
Innovation Solution
A method and system that utilize sensors within the tow vehicle to detect deviations, calculate a correction path and dampening factor, and determine a desired curvature for the trailer, adjusting the steering angle of the tow vehicle to guide the trailer back to the predefined path without significant oscillation, using a combination of differential geometry and spring mass damper analysis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the tow vehicle operator manually steers the trailer during reversing, then the trailer can be guided along a predefined path, but frequent deviations and oscillations occur due to over- or under-correction
Solution Approach 1:
The system continuously monitors the trailer's actual position relative to the predefined path using sensors, calculates deviation, and adjusts steering angle in real-time to maintain accurate path following while eliminating manual steering difficulties
Solution Approach 2:
The patent replaces manual mechanical steering control with an automated system that uses sensors, processors, and actuators to control the steering angle, thereby eliminating human error in judgment and execution
2Measurement precision
If existing autonomous systems apply aggressive correction to return the trailer to the predefined path, then path following accuracy improves, but oscillations are caused due to over-correction
Solution Approach 1:
The system applies dampening factors that anticipate and cushion against potential over-correction by limiting the maximum correction amount and applying gradual adjustments, preventing oscillations before they occur
Solution Approach 2:
The correction strategy dynamically adjusts based on the magnitude and direction of deviation, applying larger corrections when far from the path and smaller corrections when approaching, thereby maintaining stability while achieving accurate path following
Data Source
AI summary
A method of reversing a trailer along a defined path according to a disclosed exemplary embodiment includes, among other possible things, detecting a deviation from a predefined path of a trailer coupled to a tow vehicle with a sensor system disposed within the tow vehicle, determining a correction path required to move the trailer back to the predefined path, determining a dampening factor for limiting deviation from the predefined path, combining the determined correction path and the dampening factor to determine a desired curvature, wherein the desired curvature represents a path from a current position of the trailer to the predefined path, and determining a steering angle of the tow vehicle that provides the desired curvature.