Trailer Reversing Control Using Stored Path and Heading Feedback
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Solution Overview
Problem
Automatic reversing of trailers in autonomous driving systems is challenging due to larger turning radii, which complicates the precise control and alignment of trailers during reversing operations.
Innovation Solution
A vehicle control method and apparatus that stores the moving path of a trailer, measures its location and heading, compares these with stored records, and minimizes differences to perform precise reversing operations, utilizing sensors and processors to manage the hitch angle and vehicle position for accurate trajectory following.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If automatic reversing control is implemented for trailers, then the convenience and safety of autonomous driving is improved, but the control difficulty increases due to larger turning radii
Solution Approach 1:
The system pre-stores the moving path of the trailer before reversing operation. By recording the trajectory in advance during forward movement, the system eliminates the need for complex real-time calculation and control during reversing, significantly simplifying the control process while maintaining accuracy.
Solution Approach 2:
The system creates a copy of the forward moving path and uses it as a reference for reversing. By comparing the current reversing trajectory with the stored forward path, the system can automatically adjust control parameters to achieve accurate alignment without requiring complex geometric calculations.
2Measurement precision
If precise trajectory following is achieved during trailer reversing, then the positioning accuracy is improved, but the measurement and control difficulty increases due to larger turning radii
Solution Approach 1:
The system continuously measures the current location and heading of the trailer during reversing, compares these measurements with the stored forward path, and uses the difference information to adjust control parameters. This closed-loop feedback mechanism ensures high positioning accuracy despite the challenges of large turning radii.
Solution Approach 2:
The system measures both location and heading (orientation) of the trailer, adding the orientation dimension to the position measurement. By considering both positional and angular parameters, the system achieves more comprehensive trajectory tracking accuracy that accounts for the trailer's large turning radius characteristics.
3Manufacturing precision
If the trailer moving path is stored and compared in real-time, then the reversing accuracy is improved, but the data processing complexity increases
Solution Approach 1:
The moving path data is stored in advance during forward movement, converting complex real-time processing into simpler comparison operations during reversing. This preliminary data preparation significantly reduces the computational burden during the actual reversing operation.
Solution Approach 2:
The system uses the stored forward path as a reference copy for comparison during reversing. By comparing current position and heading with the stored reference trajectory, the system achieves accurate trajectory following using relatively simple differential calculations rather than complex path planning algorithms.
Data Source
AI summary
A vehicle control method and apparatus to reverse a trailer are provided. The method includes storing a moving path of a trailer connected to the vehicle by a hitch, measuring a location of the trailer or a heading of the trailer when the trailer is reversed upon activation of a reversing mode, comparing the location of the trailer or the heading of the trailer in the stored moving path of the trailer with the measured location of the trailer or the measured heading of the trailer, and minimizing a difference between the location of the trailer in the stored moving path of the trailer and the measured location of the trailer, or a difference between the heading of the trailer in the stored moving path of the trailer and the measured heading of the trailer, and t performing an operation of reversing the trailer.