Trailer Snaking Damping via Segmented Braking Torque
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Solution Overview
Problem
Existing methods for stabilizing a vehicle combination with a trailer or semitrailer during snaking motion are inefficient, as they rely solely on uniform active braking, which does not effectively dampen oscillations and stabilize the vehicle combination quickly enough.
Innovation Solution
Implementing symmetrical and asymmetrical braking interventions based on the detection of snaking motion, where symmetrical braking is applied first, and asymmetrical braking is introduced if necessary, using a system deviation calculated from the difference between actual and setpoint yaw rates to determine the required braking torques and side of intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If uniform active braking of all four wheels is used to stabilize the vehicle combination, then the vehicle speed is reduced, but the snaking motion is not effectively damped and stabilization is slow
Solution Approach 1:
The braking intervention is segmented into two distinct phases: symmetrical braking of all wheels to reduce overall vehicle speed, and asymmetrical braking of individual wheels to generate counteractive yaw torque. This segmentation allows each braking mode to address specific aspects of the snaking motion problem, achieving rapid stabilization.
Solution Approach 2:
The patent applies asymmetrical braking where individual wheels on the same axle are braked to different intensities. This asymmetry creates a yaw torque that directly counteracts the oscillatory snaking motion, providing effective damping that symmetrical braking cannot achieve.
2Stability of the object's composition
If asymmetrical braking interventions are implemented immediately, then rapid stabilization is achieved, but unnecessary interventions increase device complexity
Solution Approach 1:
The system first applies symmetrical braking to all wheels as a preliminary action to reduce overall vehicle speed. Only after this initial intervention fails to achieve the desired subsidence behavior does the system transition to asymmetrical braking. This preliminary action prevents unnecessary complex interventions.
Solution Approach 2:
The control system continuously monitors the subsidence behavior of snaking motion and compares it against a desired subsidence behavior. Based on this feedback, the system determines whether to maintain symmetrical braking or transition to asymmetrical braking, ensuring interventions are applied only when necessary.
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 rapidly stabilizes the vehicle combination by generating counteractive yaw torque, outperforming uniform braking in damping snaking motion and preventing unnecessary interventions.
Implementation Method 1
pressure is applied by the brake linings on the brake disks with equal intensity
Implementation Method 2
the two wheels on the axle are braked to different amounts. This results in a yaw torque on the vehicle
Data Source
AI summary
A method for stabilizing a vehicle combination composed of a towing vehicle and a trailer or semitrailer, in which when a snaking motion of the trailer or semitrailer is detected, braking interventions are implemented for damping the snaking motion, in which symmetrical braking interventions are implemented first, and asymmetrical braking interventions are implemented if the desired subsidence behavior of the snaking motion is not achieved through the symmetrical braking interventions.