Trailer Wheelbase Estimation Using Dynamic Yaw and Steering Data
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Solution Overview
Problem
Existing methods for determining the effective wheelbase of trailers in vehicle combinations, especially those with multiple towed trailers, are inadequate as they require specific loading conditions and cannot accurately account for varying axle loads and tire characteristics, and are limited to steady-state cornering scenarios.
Innovation Solution
A method that involves driving the vehicle combination forward, recording speed, steering angles, yaw rates, and articulation angles, and using these values to calculate the effective wheelbase for each towed trailer through a least square approximation, allowing for estimation even when trailers are not exclusively used under the same conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If explicit formulas are used to calculate effective wheelbase based on axle loads and tyre characteristics, then measurement precision is improved under controlled conditions, but adaptability to varying loads and conditions deteriorates
Solution Approach 1:
The patent transitions from static explicit formulas to a dynamic estimation method using real-time measured data (steering angle, yaw rate, articulation angle, speed) to continuously update the effective wheelbase value, enabling adaptation to varying loads and conditions while maintaining precision
Solution Approach 2:
The patent changes the parameters used for calculation from fixed tyre characteristics and axle loads to dynamic measured parameters (steering angle, yaw rate, articulation angle, speed) that reflect actual operating conditions, thereby improving both precision and adaptability
2Measurement precision
If the same trailer is used exclusively with the same load, then measurement precision is improved, but adaptability to different trailers and loads deteriorates
Solution Approach 1:
The system performs self-calibration by automatically estimating the effective wheelbase through real-time measurements during normal operation, eliminating the need for manual input or pre-programming of trailer-specific parameters, thus achieving both precision and universal adaptability
Solution Approach 2:
The patent implements a feedback mechanism where measured data (steering angle, yaw rate, articulation angle, speed) is continuously processed to update the effective wheelbase estimation, allowing the system to adapt to different trailers and loads automatically while maintaining measurement precision
3Measurement precision
If trailer axle longitudinal position, tyre properties and load are continuously made available, then measurement precision is improved, but device complexity deteriorates
Solution Approach 1:
The patent uses a universal estimation method that works with standard sensors already present in the vehicle (steering angle sensor, yaw rate sensor, articulation angle sensor, speed sensor), eliminating the need for additional specialized monitoring devices while achieving continuous effective wheelbase updates
Solution Approach 2:
The patent uses dynamically measured parameters (steering angle, yaw rate, articulation angle, speed) as intermediaries to indirectly determine the effective wheelbase, avoiding the need for direct measurement of axle positions and tyre properties, thus reducing device complexity
Data Source
AI summary
A method is provided for estimating the effective wheelbase length of a trailer in a vehicle combination including a towing vehicle and at least one towed trailer. The method includes driving the vehicle combination forwards, determining the speed of the vehicle combination, determining the steering angle of the towing vehicle, determining the steering angle of each towed trailer, determining the yaw rate of the towing vehicle and the yaw rate of the towed trailer or determining the articulation angle for each towed trailer, and using the determined values to calculate a value for the effective wheelbase for each towed trailer. An arrangement for estimating the effective wheelbase length of a trailer in a vehicle combination is also disclosed.