Trailer Wheelbase Estimation for Tow Vehicle Maneuvering Control
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Solution Overview
Problem
Towing a trailer can affect the dynamics of a tow vehicle, requiring different driving inputs and posing challenges during maneuvers like reversing, especially due to trailer articulation relative to the tow vehicle.
Innovation Solution
A method and system for determining transient and steady-state effective trailer wheelbase and towbar length using sensor data and adaptive filters or recursive least squares to estimate and maneuver the tow vehicle and trailer effectively, applying steering corrections based on sensor data and estimated wheelbase.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Quantity of substance
If the tow vehicle operates with a trailer, then the combined length increases providing greater cargo capacity, but the vehicle dynamics change making maneuvering more difficult
Solution Approach 1:
The system dynamically adapts the effective trailer wheelbase parameter based on operating conditions (transient vs steady state). During transient maneuvers like reversing, the system uses transient-state estimation to calculate appropriate wheelbase values, while during normal driving it uses steady-state estimation. This dynamic adaptation allows the vehicle to handle varying maneuvering requirements effectively.
Solution Approach 2:
The system continuously monitors vehicle operating characteristics (steering angle, velocity, acceleration) and uses this feedback to determine whether the vehicle is in transient or steady state. This feedback loop enables real-time adjustment of the effective trailer wheelbase parameter, improving maneuverability control during different driving phases.
2Measurement precision
If transient state estimation is used to determine effective trailer wheelbase, then maneuvering accuracy during dynamic conditions improves, but computational complexity increases
Solution Approach 1:
The system implements dynamic estimation methods that adapt to operating conditions. During transient states, it uses transient-state estimation algorithms that account for dynamic effects, while during steady state it switches to simpler steady-state estimation. This dynamic approach maintains high accuracy when needed while reducing computational burden during normal operation.
Solution Approach 2:
The system changes the estimation parameters and algorithms based on the detected operating state. When transient conditions are detected (through monitoring steering angle rate of change, velocity, acceleration), it switches to transient-state estimation parameters. When steady state is detected, it uses steady-state estimation parameters, thereby optimizing the balance between accuracy and computational complexity.
3Productivity
If steady state estimation is used to determine effective trailer wheelbase, then computational load is reduced, but accuracy during dynamic maneuvers decreases
Solution Approach 1:
The system dynamically selects the estimation method based on real-time operating conditions. During steady state normal driving, it uses computationally efficient steady-state estimation. During transient maneuvers like reversing or sharp turns, it automatically switches to more accurate transient-state estimation, ensuring precision is maintained when it matters most while preserving processing efficiency during routine operation.
Solution Approach 2:
The system changes estimation parameters based on operating state detection. By monitoring vehicle dynamics parameters (steering angle rate, velocity, acceleration), it determines when to switch between steady-state and transient-state estimation parameters, thereby optimizing the trade-off between processing efficiency and accuracy for each specific maneuver.
4Measurement precision
If steering correction is applied based on sensor data, then trailer positioning accuracy improves, but system complexity increases
Solution Approach 1:
The system uses sensor data (cameras, sensors) to continuously monitor the trailer's actual position and compares it with the desired position. Based on this feedback, it calculates and applies steering corrections to guide the trailer along the desired path. This feedback mechanism maintains high positioning accuracy while using established control algorithms to manage system complexity.
Solution Approach 2:
The system automatically performs positioning and steering correction without requiring manual intervention. The controller autonomously processes sensor data, calculates the desired path, determines positioning errors, and applies appropriate steering corrections, thereby maintaining high accuracy while reducing the need for complex manual control systems.
Data Source
AI summary
A method of operating a tow vehicle and a trailer includes identifying at least one of transient state of operating characteristics or steady state operating characteristics. A transient state based estimation is performed if the transient state operating characteristics are identified to determine a transient state based effective trailer wheelbase and a towbar length and a steady state based estimation is performed if the steady state operating characteristics are identified to determine a steady state based effective trailer wheelbase. An estimated effective trailer wheelbase is determined relative to the tow vehicle based on at least one of the transient state based effective trailer wheelbase and the steady state based effective trailer wheelbase. The tow vehicle and the trailer are maneuvered based on the estimated effective trailer wheelbase.