Truck-Trailer Articulation Sensing for Accurate Trailer Position Estimation
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Solution Overview
Problem
Existing systems for estimating the position of a trailer relative to a truck during turn maneuvers are inefficient as they often require additional sensors on the trailer, and existing solutions do not accurately account for the trailer's length and position, which are critical for collision avoidance.
Innovation Solution
A method using sensors mounted on the truck to measure the articulation angle and kinematic model, combined with electromagnetic wave-based measurements, to estimate the trailer's position without additional sensors on the trailer, incorporating a kinematic model and measured values for validation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensors are mounted on the trailer to determine position, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent extracts the sensing function from the trailer and relocates it to the truck. The electromagnetic sensor is mounted on the truck to measure the articulation angle, eliminating the need for sensors on the trailer. This reduces device complexity while maintaining measurement capability through mathematical calculation of trailer position based on the measured angle and known trailer dimensions.
Solution Approach 2:
The patent introduces an intermediary measurement approach by measuring the articulation angle between truck and trailer as an intermediate parameter. This angle measurement serves as a mediator that, when combined with the known trailer length, allows indirect determination of trailer position without directly sensing the trailer itself.
2Measurement precision
If additional sensors are added to the system, then measurement precision is improved, but ease of operation deteriorates
Solution Approach 1:
The patent creates a universal measurement system mounted on the truck that can determine the position of any trailer regardless of its specific length or type. The system uses the measured articulation angle combined with the known trailer dimensions to calculate position, making it adaptable to different trailers without requiring additional sensors or system modifications.
Solution Approach 2:
The patent changes the measurement parameter from direct trailer position sensing to articulation angle measurement. This parameter change allows the system to work with any trailer by simply inputting the trailer's length parameter, eliminating the need to adapt the sensor system for each different trailer type.
3Device complexity
If a single sensor is used to project a measuring area, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
The patent replaces the mechanical/optical projection method with an electromagnetic sensing method. Instead of projecting a physical measuring area, the system uses an electromagnetic sensor to directly measure the articulation angle between the truck and trailer, achieving more precise measurements with a single sensor through electromagnetic field interaction.
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 allows for accurate estimation of the trailer's position relative to the truck, enhancing collision avoidance capabilities during turns by accounting for the trailer's length and behavior, and can be applied to any trailer without the need for specific sensors, improving safety and adaptability.
Implementation Method 1
a sensor arranged on a truck to measure an articulation angle between the truck and the trailer, wherein the sensor is an electromagnetic sensor
Data Source
Figure 1
Figure 2
Figure 3a~3b
AI summary
The invention relates to a method for estimating a position of a trailer (4) relative to a truck (2) of a road train (1), the method comprising: Providing or obtaining a kinematic model (3) of the road train (1); Providing or obtaining a length estimation (TL) of the trailer (4); Measuring an articulation angle (m0) between the truck (2) and the trailer (4); and Determining a position of the trailer (4) relative to the truck (2) using the kinematic model (3), the length estimation (TL) and the measured articulation angle (mθ, νθ). The invention moreover relates to a computer program and to a control unit.