Vehicle Articulation Angle Estimation Using Dynamics-Based Fusion

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Solution Overview

Problem

Existing methods for estimating the articulation angle in vehicle combinations face challenges in accuracy and reliability, particularly due to sideways scrubbing of trailer wheels, which affects the precision of kinematic models, especially in urban traffic scenarios with sharp turns.

Innovation Solution

A dynamics-based estimator is introduced, which incorporates the masses and moments of inertia of the vehicle combination to improve articulation angle estimation, supplemented by a kinematics-based estimator and an articulation angle sensor, with a selector to merge and weight data sources for enhanced accuracy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If a kinematic model is used to estimate articulation angle, then the estimation can be performed using basic sensor data, but the accuracy deteriorates due to sideways scrubbing of trailer wheels

Engineering Contradiction:

Improveestimation capabilityVSAvoidarticulation angle accuracy

Core Design Contradiction:

ProductivityVSMeasurement precision

Solution Approach 1:

The patent transitions from a purely kinematic model to a dynamics-based model that incorporates physical parameters such as masses and moments of inertia of the vehicle combination. This parameter change allows the system to account for sideways scrubbing effects and other non-ideal behaviors, thereby improving measurement precision while maintaining estimation capability

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The patent introduces a dynamics-based estimator as an intermediary component that processes sensor data through a more sophisticated model. This estimator acts as a mediator between the raw sensor measurements and the final articulation angle estimate, filtering out errors caused by wheel scrubbing through dynamic compensation

Inventive Principle:

Principle #24Intermediary (Mediator)

2Reliability

If multiple data sources are combined to improve accuracy, then the estimation reliability improves, but the system complexity increases

Engineering Contradiction:

Improveestimation reliabilityVSAvoidsystem structure

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent merges multiple estimation approaches (kinematic-based estimator, dynamics-based estimator, and direct sensor measurements) into a unified system. By combining these data sources with different strengths, the system achieves improved reliability through complementary information fusion

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The patent implements a selector mechanism that dynamically chooses or weights different data sources based on current operating conditions. This feedback-based selection optimizes the balance between reliability and complexity by adapting to varying traffic scenarios and sensor performance

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS11926381B2Dynamics-based articulation angle estimator for a vehicle combination

Publication Date: 2024.03.12 VOLVO TRUCK CORP

AI summary

A system for estimating an articulation angle of a vehicle combination comprises a motion sensor for sensing one or more linear and/or angular motion quantities of the vehicle combination and a dynamics-based estimator configured to estimate state variables, including the articulation angle on the basis of the sensed motion quantities, wherein the dynamics-based estimator is dependent on one or more masses and moments of inertia of the vehicle combination.