Independent Wheel Drive Control for Stable Trailer Towing
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Solution Overview
Problem
Existing towing vehicle systems without a steering mechanism struggle to maintain stability when towing a trailer, as they lack the necessary control mechanisms to account for the mass and yaw moment of inertia of the trailer during turns.
Innovation Solution
A device equipped with independently drivable wheels, acceleration detection, drive force detection, mass estimation, and control units that adjust wheel drive forces based on estimated trailer mass and yaw moment of inertia, utilizing wheel speed and torque sensors to stabilize towing without additional sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a towing vehicle without a steering mechanism tows a towed vehicle, then the device complexity is reduced, but the stability of towing travel deteriorates
Solution Approach 1:
The patent replaces the traditional mechanical steering mechanism with a control system that uses independent wheel drive forces to achieve turning. The control unit calculates required drive forces based on towed vehicle mass and yaw moment of inertia, substituting mechanical steering with electronic control of the drive unit to maintain stability without a steering mechanism.
Solution Approach 2:
The patent dynamically adjusts drive force parameters based on detected acceleration and estimated mass characteristics. By changing the drive force applied to each wheel according to real-time conditions and calculated parameters (mass, yaw moment of inertia), the system maintains towing stability without relying on a steering mechanism.
2Measurement precision
If the mass of the towed vehicle is estimated using acceleration and drive force detection, then the measurement precision is improved, but the device complexity increases
Solution Approach 1:
The system uses the towing vehicle's own existing sensors (acceleration detection unit, drive force detection unit) to estimate the mass of the towed vehicle. By utilizing data already being collected for other control functions and applying mass estimation calculations, the system achieves accurate mass measurement without adding dedicated mass sensors or complex external measurement equipment.
3Stability of the object's composition
If the control unit adjusts drive force based on estimated mass and yaw moment of inertia, then the stability of towing travel is improved, but the extent of automation increases
Solution Approach 1:
The control unit continuously receives feedback from acceleration detection and drive force detection units, estimates mass and yaw moment of inertia parameters, and automatically adjusts drive forces accordingly. This closed-loop feedback system maintains towing stability through real-time automated adjustments without requiring manual intervention, achieving high automation while ensuring stable towing travel.
Data Source
AI summary
A device for a towing vehicle that includes: a drive unit that independently drives each of left and right wheels of a towing vehicle that tows a towed vehicle; an acceleration detection unit that detects an acceleration of the towing vehicle; a drive force detection unit that detects a drive force of the towing vehicle; a mass estimation unit that estimates a mass of the towed vehicle using respective detection results generated by the acceleration detection unit and the drive force detection unit at a time of acceleration of the towing vehicle in a towing state; and a control unit that controls a drive force of the left and right wheels of the towing vehicle in consideration of an influence of the mass of the towed vehicle estimated by the mass estimation unit at a time of turning of the towing vehicle in the towing state.