SE1750664A1 - Method and control arrangement for modelling spatial movement of a trailer being articulatedly attached to a vehicle - Google Patents

Method and control arrangement for modelling spatial movement of a trailer being articulatedly attached to a vehicle

Info

Publication number
SE1750664A1
SE1750664A1 SE1750664A SE1750664A SE1750664A1 SE 1750664 A1 SE1750664 A1 SE 1750664A1 SE 1750664 A SE1750664 A SE 1750664A SE 1750664 A SE1750664 A SE 1750664A SE 1750664 A1 SE1750664 A1 SE 1750664A1
Authority
SE
Sweden
Prior art keywords
trailer
vehicle
spatial movement
attached
control arrangement
Prior art date
Application number
SE1750664A
Other languages
Swedish (sv)
Other versions
SE541357C2 (en
Inventor
Jenny Eriksson
Johannes Slettengren
Jonny Andersson
Joseph Ah-King
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1750664A priority Critical patent/SE541357C2/en
Priority to DE102018004110.8A priority patent/DE102018004110A1/en
Publication of SE1750664A1 publication Critical patent/SE1750664A1/en
Publication of SE541357C2 publication Critical patent/SE541357C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/06—Tractor-trailer swaying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • B60T8/248—Trailer sway, e.g. for preventing jackknifing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/14—Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/22—Articulation angle, e.g. between tractor and trailer

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mathematical Physics (AREA)
  • Electromagnetism (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The present disclosure relates to a method for modelling spatial movement of a trailer being articulatedly attached to a vehicle. According to one aspect the disclosure proposes a method for modelling spatial movement of a trailer being articulatedly attached to a vehicle at a coupling point. The method comprises determining (S1) a mathematical model describing the movement of the trailer, wherein the mathematical model comprises at least one unknown model parameter, obtaining (S3) sensor data recorded by at least one sensor attached to the vehicle, wherein the sensor data comprises at least one observation of the trailer, and updating (S4) a value of the at least one unknown model parameter based on the obtained sensor data. The present disclosure also relates to a control arrangement arranged to model spatial movement of a trailer being articulatedly attached to a vehicle. The present disclosure also relates to a computer program and a computer program product implementing the method.
SE1750664A 2017-05-29 2017-05-29 Method and control arrangement for modelling spatial movement of a trailer being articulatedly attached to a vehicle SE541357C2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE1750664A SE541357C2 (en) 2017-05-29 2017-05-29 Method and control arrangement for modelling spatial movement of a trailer being articulatedly attached to a vehicle
DE102018004110.8A DE102018004110A1 (en) 2017-05-29 2018-05-22 Method and control arrangement for modeling a spatial movement of a trailer, which is hinged to a vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1750664A SE541357C2 (en) 2017-05-29 2017-05-29 Method and control arrangement for modelling spatial movement of a trailer being articulatedly attached to a vehicle

Publications (2)

Publication Number Publication Date
SE1750664A1 true SE1750664A1 (en) 2018-11-30
SE541357C2 SE541357C2 (en) 2019-08-13

Family

ID=64109493

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1750664A SE541357C2 (en) 2017-05-29 2017-05-29 Method and control arrangement for modelling spatial movement of a trailer being articulatedly attached to a vehicle

Country Status (2)

Country Link
DE (1) DE102018004110A1 (en)
SE (1) SE541357C2 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4183667B1 (en) * 2021-11-18 2024-07-17 Volvo Truck Corporation Method for closed loop control of a position of a fifth wheel of a vehicle
CN114104104B (en) * 2021-11-19 2024-04-19 中车南京浦镇车辆有限公司 Steering control method for multi-group articulated vehicle

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69618337T2 (en) * 1996-02-27 2003-02-13 Knorr-Bremse Systeme Fuer Nutzfahrzeuge Gmbh Procedure for increasing driving stability
DE19812237C1 (en) * 1998-03-20 1999-09-23 Daimler Chrysler Ag Method for driving dynamics control on a road vehicle
DE10326190A1 (en) 2003-06-06 2004-12-30 Daimlerchrysler Ag Apparatus and method for determining a spatial orientation of a hanger or trailer
US8740317B2 (en) * 2006-08-11 2014-06-03 Robert Bosch Gmbh Closed-loop control for trailer sway mitigation
GB2447672B (en) 2007-03-21 2011-12-14 Ford Global Tech Llc Vehicle manoeuvring aids
US9290203B2 (en) * 2011-04-19 2016-03-22 Ford Global Technologies, Llc Trailer length estimation in hitch angle applications
US9573589B2 (en) * 2011-10-31 2017-02-21 Volvo Lastvagnar Ab Method and arrangement for vehicle stabilization

Also Published As

Publication number Publication date
DE102018004110A1 (en) 2018-11-29
SE541357C2 (en) 2019-08-13

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