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 vehicleInfo
- 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
Links
- 238000000034 method Methods 0.000 title abstract 5
- 238000004590 computer program Methods 0.000 abstract 2
- 238000013178 mathematical model Methods 0.000 abstract 2
- 230000008878 coupling Effects 0.000 abstract 1
- 238000010168 coupling process Methods 0.000 abstract 1
- 238000005859 coupling reaction Methods 0.000 abstract 1
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.
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)
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)
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 |
-
2017
- 2017-05-29 SE SE1750664A patent/SE541357C2/en unknown
-
2018
- 2018-05-22 DE DE102018004110.8A patent/DE102018004110A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
DE102018004110A1 (en) | 2018-11-29 |
SE541357C2 (en) | 2019-08-13 |
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