Methods for controlling a self-powered dolly vehicle during evasive maneuvering
AssigneeVolvo Truck Corporation
InventorsNiklas Fröjd, Leo Laine, Mohammad Manjurul Islam
Life of this patent
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Abstract
A method for controlling steering of a self-powered steerable dolly vehicle during a maneuver, the method comprising determining an articulation angle associated with a drawbar of the dolly vehicle, determining a longitudinal velocity of the dolly vehicle, and controlling the steering of the dolly vehicle based on the articulation angle and on the longitudinal velocity of the dolly vehicle, wherein the controlling comprises initially steering the dolly vehicle in a direction of the articulation angle direction in case the longitudinal velocity of the dolly vehicle is above a velocity threshold.
Claims13
A method for controlling steering of a self-powered steerable dolly vehicle during an evasive maneuver associated with significant lateral acceleration, the method comprising:
- determining an articulation angle associated with a drawbar of the dolly vehicle and a direction of the articulation angle,
- determining a longitudinal position of the dolly vehicle along a track and a longitudinal velocity of the dolly vehicle, wherein the longitudinal position comprises a one-dimensional coordinate along the track, and
- controlling the steering of the dolly vehicle based on the articulation angle and on the longitudinal position of the dolly vehicle, wherein the controlling comprises steering the dolly vehicle in the articulation angle direction when the longitudinal velocity of the dolly vehicle is above a velocity threshold,
- wherein the controlling comprises initially steering the dolly vehicle in a direction opposite to the articulation angle direction when the longitudinal velocity is below the velocity threshold.
A control unit arranged to control steering of a self-powered steerable dolly vehicle during an evasive maneuver associated with significant lateral acceleration, the control unit comprising processing circuitry arranged to:
- determine an articulation angle associated with a drawbar of the dolly vehicle,
- determine a longitudinal position of the dolly vehicle along a track and a longitudinal velocity of the dolly vehicle, wherein the longitudinal position comprises a one-dimensional coordinate along the track,
- to control the steering of the dolly vehicle based on the articulation angle and on the longitudinal position of the dolly vehicle, wherein the controlling comprises initially steering the dolly vehicle in a direction of the articulation angle direction when the longitudinal velocity of the dolly vehicle is above a velocity threshold, and
- to initially steer the dolly vehicle in a direction opposite to the articulation angle direction when the longitudinal velocity is below the velocity threshold.
Dependencies are inferred from the claim text.