System and method for probing properties of a trailer towed by a towing vehicle in a heavy-duty vehicle combination
A system for probing properties of a trailer towed by a towing vehicle in a heavy-duty vehicle combination. The system comprises at least one torque generating component for inducing movements of the trailer relative to a yaw axis of the trailer; a control unit configured to, during driving of the vehicle combination, activate the torque generating component and apply a pre-determined control action to the torque generating component so as to excite oscillations of the trailer; and at least one detection unit configured to detect the resulting oscillations of the trailer, wherein the control unit is configured to, based on the detected resulting oscillations, determine one or more properties of the trailer. The invention also relates to a probing method.
1 . A system for probing properties of a trailer towed by a towing vehicle in a heavy-duty vehicle combination, the system comprising:
at least one torque generating component for inducing movements of the trailer relative to a yaw axis of the trailer,
a control unit configured to, during driving of the heavy-duty vehicle combination, activate the at least one torque generating component and apply a predetermined control action to the at least one torque generating component so as to excite oscillations of the trailer from a non-oscillating state to an oscillating state, and
at least one detection unit configured to detect the resulting oscillations of the trailer, wherein the control unit is configured to, based on the detected resulting oscillations, determine one or more properties of the trailer.
2 . The system of claim 1 , wherein the predetermined control action is associated with a predetermined oscillation model of the trailer which excludes natural oscillations of the trailer, wherein the predetermined oscillation model of the trailer is selected from a plurality of predetermined oscillation models, and
wherein the control unit is configured to determine the one or more properties of the trailer by comparing the detected resulting oscillations with the selected predetermined oscillation model.
3 . The system of claim 2 , wherein the predetermined control action applied by the control unit is selected such that an amplitude of the selected predetermined oscillation model is less than 1° relative to the yaw axis of the trailer.
4 . The system of claim 2 , wherein the control unit is configured to determine the one or more properties of the trailer by comparing a frequency of the resulting oscillations of the trailer with a corresponding frequency of the selected predetermined oscillation model.
5 . The system of claim 1 , wherein the one or more properties of the trailer are one or more of a yaw natural frequency of the trailer,
a roll natural frequency of the trailer, and
a location of the centre of gravity of the trailer.
6 . The system of claim 1 , further comprising:
a hitch assembly configured to be mounted on the towing vehicle,
wherein the at least one torque generating component comprises the hitch assembly,
wherein the hitch assembly comprises a movable hitch to which the trailer is configured to be connected,
wherein the predetermined control action by the control unit comprises moving the hitch back and forth in parallel with a pitch axis of the towing vehicle so as to achieve an oscillating movement of the movable hitch, and
wherein the oscillating movement of the movable hitch is transmitted to the trailer, thereby exciting oscillations of the trailer.
7 . The system of claim 1 , wherein the at least one torque generating component is a wheel torque generating component, and
wherein the predetermined control action by the control unit comprises alternatingly and repeatedly activating and deactivating the wheel torque generating component so as to excite oscillations of the trailer.
8 . The system of claim 7 , wherein the wheel torque generating component is a brake or an electric machine, operatively connected to one or more wheels of the trailer, and configured to provide torque to the one or more wheels.
9 . The system of claim 1 , further comprising a dolly configured to be connected to the towing vehicle,
wherein the trailer is configured to be towed by the towing vehicle via the dolly,
wherein the at least one torque generating component is a wheel torque generating component, and
wherein the predetermined control action by the control unit comprises alternatingly and repeatedly activating and deactivating the wheel torque generating component so as to excite oscillations of the trailer.
10 . The system of claim 9 , wherein the wheel torque generating component is a brake or an electric machine, operatively connected to one or more wheels of the trailer, and configured to provide torque to the one or more wheels.
11 . The system of claim 1 , further comprising a steerable dolly configured to be connected to the towing vehicle,
wherein the trailer is configured to be towed by the towing vehicle via the steerable dolly,
wherein the at least one torque generating component is an actuator configured to turn steerable wheels of the steerable dolly, and
wherein the predetermined control action by the control unit comprises controlling the actuator to alternatingly and repeatedly turn the steerable wheels to the left and to the right so as to excite oscillations to the trailer.
12 . The system of claim 1 , wherein the at least one detection unit comprises one or more of: (i) an image capturing unit configured to be mounted on the towing vehicle, (ii) a wave emitter and a wave receiver for receiving a reflected wave configured to be mounted on the towing vehicle, and (iii) an inertial sensor configured to be mounted on the trailer.
13 . The system of claim 12 , wherein the at least one detection unit comprises the image capturing unit, and the image capturing unit comprises a camera.
14 . The system of claim 12 , wherein the at least one detection unit comprises the wave emitter and wave receiver for receiving the reflected wave, wherein the wave emitter and wave receiver form part of a LIDAR, radar, or ultrasonic detector.
15 . The system of claim 12 , wherein the at least one detection unit comprises the inertial sensor, the inertial sensor being an inertial measurement unit (IMU) or a gyroscope.
16 . A heavy-duty vehicle combination comprising the system of claim 1 .
17 . A method for probing properties of a trailer towed by a towing vehicle in a heavy-duty vehicle combination, the method comprising:
inducing movement of the trailer relative to a yaw axis of the trailer by means of at least one torque generating component,
during driving of the heavy-duty vehicle combination, activating the at least one torque generating component and applying a predetermined control action to the at least one torque generating component so as to excite oscillations of the trailer from a non-oscillating state to an oscillating state,
detecting the resulting oscillations of the trailer by means of at least one detection unit, and
determining, based on the detected resulting oscillations, one or more properties of the trailer.
18 . A computer program product comprising a non-transitory computer readable medium having stored thereon a computer program comprising instructions for performing the method of claim 17 when the computer program is run on a computer.
19 . A control unit for probing properties of the trailer towed by the towing vehicle in the heavy-duty vehicle combination, the control unit being configured to perform the method of claim 17 .
20 . A system for probing properties of a trailer towed by a towing vehicle in a heavy-duty vehicle combination, the system comprising:
an electronic control unit configured to:
apply, during driving of the heavy-duty vehicle combination, a predetermined control action to excite oscillations of the trailer about a yaw axis from a non-oscillating state, the predetermined control action comprising at least one of (i) alternatingly moving a hitch towards opposite sides of the towing vehicle, or (ii) alternatingly controlling wheel torque on opposite sides of the towing vehicle, and
receive, from a detector of the towing vehicle, resulting oscillations of the trailer,
determine, based on the applied predetermined control action and the detected resulting oscillations, one or more properties of the trailer.