Vehicle Combination Length Estimation for Articulation Sensor Calibration
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Solution Overview
Problem
Existing driver assistance systems for vehicle combinations, especially those with articulation joints, face challenges in accurately estimating the effective length of vehicle segments and calibrating articulation angle sensors, leading to reduced performance and incorrect path following during reversing or autonomous driving.
Innovation Solution
A method that estimates the effective length of a first vehicle segment by identifying steady vehicle states and determining the time period required for the vehicle combination to transition between these states, using perception sensors and kinematic vehicle models, which can also calibrate articulation angle sensors using the estimated length without requiring initial calibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional methods are used to obtain effective length information, then the information may be incorrect or outdated, but the system complexity and calibration requirements increase
Solution Approach 1:
The system performs self-calibration by automatically determining effective length through dynamic maneuver execution and sensor data processing, eliminating the need for external calibration procedures or manual intervention. The vehicle combination itself generates the calibration data through its own motion and sensor measurements.
Solution Approach 2:
The patent replaces traditional mechanical measurement methods (physical tapes, manual measurements) with an electronic control system that calculates effective length using sensor data, steering angles, and dynamic maneuver observations. This substitution eliminates manual calibration processes and reduces system complexity.
2Reliability
If articulation angle sensors are not properly calibrated, then the systems perform poorly and cannot correctly follow desired paths, but calibration procedures are complex and time-consuming
Solution Approach 1:
The system performs preliminary calibration actions automatically during normal operation by continuously monitoring sensor data and adjusting effective length values. This preliminary calibration ensures the system is always ready for accurate path following without requiring separate calibration procedures before use.
Solution Approach 2:
The articulation angle sensor calibration is performed automatically by the system itself through dynamic maneuvers and sensor data processing, eliminating the need for external calibration equipment or expert intervention. The system self-corrects sensor inaccuracies through its own operational data.
3Adaptability or versatility
If frequent updates of trailer effective length information are performed, then the systems function properly when switching between trailers, but the time and complexity of operations increase
Solution Approach 1:
The patent replaces manual trailer measurement and data entry processes with an automatic electronic system that determines effective length through sensor data and dynamic maneuvers. This substitution makes trailer switching transparent to the operator, improving ease of operation while maintaining adaptability.
Solution Approach 2:
The system uses a universal calibration approach that works for different trailer types and configurations. The same dynamic maneuver-based method can determine effective length for various trailers, making the system adaptable to trailer switching without requiring different procedures for each trailer type.
Data Source
AI summary
A method for estimating an effective length of a first vehicle segment of a vehicle combination, the vehicle combination comprising a towing vehicle which is connected to the first vehicle segment via a first articulation joint and a perception sensor mounted on one of the towing vehicle and the first vehicle segment and arranged to obtain an image of the other one of the towing vehicle and the first vehicle segment; the method comprising identifying that the vehicle combination is provided in a first steady vehicle state, identifying that a turning and driving manoeuvre is initiated, identifying when the vehicle combination reaches a second steady vehicle state, determining a time period required for driving the vehicle combination from the first steady vehicle state to the second steady vehicle state, and estimating the effective length by use of the time period, the specific angular change, and the specific speed.