Transverse steering method and transverse steering device for moving a vehicle into a target position, and vehicle for this purpose
AssigneeZf Cv Systems Europe BV
InventorOliver Wulf
Life of this patent
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Abstract
A transverse steering method is for moving a vehicle comprising active steering to a target position. The method includes: performing distance and/or angle measurements between the vehicle and the target position enabling the derivation of location and orientation data; deriving the location and orientation data; filtering the location and orientation data into current values, which include current location values and current orientation values; performing control which derives a target steering angle from the current values; and realization of the target steering angle by acting on the active steering of the vehicle.
Claims9
A transverse steering method for moving a vehicle comprising active steering to a target position, the method comprising:
- performing distance and/or angle measurements between the vehicle and the target position enabling the derivation of location and orientation data,
- deriving the location and orientation data,
- filtering the location and orientation data into current values, which include current location values and current orientation values,
- performing control which derives a target steering angle from the current values, and
- realization of the target steering angle by acting on the active steering of the vehicle,
- wherein the filtering of the location and orientation data includes Kalman filtering with which the location and orientation data are processed into the current values taking into account driving characteristics measured on the vehicle, quality values, and a motion model of the vehicle,
- wherein the Kalman filtering includes a measurement step and an update step, so that new calculated position data is derived in the measurement step from respective latest sensor data and previously calculated position data by weighted averaging with a weighting (w) that depends on the quality values (q) and a variance of the sensor measurements (vm) according to:
- w=1/(q·vm+1), and
- wherein in the update step, the new calculated position data is extrapolated into current position data according to a motion model which is parameterized with a measured steering angle and a measured speed as driving characteristics.
A transverse steering device for moving a vehicle comprising active steering into a target position, comprising:
- sensors and markings which are provided and distributed to the vehicle and the target position such that location and orientation data can be derived from distance and/or angle measurements between the vehicle and the target position,
- a measuring device which is set up to carry out the distance and/or angle measurements between the vehicle and the target position using the sensors and the markings and derives location and orientation data of the vehicle from this,
- a measured value filter which is set up to derive current values, which include current location values and current orientation values, from the location and orientation data, and
- a controller, which is set up such that target steering angles are derived from the current values and are realized by acting on the active steering,
- wherein the measured value filter is in the form of a Kalman filter, which is set up in such a way that the location and orientation data are processed into the current values taking into account driving characteristics measured on the vehicle, quality values, and a motion model of the vehicle,
- wherein the Kalman filter is set up to perform a measurement step and an update step, so that new calculated position data is derived in the measurement step from the respective latest sensor data and previously calculated position data by weighted averaging with a weighting (w) that depends on the quality values (q) and a variance of the sensor measurements (vm) according to w=1/(q·vm+1), and
- wherein in the update step the new calculated position data is extrapolated into current position data according to a motion model which is parameterized with a measured steering angle and a measured speed as driving characteristics.
Dependencies are inferred from the claim text.