Low-speed maneuvering assistant for a vehicle
AssigneeVolvo Truck Corporation
InventorDaniel Johansson
Life of this patent
Estimating the term…
Abstract
A maneuvering assistant system for a vehicle combination comprising an interface configured to receive measurements from a camera, processing circuitry implementing a Kalman filter configured to observe an articulation angle of the vehicle combination on the basis of the measurements from the camera, a signal analyzer configured to repeatedly estimate a signal noise of the camera measurement and to adjust the Kalman filter on the basis of statistics derived from the estimated signal noise, and an assistance unit configured to receive an estimate of the articulation angle from the Kalman filter and provide drive actions based on the estimate.
Claims18
A method for assisting maneuvering of a vehicle combination, comprising:
- initiating a Kalman filter which observes an articulation angle of the vehicle combination and which is fed with measurements from a camera;
- repeatedly estimating a signal noise of the camera measurements;
- adjusting the Kalman filter on the basis of statistics derived from the estimated signal noise;
- obtaining an estimate of the observed articulation angle from the Kalman filter;
- and
- providing maneuvering assistance based on the estimate of the articulation angle.
A non-transitory computer-readable medium comprising instructions which, when executed by a computer, cause the computer to:
- initiate a Kalman filter which observes an articulation angle of the vehicle combination and which is fed with measurements from a camera;
- repeatedly estimate a signal noise of the camera measurements;
- adjust the Kalman filter on the basis of statistics derived from the estimated signal noise;
- obtain an estimate of the observed articulation angle from the Kalman filter;
- and
- provide maneuvering assistance based on the estimate of the articulation angle.
A maneuvering assistant system for a vehicle combination comprising:
- an interface configured to receive measurements from a camera;
- processing circuitry implementing a Kalman filter configured to observe an articulation angle of the vehicle combination on the basis of the measurements from the camera;
- a signal analyzer configured to:
- repeatedly estimate a signal noise of the camera measurement;
- and
- adjust the Kalman filter on the basis of statistics derived from the estimated signal noise;
- and
- an assistance unit configured to receive an estimate of the articulation angle from the Kalman filter and provide drive actions based on the estimate.
Dependencies are inferred from the claim text.