Method and device for determining at least one articulation angle of a vehicle combination
AssigneeRobert Bosch GmbH
InventorsKai Buechler, Matthias Eix
Life of this patent
Estimating the term…
Abstract
A method for determining at least one articulation angle of a vehicle combination. The method includes: ascertaining of radar data by at least one radar sensor situated on a vehicle of the vehicle combination; calculating, on the basis of the ascertained radar data, at least one item of position information that relates to a vehicle position of at least one additional vehicle of the vehicle combination; and calculation of the at least one articulation angle between the vehicle and the at least one additional vehicle of the vehicle combination, using the calculated position information.
Claims9
A method for determining at least one articulation angle of a vehicle combination, the method comprising:
- ascertaining radar data by at least one radar sensor situated on a vehicle of the vehicle combination;
- calculating, based on the ascertained radar data, at least one item of position-information that relates to a vehicle position of at least one additional vehicle of the vehicle combination, the at least one item of position information including a contour line of the at least one additional vehicle, the contour line running along an outer side of the at least one additional vehicle;
- and
- calculating the at least one articulation angle between the vehicle having the at least one radar sensor and the at least one additional vehicle of the vehicle combination, the articulation angle being calculated by calculating an angle between the contour line and an axis of the vehicle;
- wherein a vehicle combination model that best describes the vehicle combination is selected from a multiplicity of vehicle combination models based on a comparison of articulation angles estimated for the vehicle combination models with the calculated at least one articulation angle;
- and
- wherein the estimated articulation angle of the selected combination model is used to correct the calculated at least one articulation angle.
A device for determining at least one articulation angle of a vehicle combination, comprising:
- an interface configured to receive radar data that are ascertained by at least one radar sensor situated on a vehicle of the vehicle combination;
- and
- a computing device configured to perform the following:
- calculating at least one item of position information that relates to a vehicle position of at least one additional vehicle of the vehicle combination based on the ascertained radar data, the at least one item of position information including a contour line of the at least one additional vehicle, the contour line running along an outer side of the at least one additional vehicle, and
- calculating the at least one articulation angle between the vehicle having the at least one radar sensor and the at least one additional vehicle of the vehicle combination, the articulation angle calculated by calculating an angle between the contour line and an axis of the vehicle;
- wherein a vehicle combination model that best describes the vehicle combination is selected from a multiplicity of vehicle combination models based on a comparison of articulation angles estimated for the vehicle combination models with the calculated at least one articulation angle;
- and
- wherein the estimated articulation angle of the selected combination model is used to correct the calculated at least one articulation angle.
Dependencies are inferred from the claim text.