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US 12,752,838 B2Granted
Steering angle error monitoring
AssigneeCaterpillar Inc.
InventorBenjamin Meier Gatten
Life of this patent
Estimating the term…
Abstract
A steering angle error monitoring system may include a steering ground truth system, an odometry system and a steering controller. The odometry system may include a steering angle sensor and a speed sensor. The steering controller is configured to: determine a steering angle error based on a difference between an estimated turning rate based on signals from the odometry system over a period of time and an actual turning rate based on signals from the steering ground truth system over the period of time and output control signals to output a notification or adjust a steering routine based on the steering angle error.
Claims20
A steering angle error monitoring system comprising:
- a steering ground truth system for a vehicle;
- and
- an odometry system for the vehicle, the odometry system comprising:
- a steering angle sensor;
- a speed sensor;
- and
- a steering controller configured to:
- determine a first steering angle error based on a difference between a first estimated turning rate based on first signals from the odometry system over a first period of time and a first actual turning rate based on first signals from the steering ground truth system over the first period of time;
- determine a second steering angle error based on a difference between a second estimated turning rate based on second signals from the odometry system over a second period of time and a second actual turning rate based on second signals from the steering ground truth system over the second period of time;
- determine a steering angle error based on the first steering angle error and the second steering angle error;
- and
- output control signals to output a notification or adjust a steering routine based on the steering angle error.
9 more elements
A steering angle error monitoring system comprising:
- a steering ground truth system for a vehicle;
- and
- an odometry system for the vehicle, the odometry system comprising:
- a steering angle sensor:
- a speed sensor;
- and
- a steering controller configured to:
- determine a steering angle error based on a difference between an estimated turning rate based on signals from the odometry system over a period of time and an actual turning rate based on signals from the steering ground truth system over the period of time;
- output control signals to output a notification or adjust a steering routine based on the steering angle error;
- where the steering controller is configured to:
- determine a first steering angle error based on a difference between the estimated turning rate based on first signals from the odometry system over a first period of time exceeding one minute and the actual turning rate based on signals from the steering ground truth system over the first period of time;
- output first control signals adjusting the steering routine based on the steering angle error;
- determine a second steering angle error based on a difference between a second estimated turning rate based on second signals from the odometry system over a second period of time exceeding one minute and a second actual turning rate based on signals from the steering ground truth system over the second period of time;
- and
- output second control signals adjusting the steering routine based on the second steering angle error.
12 more elements
A vehicle comprising:
- a steering ground truth system;
- and
- an odometry system comprising:
- a steering angle sensor;
- a speed sensor;
- and
- a steering controller configured to:
- determine a first steering angle error based on a difference between a first estimated turning rate based on first signals from the odometry system over a first period of time and a first actual turning rate based on first signals from the steering ground truth system over the first period of time;
- determine a second steering angle error based on a difference between a second estimated turning rate based on second signals from the odometry system over a second period of time and a second actual turning rate based on second signals from the steering ground truth system over the second period of time;
- determine a steering angle error based on the first steering angle error and the second steering angle error;
- and
- output control signals to output a notification based on the steering angle error.
9 more elements
Dependencies are inferred from the claim text.