Ein Verfahren zur Schätzung der Effektiven Länge eines Ersten Fahrzeugsegments einer Fahrzeugkombination

Details

Veröffentlichungs-Nr.

EP4098463

Aktenzeichen

EP21177667

Anmeldetag

4. Juni 2021

Veröffentlichung

8. Oktober 2025

Erteilung

8. Oktober 2025

Rechtsraum

EP

IPC

B60D1/24G01B21/06G01S17/88B62D13/06

Abstract

The invention relates to a method for estimating an effective length (L2) of a first vehicle segment (20) of a vehicle combination (100), the vehicle combination (100) comprising: - a towing vehicle (10) which is connected to the first vehicle segment (20) via a first articulation joint (A1); and - a perception sensor (12) mounted on one of the towing vehicle (10) and the first vehicle segment (20) and arranged to obtain an image of the other one of the towing vehicle and the first vehicle segment; the method comprising: - identifying (S1) that the vehicle combination (100) is provided in a first steady vehicle state, wherein a steady vehicle state is indicative of a condition where an articulation angle (α) of the first articulation joint (A1) has reached a stationary angular state corresponding to a specific steering angle of steerable ground engaging means (14) of the towing vehicle (10); - identifying (S2) that a turning and driving manoeuvre is initiated, wherein the turning and driving manoeuvre comprises changing the steering angle by a specific angular change (Δ) and driving the vehicle combination with a specific speed (v1) from the first steady vehicle state ; wherein the method further comprises: - identifying (S3) when the vehicle combination (100) reaches a second steady vehicle state by use of images obtained by the perception sensor (12); - determining (S4) a time period (t1) required for driving the vehicle combination (100) from the first steady vehicle state to the second steady vehicle state; and - estimating (S5) the effective length (L2) by use of the time period, a value indicative of the specific angular change (Δ) and a value indicative of the specific speed (v1). The invention further relates to a method for calibrating an articulation angle sensor, to control units, to a vehicle and to a computer program.

Anmelder

Firma

VOLVO TRUCK CORPORATION

Land

🇸🇪 Schweden

Fachgebiete