Volvo Car Corporation

Zenuity Ab

Telefonaktiebolaget Lm Ericsson (publ)

Nira Dynamics Ab

Zenseact Ab

Tony Gustafsson

Mats Jonasson

Joakim Lin Sörstedt

Peter Lindskog

Peter Hall

Mats Skold

Junsheng Fu

Axel Beauvisage

Andreas Schindler

Anders Stenman

Pontus Kielén

Joakim Sörstedt

Anton Albinsson

Han Zhang

Erik Stenborg

Henrik Gullvén

Mikael Thor

Urban Forssell

Henrik Nilsson

Fredrik Gustavsson

Markus Hammarsten

Mats Kvarnström

Roza Maghsood

Blazej Slusarek

Eduardo Sesma Caselles

Erik Steinmetz

Eiliv Hägg

Markus Gerdin

Mats Löfgren

Bjorn Gavert

Frederik Hans Bruzelius

Linlin Guo

Andreas Löfman

Joakim SÖRSTEDT

Joakim Lin SÖRSTEDT

Mats SKÖLD

Andreas LÖFMAN

A method performed by a vehicle pose assessment system for supporting determining a pose of a vehicle in view of a digital map. The approach provided by the method alleviates finding lane segments of the digital map corresponding to current sensor detections, which in turn may support accurate and/or improved vehicle localization. An apparatus and computer storage medium for supporting determining a pose of a vehicle in view of a digital map are also provided.

Vehicle pose assessment

The present disclosure relates to a method for determining a vehicle pose, predicting a pose (x, y, θ) of vehicle on a map based on sensor data acquired by a vehicle localization system, transforming a set of map road references of a segment of a digital map from a global coordinate system to an image-frame coordinate system of a vehicle-mounted camera based on map data and predicted pose of the vehicle. The transformed set of map road references form a set of polylines in image-frame coordinate system. Identifying a set of corresponding image road reference features in an image acquired by vehicle mounted camera, where each identified road references feature defines a set of measurement coordinates (x, y) in image-frame. Projecting each of identified set of image road reference features onto formed set of polylines in order to obtain a set of projection points.

Vehicle localisation

A method of determination of the alignment angles of two or more road vehicle () borne radar sensors () for a road vehicle radar auto-alignment controller () starting from initially available rough estimates of alignment angles. From at least two radar sensors () are obtained signals related to range, azimuth and range rate to detections. The detections are screened () to determine detections from stationary targets. From the determined detections from stationary targets is derived a linearized signal processing model involving alignment angles, longitudinal and lateral velocity and yaw-rate of the road vehicle (). A filter algorithm is applied to estimate the alignment angles. Based on the estimated alignment angles are produced signals suitable for causing a road vehicle () radar auto-alignment controller () to perform radar offset compensation.

Method of determination of alignment angles of radar sensors for a road vehicle radar auto-alignment controller

A method and control system for generating and updating digital maps using a plurality of passages along a road portion by at least one road vehicle is provided. The method comprises obtaining positioning data and sensor data of each passage from the at least one road vehicle. Further, the method comprises forming a sub-map representation of the surrounding environment at each obtained longitudinal position based on the obtained sensor data, and estimating a longitudinal error for each obtained longitudinal position within each segment. Furthermore, the method comprises determining a new plurality of longitudinal positions of each road vehicle for each passage by applying the estimated longitudinal error on each corresponding obtained longitudinal position, and applying the determined new plurality of longitudinal positions on associated sensor data in order to generate a first layer of a map representation of the surrounding environment along the road portion.

Method and system for generating and updating digital maps

A method, system and computer program product for determining a map position of an ego-vehicle are disclosed. The method includes acquiring map data comprising a road geometry, initializing at least one dynamic landmark by measuring a position and velocity, relative to the ego-vehicle, of a surrounding vehicle, and determining a first map position of the surrounding vehicle based on this measurement and the geographical position of the ego-vehicle. Further, the method includes predicting a second map position of the surrounding vehicle, and measuring a location, relative to the ego-vehicle, of the surrounding vehicle when it is estimated to be at the second map position, whereby the geographical position of the ego-vehicle can be computed and updated.

Localization using dynamic landmarks

Described herein is a method and arrangement () for sourcing of location information, generating and updating maps () representing the location. From at least two road vehicle () passages at the location is obtained () vehicle registered data on the surrounding environment from environment sensors and positioning data from consumer-grade satellite positioning arrangements and from at least one of an inertial measurement unit and a wheel speed sensor. The positioning data is smoothed () to establish continuous trajectories for the respective vehicles (). Individual surrounding environment maps are created using the data from each respective vehicle () passage at the location. From the individual surrounding environment maps are identified submaps () sharing area segments. Pairs of submaps () sharing area segments are cross-correlated (). The information from the pairwise cross-correlation () of submaps () is used for optimizing each submaps () offset relative a full map () of the surrounding environment and the submaps () are merged into the full map ().

Method and arrangement for sourcing of location information, generating and updating maps representing the location

A method is described for determining a friction estimate between a road surface and a tire of a vehicle, the tire being arranged on a steerable wheel of the vehicle, and the vehicle having an axle rack pivotably attached to a linkage arm connected to the steerable wheel such that a translational motion of the axle rack causes the linkage arm to rotate about a kingpin element such that the linkage arm causes a turning motion of the steerable wheel. The method includes acquiring a plurality of rack force values; acquiring a plurality of lateral wheel force values; mapping a relation between the plurality of rack force values and the lateral wheel force values to a model; and determining the lateral friction estimate based on the mapping.

Method and system for computing a road friction estimate

A method in a vehicle for determining road properties is described. The method includes: acquiring vehicle acceleration in x, y and z directions; acquiring a rack force; acquiring a wheel speed for each of all four wheels; determining a wheel speed energy based on the wheel speed; determining a wheel slip of all four wheels of the vehicle based on a respective wheel speed of the wheel; determining an acceleration energy in each of the x, y and z-directions based on the vehicle acceleration and the vehicle speed; determining a rack force energy based on the detected rack force; and determining road properties based on the wheel speed energy, rack force energy and vehicle speed. A system is also described for performing the method.

Method and system for determining road properties in a vehicle

There is provided a method for estimating friction between a tire of a vehicle and a road surface, the method comprising acquiring, a front wheel axle torque, a rear wheel axle torque, a vehicle longitudinal acceleration, a vehicle pitch rate and wheel rotational velocities. The method further comprises determining a front wheel normal force and a rear wheel normal force, based on a center of gravity of the vehicle and the longitudinal acceleration; determining a longitudinal tire stiffness, jointly determining a vehicle longitudinal velocity, based on the wheel rotational velocities and vehicle longitudinal acceleration, and a vehicle pitch angle relative to the horizontal plane based on the vehicle pitch rate; and determining a friction coefficient between tires and ground based on the front and rear wheel axle torque, the front wheel normal force and the joint estimation of pitch angle and vehicle longitudinal velocity. There is also provided a system for performing the described method.

Method and system for determining friction between the ground and a tire of a vehicle

The present disclosure relates to a method and arrangement for estimating a friction coefficient (&#x3bc;) between tires of a wheeled two-axis two-track road vehicle and the ground. If the longitudinal velocity &#x3bd;of the vehicle is above a first threshold &#x3bd;and the wheel angle &#x3b4;and/or the yaw rate &#x3a9;are/is below a second threshold &#x3b4;/&#x3a9;, a positive torque is applied to both wheels on a first axle and an and opposite, negative torque, to both wheels on a second axle while following driver requested longitudinal vehicle acceleration (a). Wheel speeds &#x3c9;are measured and tire forces (f) estimated. The friction coefficient (&#x3bc;) between the tires and the ground are estimated from the measured wheel speeds &#x3c9;and the estimated tire forces (f). The estimated friction coefficient (&#x3bc;) is made available to other vehicle systems.

Method and arrangement for tire to road friction estimation

A method, arrangement and system are described for estimating one or more vehicle cornering stiffness parameters (c, c) in a linear vehicle operating region. The method includes reading sensor data representative of at least vehicle () longitudinal velocity (v), vehicle lateral acceleration (a), vehicle yaw rate (&#x3c9;) and vehicle steering angle (&#x3b4;), determining from the read sensor data if the cornering stiffness parameters (c, c) are observable, and if so providing an estimate of the cornering stiffness parameters (c, c) using a bicycle model that includes a model of tire relaxation dynamics.

Method, arrangement and system for estimating vehicle cornering stiffness

This disclosure provides a circuit for linearizing an output signal Sout produced by a non-linear component based on an input signal x(n). The circuit comprises a primary pre-distorter module configured to generate a pre-distorted signal y(n) based on the input signal x(n) and a primary pre-distortion function parameterized by a pre-distortion parameter &#x3bb; and to feed the pre-distorted signal y(n) to the non-linear component. The circuit comprises an estimation module. The estimation module is configured to receive samples z(n) of the output signal Sout, and to determine the pre-distortion parameter &#x3bb;. The estimation module comprises a secondary pre-distorter module configured to generate a secondary pre-distorter output signal r(n) based on a secondary pre-distortion function and the samples z(n) of the output signal Sout. The secondary pre-distorter module is configured to determine the pre-distortion parameter &#x3bb; based on a previously determined pre-distortion parameter stored on a data storage, the secondary pre-distorter output signal r(n) and the pre-distorted signal y(n) provided by the primary pre-distorted module. The determining comprises correlating the input signal x(n) with an error signal between the pre-distorted signal y(n) and the secondary pre-distorter output signal r(n).

Circuits for linearizing an output signal of a non-linear component and related devices and methods

A driver assist arrangement includes a first yaw rate controller, a hazard evaluation unit, a driver intention evaluation unit, and a second yaw rate controller. The first yaw rate controller is configured to control a yaw rate of a vehicle hosting the arrangement by comparing an expected yaw rate with an actual yaw rate, and in response thereto selectively apply brakes of respective wheels of the host vehicle. The second yaw rate controller is configured to intervene in the control of the first yaw rate controller in case the evaluated risk of an accident is above a threshold value and occurrence of an avoidance maneuver initiated by the driver is detected. A vehicle including a driver assist arrangement and a method of assisting a driver of a vehicle are also provided.

Driver assist arrangement

The invention provides a system, a method and a computer program of estimating tire pressure deviations in a number of tires of a vehicle wherein a plurality of possible constellations of one or more pressure deviating tires exists. The system comprises a plurality of pressure deviation detectors (), wherein each of the detectors () is adapted to detect at least one of the pressure deviating tire constellations. The system further comprises an output unit () which is adapted to provide for a warning if one of the pressure deviation detectors () detects at least one of the pressure deviating tire constellations.

System, method and computer program of estimating tire pressure deviations

A method, system and computer program product for detecting a tire pressure deviation in a tire of a vehicle by determining tire pressure indicating data indicative of a tire pressure condition of the tire and determining tire pressure deviation data indicative of a tire pressure deviation in the tire.

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Askim, Sweden

Tony Gustafsson