先进的三维挂车姿态估计铰接式车辆

2015 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2015-08-27 DOI:10.1109/IVS.2015.7225688

Christian Fuchs, F. Neuhaus, D. Paulus

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引用次数: 7

摘要

在为卡车/拖车组合设计驾驶员辅助系统时，了解卡车相对于附属拖车的位置和方向是任何运动学计算和轨迹估计的重要先决条件。本文提出了一种先进的光学传感器系统，用于测量附加双轴拖车的三维状态。它使用卡尔曼滤波器来增强姿态估计，并针对相同目的的以前版本的传感器系统进行评估。

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Advanced 3-D trailer pose estimation for articulated vehicles

When crafting driver assistance systems designed for truck/trailer combinations, knowledge about the position and orientation of a truck relative to the attached trailer is a vital prerequisite for any kinematic calculation and trajectory estimation. An advanced optical sensor system measuring the 3-D state of an attached two-axle trailer is proposed in this publication. It uses a Kalman filter for enhanced pose estimation and is evaluated against previous versions of the sensor system for the same purpose.

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来源期刊

2015 IEEE Intelligent Vehicles Symposium (IV)

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