Patent ID: 11952038
Assignee: ZF CV SYSTEMS EUROPE BV
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A transverse steering method for moving a vehicle comprising active steering to a target position, the method comprising:
performing distance and/or angle measurements between the vehicle and the target position enabling the derivation of location and orientation data,
deriving the location and orientation data,
filtering the location and orientation data into current values, which include current location values and current orientation values,
performing control which derives a target steering angle from the current values, and
realization of the target steering angle by acting on the active steering of the vehicle,, wherein the filtering of the location and orientation data includes Kalman filtering with which the location and orientation data are processed into the current values taking into account driving characteristics measured on the vehicle, quality values, and a motion model of the vehicle,, wherein the Kalman filtering includes a measurement step and an update step, so that new calculated position data is derived in the measurement step from respective latest sensor data and previously calculated position data by weighted averaging with a weighting (w) that depends on the quality values (q) and a variance of the sensor measurements (vm) according to:

w=1/(q·vm+1), and, wherein in the update step, the new calculated position data is extrapolated into current position data according to a motion model which is parameterized with a measured steering angle and a measured speed as driving characteristics.