Patent Publication Number: US-2023150763-A1

Title: Refuse vehicle with advanced driver-assistance system

Description:
CROSS-REFERENCE TO RELATED PATENT APPLICATIONS 
     This application claims the benefit of and priority to U. S. Provisional Application No. 63/280,899, filed Nov. 18, 2021, the entire disclosure of which is hereby incorporated by reference herein. 
    
    
     BACKGROUND 
     Refuse vehicles collect a wide variety of waste, trash, and other material from residences and businesses. Operators of the refuse vehicles transport the material from various waste receptacles within a municipality to a storage or processing facility (e.g., a landfill, an incineration facility, a recycling facility, etc.). 
     SUMMARY 
     At least one embodiment relates to a refuse vehicle. The refuse vehicle includes a chassis coupled a wheel, a motor configured to drive the wheel, a body assembly coupled to the chassis and defining a refuse compartment, a lift assembly, and a vehicle control system having a sensor integrated into the body assembly and a controller in communication with the lift assembly and the sensor. The controller includes a processor and at least one memory and is configured to receive sensor data from the sensor, the sensor data indicating a potential event, receive control data indicating a state the lift assembly, and compare the sensor data to the control data to determine if the potential event is a false event associated with the state of the lift assembly or an actual event. 
     Another embodiment relates to a refuse vehicle that includes a chassis, a body assembly coupled to the chassis and defining a refuse compartment, a lift assembly, a refuse container configured to selectively couple to the lift assembly and having a carry can sensor, and a vehicle control system having a vehicle sensor integrated into the body assembly and a controller in communication with the lift assembly, the carry can sensor, and the vehicle sensor. The controller includes a processor and at least one memory and is configured to determine that the lift assembly is in a collection mode and in response to determining that the lift assembly is in the collection mode, deactivate the vehicle sensor and activate the carry can sensor. 
     Another embodiment relates to a refuse vehicle that includes a chassis, a cab supported by the chassis, a body assembly coupled to the chassis and defining a refuse compartment, a lift assembly, and a vehicle control system having a vehicle sensor integrated into the body assembly and a front camera mounted to the cab. The front camera defines a field of view that intersects with a ground plane. A predefined vision distance defined between the front camera and a point where the field of view intersects with the ground plane is less than or equal to about 7 meters. 
     This summary is illustrative only and is not intended to be in any way limiting. Other aspects, inventive features, and advantages of the devices or processes described herein will become apparent in the detailed description set forth herein, taken in conjunction with the accompanying figures, wherein like reference numerals refer to like elements. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The disclosure will become more fully understood from the following detailed description, taken in conjunction with the accompanying figures, wherein like reference numerals refer to like elements, in which: 
         FIG.  1    is a perspective view of a refuse vehicle, according to an exemplary embodiment; 
         FIG.  2    is a perspective view of a carry can for the refuse vehicle of  FIG.  1    having a robotic arm, according to an exemplary embodiment; 
         FIG.  3    is a perspective view of the carry can of  FIG.  2    having a second energy storage system, according to an exemplary embodiment; 
         FIG.  4    is a front perspective view of the carry can of  FIG.  2    with a can arm in a retracted position; 
         FIG.  5    is a front perspective view of the carry can of  FIG.  2    with a can arm in an extended position; 
         FIG.  6    is a schematic illustration of an advanced driver-assistance system for the refuse vehicle of  FIG.  1   ; 
         FIG.  7    is a top view of the refuse vehicle of  FIG.  1    equipped with the advanced driver-assistance system of  FIG.  6    and including a camera system, according to an exemplary embodiment; 
         FIG.  8    is a perspective view of a cab of the refuse vehicle of  FIG.  7   ; 
         FIG.  9    is an enlarged view a front camera on the cab of  FIGS.  8   , according to an exemplary embodiment; 
         FIG.  10    is perspective view of the refuse vehicle of  FIG.  7   , according to an exemplary embodiment; 
         FIG.  11    is a top view of the refuse vehicle of  FIG.  1    equipped with the advanced driver-assistance system of  FIG.  6    and including a radar detection system, according to an exemplary embodiment; 
         FIG.  12    is a front view of a cab of the refuse vehicle of  FIG.  11   ; 
         FIG.  13    is a side view of a portion of the cab of  FIG.  12   ; 
         FIG.  14    is a perspective view of a portion of the cab of  FIG.  12   ; 
         FIG.  15    is a top view of the refuse vehicle of  FIG.  1    equipped with the advanced driver-assistance system of  FIG.  6    and including a camera system and a radar detection system, according to an exemplary embodiment; 
         FIG.  16    is perspective view of a cab of the refuse vehicle of  FIG.  1    equipped with the advanced driver-assistance system of  FIG.  6    and including a forward collision system, according to an exemplary embodiment; 
         FIG.  17    is a front view of the cab of  FIG.  16   ; 
         FIG.  18    is a side view of the cab of  FIG.  16   , including a field of view of the forward collision system, according to exemplary embodiment; 
         FIG.  19    is a front view of the cab of  FIG.  16    illustrated a front radar sensor, according to another exemplary embodiment; 
         FIG.  20    is a perspective view of the cab and the front radar sensor of  FIG.  19   , according to another exemplary embodiment; 
         FIG.  21    is a perspective view of the front radar sensor of  FIG.  19    illustrating a keep-out zone, according to an exemplary embodiment; 
         FIG.  22    is a flow diagram of a method for filtering sensor data, according to an exemplary embodiment; 
         FIG.  23    is a flow diagram of a method for determining an operation mode of a refuse vehicle, according to an exemplary embodiment; 
         FIG.  24    is a flow diagram of a method for selecting sensors in an advanced driver-assistance system, according to an exemplary embodiment; 
         FIG.  25    is a perspective view of a carry can for the refuse vehicle of  FIG.  1    having one or more sensors, according to an exemplary embodiment; 
         FIG.  26    is a top view of the refuse vehicle of  FIG.  1    equipped with the advanced driver-assistance system of  FIG.  6    and including an alley camera system, according to an exemplary embodiment; and 
         FIG.  27    is a top view of the refuse vehicle of  FIG.  1    equipped with the advanced driver-assistance system of  FIG.  6    and including an alley camera system having two cameras, according to an exemplary embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     Before turning to the figures, which illustrate certain exemplary embodiments in detail, it should be understood that the present disclosure is not limited to the details or methodology set forth in the description or illustrated in the figures. It should also be understood that the terminology used herein is for the purpose of description only and should not be regarded as limiting. 
     According to an exemplary embodiment, a vocational vehicle (e.g., refuse truck, refuse vehicle, mixer vehicle, fire fighting vehicle, etc.) includes a vehicle control system configured to operate as an advanced driver-assistance system (ADAS). The ADAS system includes one or more sensors positioned in and around the vocational vehicle. In some embodiments, the sensors include a three hundred sixty degree camera system, a three hundred sixty degree radar system, and a forward collision detection system. Further, the ADAS system can include sensors for monitoring an activity of the vocational vehicle. For example, the sensors may monitor a refuse collection mode of a refuse vehicle including monitoring the position of a lift assembly and the contents of a refuse compartment. In some embodiments, the ADAS system can filter the sensor data through the vehicle controls to identify false events. The false events can be due to the position of components of the vocation vehicle itself that are detected by the sensors. For example, a forward facing radar sensor may detect an object in front of the refuse vehicle, but the ADAS system can compare the sensor data to vehicle control data to determine the object that is detected is a lift assembly of the vocational vehicle, and the ADAS system can disregard the data. In one embodiment, the sensors are integrated into a body of the vocational vehicle. In some embodiments, the exterior of the vocational vehicle can be modified to include radar-friendly materials at select locations in front of the sensors to facilitate operation of the radar sensors. In some embodiments, the ADAS system can detect operation modes, allowing for (a) automatic adjustment to a user interface of the ADAS system, and (b) automatic driver-assistance, based on the detected mode. For example, the ADAS system can provide a view on a console display of a hopper camera and curbside camera when a collection mode is detected, and a view of a different combination of video feeds in a forward travel mode. In some embodiments, the ADAS system combines vocational activity awareness and ADAS operations into a single user interface system that can include an instrument cluster display and a main console display. The ADAS controls the displays in tandem providing each display with context-specific information based on the detected mode. 
     Overall Vehicle 
     As shown in  FIG.  1   , a vehicle, shown as refuse vehicle  10  (e.g., a garbage truck, a waste collection truck, a sanitation truck, a recycling truck, etc.), is configured as a front-loading refuse truck. In other embodiments, the refuse vehicle  10  is configured as a side-loading refuse truck or a rear-loading refuse truck. As shown in  FIG.  1   , the refuse vehicle  10  includes a chassis, shown as frame  12 ; a body assembly, shown as body  14 , coupled to the frame  12  (e.g., at a rear end thereof, etc.); and a cab, shown as cab  16 , coupled to the frame  12  (e.g., at a front end thereof, etc.). The cab  16  may include various components to facilitate operation of the refuse vehicle  10  by an operator (e.g., a seat, a steering wheel, actuator controls, a user interface, switches, buttons, dials, etc.). In some embodiments, body  14  acts as the chassis and replaces frame  12 , providing structural support to refuse vehicle  10  as a stressed member. 
     As shown in  FIG.  1   , the refuse vehicle  10  includes a prime mover, shown as electric motor  18 , and an energy system, shown as energy storage and/or generation system  20 . In other embodiments, the prime mover is or includes an internal combustion engine. According to the exemplary embodiment shown in  FIG.  1   , the electric motor  18  is coupled to the frame  12  at a position beneath the cab  16 . The electric motor  18  is configured to provide power to a plurality of tractive elements, shown as wheels  22  (e.g., via a drive shaft, axles, etc.). In other embodiments, the electric motor  18  is otherwise positioned and/or the refuse vehicle  10  includes a plurality of electric motors to facilitate independently driving one or more of the wheels  22 . In still other embodiments, the electric motor  18  or a secondary electric motor is coupled to and configured to drive a hydraulic system that powers hydraulic actuators. The refuse vehicle  10  can include steering components (e.g., steering arms, steering actuators, etc.), suspension components (e.g., gas springs, dampeners, air springs, etc.), power transmission or drive components (e.g., differentials, drive shafts, etc.), braking components (e.g., brake actuators, brake pads, brake discs, brake drums, etc.), and/or other components that facilitate propulsion or support of the vehicle using power provided by the prime mover. According to the exemplary embodiment shown in  FIG.  1   , the energy storage and/or generation system  20  is coupled to the frame  12  beneath the body  14 . In other embodiments, the energy storage and/or generation system  20  is otherwise positioned (e.g., within a tailgate of the refuse vehicle  10 , beneath the cab  16 , along the top of the body  14 , within the body  14 , etc.). 
     According to an exemplary embodiment, the energy storage and/or generation system  20  is configured to (a) receive, generate, and/or store power and (b) provide electric power to (i) the electric motor  18  to drive the wheels  22 , (ii) electric actuators of the refuse vehicle  10  to facilitate operation thereof (e.g., lift actuators, tailgate actuators, packer actuators, grabber actuators, etc.), and/or (iii) other electrically operated accessories of the refuse vehicle  10  (e.g., displays, lights, etc.). The energy storage and/or generation system  20  may include one or more rechargeable batteries (e.g., lithium-ion batteries, nickel-metal hydride batteries, lithium-ion polymer batteries, lead-acid batteries, nickel-cadmium batteries, etc.), capacitors, solar cells, generators, power buses, etc. In one embodiment, the refuse vehicle  10  is a completely electric refuse vehicle. In other embodiments, the refuse vehicle  10  includes an internal combustion generator that utilizes one or more fuels (e.g., gasoline, diesel, propane, natural gas, hydrogen, etc.) to generate electricity to charge the energy storage and/or generation system  20 , power the electric motor  18 , power the electric actuators, and/or power the other electrically operated accessories (e.g., a hybrid refuse vehicle, etc.). For example, the refuse vehicle  10  may have an internal combustion engine augmented by the electric motor  18  to cooperatively provide power to the wheels  22 . The energy storage and/or generation system  20  may thereby be charged via an on-board generator (e.g., an internal combustion generator, a solar panel system, etc.), from an external power source (e.g., overhead power lines, mains power source through a charging input, etc.), and/or via a power regenerative braking system, and provide power to the electrically operated systems of the refuse vehicle  10 . In some embodiments, the energy storage and/or generation system  20  includes a heat management system (e.g., liquid cooling, heat exchanger, air cooling, etc.). 
     According to an exemplary embodiment, the refuse vehicle  10  is configured to transport refuse from various waste receptacles within a municipality to a storage and/or processing facility (e.g., a landfill, an incineration facility, a recycling facility, etc.). As shown in  FIG.  1   , the body  14  includes a plurality of panels, shown as panels  32 , a tailgate  34 , and a cover  36 . The panels  32 , the tailgate  34 , and the cover  36  define a collection chamber, shown as refuse compartment  30 . Loose refuse may be placed into the refuse compartment  30  where it may thereafter be compacted (e.g., by a packer system, etc.). The refuse compartment  30  may provide temporary storage for refuse during transport to a waste disposal site and/or a recycling facility. In some embodiments, at least a portion of the body  14  and the refuse compartment  30  extend above or in front of the cab  16 . According to the embodiment shown in  FIG.  1   , the body  14  and the refuse compartment  30  are positioned behind the cab  16 . In some embodiments, the refuse compartment  30  includes a hopper volume and a storage volume. Refuse may be initially loaded into the hopper volume and thereafter compacted into the storage volume. According to an exemplary embodiment, the hopper volume is positioned between the storage volume and the cab  16  (e.g., refuse is loaded into a position of the refuse compartment  30  behind the cab  16  and stored in a position further toward the rear of the refuse compartment  30 , a front-loading refuse vehicle, a side-loading refuse vehicle, etc.). In other embodiments, the storage volume is positioned between the hopper volume and the cab  16  (e.g., a rear-loading refuse vehicle, etc.). 
     As shown in  FIG.  1   , the refuse vehicle  10  includes a lift mechanism/system (e.g., a front-loading lift assembly, etc.), shown as lift assembly  40 , coupled to the front end of the body  14 . In other embodiments, the lift assembly  40  extends rearward of the body  14  (e.g., a rear-loading refuse vehicle, etc.). In still other embodiments, the lift assembly  40  extends from a side of the body  14  (e.g., a side-loading refuse vehicle, etc.). As shown in  FIG.  1   , the lift assembly  40  is configured to engage a container (e.g., a residential trash receptacle, a commercial trash receptacle, a container having a robotic grabber arm, etc.), shown as refuse container  60 . The lift assembly  40  may include various actuators (e.g., electric actuators, hydraulic actuators, pneumatic actuators, etc.) to facilitate engaging the refuse container  60 , lifting the refuse container  60 , and tipping refuse out of the refuse container  60  into the hopper volume of the refuse compartment  30  through an opening in the cover  36  or through the tailgate  34 . The lift assembly  40  may thereafter return the empty refuse container  60  to the ground. According to an exemplary embodiment, a door, shown as top door  38 , is movably coupled along the cover  36  to seal the opening thereby preventing refuse from escaping the refuse compartment  30  (e.g., due to wind, bumps in the road, etc.). In some embodiments, the refuse vehicle  10  includes a vehicle control system, shown in  FIG.  6    for controlling and operating the various movable actuators, motors, assemblies, systems, and subsystems of refuse vehicle  10 . 
     Carry Can 
     According to the exemplary embodiment shown in  FIGS.  2 - 5   , the refuse container  60  is configured as a carry can, shown as carry can  200 . In some embodiments, the carry can  200  is configured to interface with the lift assembly  40  (e.g., a front-loading lift assembly, etc.) of the refuse vehicle  10 . In some embodiments, the carry can  200  is integrated into and forms part of the body  14  (e.g., forming at least a portion of the  30  in a side-loading configuration or a rear-loading configuration). As shown in  FIGS.  2 - 5   , the carry can  200  includes a second energy system, shown as can energy storage and/or generation system  220 , and an articulating collection arm, shown as robotic arm  300 . In some embodiments, the can energy storage and/or generation system  220  powers the robotic arm  300 . In some embodiments, the carry can  200  does not include the can energy storage and/or generation system  220 . In such embodiments, the energy storage and/or generation system  220  of the refuse vehicle  10  may power the robotic arm  300  (i.e., the robotic arm  300  receives power from an energy storage system onboard the body  14 , rather than an energy system on the carry can  200 ). 
     As shown in  FIGS.  2 - 5   , the carry can  200  includes a refuse container having a base portion, shown as base  202 , and peripheral sidewall, shown as container walls  204 , extending from the base  202 . The base  202  and the container walls  204  cooperatively define an internal cavity, shown as container refuse compartment  206 . As shown in  FIGS.  2 - 5   , the carry can  200  includes an interface (e.g., a quick attach interface, etc.), shown as lift assembly interface  208 , (i) that is positioned along a rear wall of the base  202  and (ii) that is configured to releasably interface with a coupling assembly, shown as quick attach assembly  50 . According to an exemplary embodiment, the quick attach assembly  50  is configured to couple to the lift assembly  40  to facilitate lifting the carry can  200  with the lift assembly  40  to empty contents within the container refuse compartment  206  into the refuse compartment  30  of the refuse vehicle  10 . Additional disclosure regarding the lift assembly interface  208  and the quick attach assembly  50  may be found in (i) U.S. Pat. No. 10,035,648, filed May 31, 2017, (ii) U.S. Pat. No. 10,351,340, filed Jul. 27, 2018, (iii) U.S. Pat. No. 10,513,392, filed May 16, 2019, and (iv) U.S. Patent Publication No.  2020 / 0087063 , filed November  21 ,  2019 , all of which are incorporated herein by reference in their entireties. In other embodiments, the base  202  and/or the container walls  204  define fork pockets that selectively receive and interface with forks of the lift assembly  40  to facilitate coupling the carry can  200  to the lift assembly  40 . 
     As shown in  FIGS.  2 - 5   , the robotic arm  300  is positioned along and selectively extends outward from a sidewall of the container walls  204  of the carry can  200 . In other embodiments, at least a portion of the robotic arm  300  is coupled to and translates along a rear wall of the container walls  204  of the carry can  200 . As shown in  FIGS.  2 - 5   , the robotic arm  300  includes a first assembly, shown as extension mechanism  320 ; a second assembly, shown as lift mechanism  340 , coupled to the extension mechanism  320 ; and a third assembly, shown as grabber mechanism  360 , coupled to the lift mechanism  340 . 
     The extension mechanism  320  includes an extendable/telescoping arm, shown as can arm  322 , and a first actuator, shown as extension actuator  324 , positioned to facilitate selectively extending and retracting the can arm  322  and, thereby, the lift mechanism  340  and the grabber mechanism  360  between a nominal, non-extended position (see, e.g.,  FIG.  4   ) and an extended position (see, e.g.,  FIG.  5   ). According to an exemplary embodiment, the extension actuator  324  is an electric actuator configured to be powered via electricity provided by the energy storage and/or generation system  20 , the carry can energy storage and/or generation system  220 , and/or another electrical source on the refuse vehicle  10  and/or the carry can  200  (e.g., a generator, solar panels, etc.). In an alternative embodiment, the extension actuator  324  is a fluidly operated actuator (e.g., a hydraulic cylinder, a pneumatic cylinder, etc.) operated by a fluid pump (e.g., a hydraulic pump, a pneumatic pump, etc.) driven by an electric motor (e.g., the electric motor  18 , the secondary electric motor, an integrated motor of the fluid pump, etc.). In such an embodiment, the fluid pump may be positioned on the refuse vehicle  10  or on the carry can  200 , and fluidly coupled to the extension actuator  324  via conduits. 
     ADAS Control Diagram 
     Referring generally to  FIG.  6   , an advanced driver-assistance system (ADAS), shown as ADAS  400 , may be configured to assist an operator of the refuse vehicle  10  and/or provide automatic control of the refuse vehicle  10 . For example, the ADAS  400  can provide alerts and/or automatic assistance including lane keeping, lane departure awareness, blind spot awareness, obstacle/pedestrian awareness and avoidance, trip awareness (i.e. traffic sign recognition, traffic signal recognition, etc.), automatic steering and control, automatic speed control, emergency braking, etc. The ADAS  400  may be configured to generate alerts and/or automatic action(s) for the refuse vehicle  10  and/or controllable elements  410  of the refuse vehicle  10 , including the various apparatuses, sub-assemblies, sub-apparatuses, systems, devices, etc., of the refuse vehicle  10  based in part on sensor data from sensors  414 , control data from the controllable elements  410 , and user inputs from a user interface  416 . 
     According to an exemplary embodiment shown in  FIG.  6   , the ADAS  400  includes a controller  402 , one or more controllable elements  410  of refuse vehicle  10  (e.g., electric motors, lift assemblies, pneumatic cylinders, hydraulic cylinders, engines, valves, actuators, linear electric actuators, steering components, power and drive components, etc.), a remote network  412 , one or more sensors  414 , and a user interface  416 . The controller  402  may be one of one or more controllers of the refuse vehicle  10 . 
     According to an exemplary embodiment, the controller  402  includes a processing circuit  404 , a processor  406 , and memory  408 . The processing circuit  404  can be communicably connected to a communications interface such that the processing circuit  404  and the various components thereof can send and receive data via the communications interface. The processor  406  can be implemented as a general purpose processor, an application specific integrated circuit (ASIC), one or more field programmable gate arrays (FPGAs), a group of processing components, or other suitable electronic processing components. 
     According to an exemplary embodiment, the memory  408  (e.g., memory, memory unit, storage device, etc.) can include one or more devices (e.g., RAM, ROM, Flash memory, hard disk storage, etc.) for storing data and/or computer code for completing or facilitating the various processes, layers and modules described in the present application. The memory  408  can be or include volatile memory or non-volatile memory. The memory  408  can include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described in the present application. According to some embodiments, the memory  408  is communicably connected to the processor  406  via the processing circuit  404  and includes computer code for executing (e.g., by the processing circuit  404  and/or the processor  406 ) one or more processes described herein. 
     According to an exemplary embodiment, the controllable elements  410  include steering components, suspension components, power transmission or drive components, braking components, actuators, assemblies, systems, subsystems, and/or accessories of the refuse vehicle  10  that can be controlled by an operator. For example, the controllable elements  410  can include the lift assembly  40 . Control data may include the position, speed, status, etc. of the controllable elements  410 . For example, the control data may indicate that the lift assembly  40  is positioned in a collection position in front of the cab  16  of the refuse vehicle  10 . In some embodiments, the controller  402  facilitates control of the controllable elements  410  by providing control signals based on sensor data, control data, and/or user inputs. In some embodiments, the controllable elements  410  provide control data to the controller  402 . 
     According to an exemplary embodiment, the ADAS  400  can include the remote network  412  with which the controller  402  is configured to communicate. In some embodiments, the controller  402  is configured to wirelessly communicate with the remote network  412 . In some embodiments, any user inputs, sensor data, display data, control signals, control data, etc., as obtained, determined, generated, output, etc., by the controller  402  are provided to the remote network  412 . In some embodiments, the remote network  412  includes a processing circuit or processing circuitry similar to the processing circuit  404  of the controller  402  so that the remote network  412  can be configured to perform any of the functionality (e.g., the driver-assistance functions) of the controller  402 . In this way, the functionality of the controller  402  as described herein may be performed locally at the controller  402  of the refuse vehicle  10 , remotely by the remote network  412 , or distributed across the controller  402  and the remote network  412  so that some of the functionality as described herein is performed locally at the refuse vehicle  10  while other of the functionality as described herein is performed remotely at the remote network  412 . 
     According to an exemplary embodiment, the ADAS  400  includes one or more sensors, shown as sensors  414 . The sensors  414  may be disposed at various locations around the refuse vehicle  10  to identify obstacles and/or obtain other contextual information useful to the controller  402 . The sensors  414  include any one and/or a combination of proximity sensors, infrared sensors, electromagnetic sensors, capacitive sensors, photoelectric sensors, inductive sensors, radar sensors, ultrasonic sensors, Hall Effect sensors, fiber optic sensors, Doppler Effect sensors, magnetic sensors, laser sensors (e.g., LIDAR sensors), sonar, and/or the like. In some embodiments, the sensors  414  include an image capture device such as visible light cameras, full-spectrum cameras, image sensors (e.g., charged-coupled device (CCD), complementary metal oxide semiconductor (CMOS) sensors, etc.), or any other type of suitable object sensor or imaging device. Data captured by the sensors  414  may include, for example, raw image data from one or more cameras (e.g., visible light cameras) and/or proximity data from one or more sensors (e.g., LIDAR, radar, etc.) that may be used to detect objects. In some embodiments, the sensors  414  are active during operation of the refuse vehicle  10 . Additionally or alternatively, the sensors  414  may become active in response to a detected operation mode of the refuse vehicle  10 . For example, a hopper camera may activate in response to the refuse vehicle  10  being put into a collection mode. 
     In some embodiments, the sensor data is video feed data obtained from the sensors  414  regarding one or more areas in and/or surrounding refuse vehicle  10 . For example, the sensor data may be or include video feed data (e.g., live or real-time video feed data) of the front, sides, rear, and/or interior of the refuse compartment  30  of the refuse vehicle  10 . In some embodiments, the sensors  414  provide the controller  402  video feed data for generating a 360-degree composite view of the refuse vehicle  10  and/or its surroundings. The  360  composite video feed can be an image of the refuse vehicle  10  from above with the video feeds from one or more cameras, such as cameras  510  and the controller  402  can be configured to stitch together the video feed data from one or more cameras to create the 360-degree composite video feed. In some embodiments, the sensors  414  are radar sensors and the sensor data is proximity data. For example, the sensor data may include proximity data indicating the position, speed, direction of travel, and/or acceleration of one or more objects surrounding the refuse vehicle  10 . In some embodiments, the sensors  414  include both cameras and radar sensors and provide both video feed data and proximity data. In some embodiments, the sensor data also includes thermal imaging data from one or more sensors  414 . For example, sensor data from a visible light sensor and sensor data from a thermal imaging sensor in hopper camera  522  can be sent to the controller  402  as part of the sensor data. 
     Referring still to  FIG.  6   , the ADAS  400  includes the user interface  416 . The user interface  416  can be a human machine interface (HMI) that includes various displays and user input devices  422  (e.g., buttons, switches, levers, dials, joysticks, touchpad, touchscreen, etc.), for operation of the refuse vehicle  10 . As shown in  FIG.  6   , the user interface  416  includes displays, shown as an instrument display  418  and a console display  420 , input devices  422 , and alert devices  424 . In some embodiments, the displays such as instrument display  418  and console display  420  are also input devices, such as touchscreens, and are able to receive user inputs in addition to the input devices  422 . In some embodiments, the user interface  416  is positioned within the cab  16  of the refuse vehicle  10 . In some embodiments, the user interface  416  is configured to obtain user inputs from input devices  422  and provide the user inputs to controller  402 . The user inputs can indicate a desired operation and/or operational state of the refuse vehicle  10  or of an apparatus, system, device, sub-system, assembly, etc., of the refuse vehicle  10 . For example, the user inputs can indicate a requested operation of the lift assembly  40  and/or the grabber assembly  42 . Alternatively or additionally, the user inputs may be conventional steering and control inputs such as steering commands and/or speed commands. The controller  402  may respond to the user inputs by automatically adjusting the information provided to the user by providing the user interface  416  with display data, initiating an automatic alert via the user interface  416  via alert devices  424 , and/or initiating an automatic action. 
     In some embodiments, the alert devices  424  can provide auditory alerts to an operator of the refuse vehicle  10 . The alert devices  424  may include speakers, sound output devices, alarms, buzzers, etc. based on the display/alert data provided by the controller  402 . In some embodiments, the alert devices  424  are associated with a corresponding automatic action undertaken by the ADAS  400 . For example, audible natural language based alerts indicating a lane change can accompany a corresponding automatic lane change initiated the ADAS  400 . The audible natural language based alerts can accord to one or more languages. 
     According to an exemplary embodiment shown in  FIG.  7   , the ADAS  400  includes a three hundred and sixty degree ( 360 ) camera system, shown as camera system  500 , integrated into refuse vehicle  10 . The camera system  500  includes sensors, shown as cameras  510 . In some embodiments, the cameras  510  may be image sensors configured to capture live video and image data and provide the sensor data to ADAS  400 . In some embodiments, each of the cameras  510  defines a field of view, shown as camera FOV  520 . The camera FOV  520  can be between 100-180 degrees (e.g., the horizontal angle of view defined by the camera FOV  520 ). For example, the cameras  510  can each define a 160 degree FOV. The camera FOV  520  of each of the cameras  510  may overlap with one or two adjacent camera FOVs  520  to aid in stitching the various feeds together to form a composite 360-degree view of refuse vehicle  10 . In some embodiments, the cameras  510  make up some and/or all of the sensors  414  that provide sensor data to controller  402 . As shown in  FIG.  7   , the cameras  510  may be integrated into the refuse vehicle  10  itself. For example, the body  14  and/or the cab  16  of the refuse vehicle  10  may be modified such that the cameras  510  are integrated and installed into the body  14  and/or the cab  16  so that the cameras  510  are protected and able to obtain appropriate image data. The cameras  510  may be disposed at any number of locations throughout and/or around the refuse vehicle  10 . While only six cameras  510  are shown in  FIG.  7   , it should be understood that the number and position of cameras  510  in the camera system  500  might vary without departing from the scope of the present invention. In some embodiments, cameras  510  include a front camera  512  and a rear camera  514  as part of the camera system  500 . 
     Refuse vehicle  10  is shown on a vehicle axis system with an x-axis  1002  and y-axis  1004  that follow the International Organization for Standardization (ISO) Road Vehicles—Vehicle Dynamics and road-holding ability—Vocabulary (ISO Standard No. 8855:2011) Vehicle Axis System 2.10 convention, published December 2012, the entirety of which is herein incorporated by reference. The x-axis  1002  is a horizontal axis parallel to the vehicle&#39;s heading and in the forward direction of the vehicle such that it is also parallel to refuse vehicle  10 ′s longitudinal plane of symmetry. The y-axis  1004  is perpendicular to the x-axis  1002  and the refuse vehicle  10 ′s longitudinal plane of symmetry and is in the left direction of the vehicle of refuse vehicle  10 . The z-axis  1006  (shown in  FIG.  10   ) is perpendicular to both the x-axis  1002  and the y-axis  1004  and is pointing upwards. In some embodiments, the front camera  512  and the rear camera  514  are approximately positioned on the x-axis  1002  and at approximately the same height from the ground as the other cameras  512  such that the cameras all lie in the approximately same z-plane parallel to and above the x-y plane. 
     Referring now to  FIGS.  8 - 9   , the front camera  512  of the camera system  500  may be coupled to cab  16  and integrated into an aerodynamic cowl  518  for maximum airflow and to reduce the impact of airflow going into cores of the cowl  518 . In some embodiments, the front camera  512  is positioned above a windshield  516  of cab  16  on approximately a longitudinal centerline  1008  of refuse vehicle  10  that is parallel with x-axis  1002  shown in  FIGS.  7  and  10   . In some embodiments, windshield protection bars  524  are placed on either side of the front camera  512 . The windshield protection bars  524  may interfere with the image data obtained from front camera  512  if placed too close to front camera  512 . To minimize interference of the windshield protection bars  524  on the front camera  512 , the windshield protection bars  524  can be placed laterally offset from the longitudinal centerline  1008  of the refuse vehicle  10  and above the windshield  516 . For example, the windshield protection bars  524  can be placed approximately 8 inches laterally offset from the longitudinal centerline  1008  of the refuse vehicle  10  and extend approximately 3 inches above windshield  516 . In some embodiments, the windshield protection bars  524  are placed between approximately 1-12 inches offset from the longitudinal centerline  1008  of refuse vehicle  10  and extend approximately 1-12 inches above the windshield  516 . In some embodiments, the cowl  518  may include a secondary cover material for improving airflow in the cores of the front camera  512  and reducing the risk of collisions that may damage the front camera  512 . 
     According to an exemplary embodiment shown in  FIG.  10   , the cameras  510  of the camera system  500  are integrated directly into the structure of the refuse vehicle  10 . For example, the cameras  510  are integrated into and mounted on the body  14  and the cab  16  of the refuse vehicle  10 . In some embodiments, the cameras  510  are positioned according to one or more criteria to ensure image data from the cameras  510  can be combined to create a 360-degree composite view of the refuse vehicle  10  and its surroundings. The criteria can include angle, height, position relative to other cameras  510  in the camera system  500 , position on the refuse vehicle  10 , etc. For example, the cameras  510  integrated can have a 60 degree downward angle (i.e., a centerline extending through a body of the cameras  510  may intersect with a ground plane at a 60 degree angle), and be positioned at approximately the same height along the z-axis  1006  as measured from ground level and in an approximately horizontal plane that is parallel to the x-y plane (i.e., in the same z-plane). The height of the cameras  510  is approximately equal to ensure the  360  composite video feed is useable. In some embodiments, the cameras  510  are positioned as high as possible on the refuse vehicle  10  while keeping each of the cameras  510  in the same z-plane (i.e., the highest location on the refuse vehicle  10  where this is mounting area available in the same z-plane on the body  14  and the cab  16  for all the cameras  510 ). In some embodiments, the cameras  510  may vary from the desired height by plus or minus  12  inches without interfering with the ability of the controller  402  to integrate the feeds from the cameras  510  into a 360-degree composite view. 
     Still referring to  FIG.  10   , ADAS  400  is shown to include the position of hopper camera  522  in the refuse compartment  30  of the refuse vehicle  10 . In some embodiments, the hopper camera  522  is mounted to an interior surface of the refuse compartment  30 . The hopper camera  522  is positioned to view the dumping operation of a refuse container into the refuse compartment  30  to provide an operator a view of the contents of the refuse compartment  30  so the operator can screen refuse as it is collected for contaminants. Contaminants may include any unwanted items or creatures, including garbage in a recycling stream, batteries, live and dead animals, etc. 
     In some embodiments, to aid in the screening process, the hopper camera  522  can include a thermal imaging sensor (e.g., FLIR) in the place of or in addition to a visible light sensor. The hopper camera  522  with thermal imaging sensors can detect creatures or other objects based on differences in the temperature of the object and its surroundings to improve an operator&#39;s ability to screen the contents of the refuse compartment  30 . For example, thermal imaging data from the hopper camera  522  can detect that a creature such as a squirrel is within the refuse compartment  30 . In other embodiments, the thermal imaging capabilities of the hopper camera  522  are used for confirmation purposes, with vision techniques for processing the image data serving as the initial mode of detection of unwanted objects and/or creatures. In some embodiments, the ADAS  400  is configured to automatically monitor the refuse stream in the refuse compartment  30  using the hopper camera  522 . The ADAS  400  can use the normal visible light sensor and/or an additional thermal imaging sensor to automatically detect contaminants in the refuse compartment  30 . In some embodiments, upon detecting a contaminant in the refuse compartment  30  based on the data provided by the hopper camera  522 , the ADAS  400  can generate one or more control signals and/or alerts. For example, the ADAS  400  can generate a control signal to stop the dumping operation when a contaminant is detected and provide an alert to an operator. The ADAS  400  may be configured to display the image data from either the visible light sensor and/or the thermal imaging sensor in the hopper camera  522  to an operator. 
     According to an exemplary embodiment shown in  FIGS.  26  and  27   , the ADAS  400  includes an alley camera system, shown as alley system  2600 , configured to provide a wide-angle field of view of the area behind the refuse vehicle  10  (e.g., as the refuse vehicle  10  is reversing from an alleyway). In some embodiments, the alley system  2600  includes one or more alley cameras, shown as alley cameras  2610 , positioned at a rear of refuse vehicle  10 . The alley cameras  2610  can have a field of view, shown as FOV  2620 , between 150 and 170 degrees (e.g., the horizontal angle of view defined by the FOV  2620 ). In some embodiments, the FOV  2620  is 160 degrees. In some embodiments, two alley cameras  2610  are mounted on opposing sides of the longitudinal centerline  1008  of refuse vehicle  10 . To maximize the field of view of the alley system  2600 , the alley cameras  2610  can be mounted off-center of longitudinal centerline  1008 . For example, a pair of alley cameras  2610  can be mounted approximately  2  inches laterally off center of the longitudinal centerline  1008  (see, e.g.,  FIG.  27   ). In some embodiments, the alley cameras  2610  are mounted flush with a horizontal plane  2650  that is perpendicular to longitudinal centerline  1008  which represents the rear of refuse vehicle  10  (see, e.g.,  FIG.  26   ). In some embodiments, the alley cameras  2610  can be mounted at an angle  2640  relative to the horizontal plane  2650  (e.g., the rear of the refuse vehicle  10 ). Mounting the alley cameras  2610  at an angle can allow for the combined video feeds from the alley cameras  2610  to define a 180 degree field of view. For example, the off-center and angled mounting position of the alley cameras  2610  can provide a 180 degree field of view to alley system  2600 , shown as an alley system FOV  2660 . In some embodiments, the angle  2640  may be approximately 10 degrees relative to the horizontal plane  2650 . 
     In some embodiments, the alley system  2600  is a component of the camera system  500 , and the alley cameras  2610  are part of the cameras  510 . For example, the alley cameras  2610  may form the rear cameras  514  of the camera system  500 . In some embodiments, the alley system  2600  is a separate system and the data from the alley system  2600  is provided to the ADAS  400  in the same manner and for the same purpose as data from the camera system  500 . In some embodiments, the data from the alley system  2600  may be separately addressable. For example, the ADAS  400  can be configured to automatically display the combined feed from one or more of the alley cameras  2610  when the ADAS  400  determines the refuse vehicle  10  is in a reverse mode. In some embodiments, the data from the alley system  2600  can be combined with the data from one or more other systems of the ADAS  400  (i.e., the camera system  500 , radar system  600 , and/or the collision detection system  1600  described herein). 
     Turing to  FIG.  11   , the ADAS  400  includes a radar detection system, shown as radar system  600 , configured to detect the position, speed, direction of travel, and/or acceleration of one or more objects external to the refuse vehicle  10 . The radar system  600  includes radar sensors, shown as radar sensors  610  integrated into the body  14  and/or the cab  16  of the refuse vehicle  10 , with field of views, shown as radar FOVs  620 . In some embodiments, the radar sensors  610  make up some and/or all of sensors  414  that provide sensor data to the controller  402 . In some embodiments, the radar sensors  610  are dual sensing radar sensors, and may have multiple radar FOVs  620 , such as a first FOV for short range sensing, shown in  FIG.  11    as short range FOV  612 , and a second FOV for long range sensing, shown in  FIG.  15    as long range FOV  614 . In some embodiments, the short range FOV  612  is wider than the long range FOV  614  (e.g., the horizontal angle of view defined by the short range FOV  612  is greater than the horizontal angle of view defined by the long range FOV  614 ). For example, the short range FOV  612  can be approximately 45 degrees (e.g., the horizontal angle of view defined by the short range FOV  612 ) and the long range FOV  614  can be approximately 20 degrees. In some embodiments, the radar sensors  610  are single-distance radar sensors and have only a single FOV. In some embodiments, the radar sensors  610  are installed low to the ground in a substantially horizontal plane parallel to the x-y plane made by the x-axis  1002  and the y-axis  1004 . For example, the radar sensors  610  can be placed between approximately  35  and approximately  43  inches off the ground on a horizontal plane. The radar sensors  610  are placed approximately horizontally to ensure proper functionality. Placing the radar sensors  610  low to the ground helps the radar sensors  610  detect smaller vehicles such as motor cycles and smaller pedestrians. In some embodiments, the radar sensors  610  can provide sensor data to the controller  402  of the ADAS  400  that indicates the existence of objects external to the refuse vehicle  10 . The objects can include pedestrians, vehicles, refuse containers, etc. In some embodiments, the sensor data includes a position, direction of travel, speed, and/or acceleration of detected obstacles. 
     According to an exemplary embodiment, the radar system  600  includes two radar sensors  610  positioned on the front of the cab  16  and with the radar FOV  620  directed in a generally forward direction (e.g. a centerline of the radar FOV  620  is generally parallel to the x-axis  1002  or a forward direction of travel of the refuse vehicle  10 ). In some embodiments, two radar sensors  610  are positioned on the front corners of the cab  16  and positioned so that the radar FOV  620  is directed more toward the rear of refuse vehicle  10 . In some embodiments, two radar sensors  610  are integrated into the rear of body  14  and positioned to face a generally rearward direction (e.g., a centerline of the radar FOV  620  is generally parallel to the x-axis and faces a reverse direction of travel of the refuse vehicle  10 ). In some embodiments, two radar sensors  610  can be integrated into the rear corners of body  14  and positioned at an angle relative to the two radar sensors arranged in the rear of the body  14 . For example, the radar sensors  610  arranged in the rear corners of the body  14  may be orientated at an approximately 45 degree angle relative to the radar sensors  610  positioned to in the rear of the body  14 . While the radar sensors  610  are shown in the configuration described above, it should be understood that the number and position of the radar sensors  610  in the radar system  600  may vary without department from the scope of the invention. For example, radar system  600  may only include front-facing and rear-facing radar sensors  610 , rather than additional sensors in the corners. 
     As shown in  FIGS.  12 - 14   , the radar sensors  610  can be integrated directly into the structure of refuse vehicle  10 . For example, as shown in  FIG.  12   , the cab  16  may include four radar sensors  610  integrated into cab  16 . In some embodiments, the radar sensors  610  are installed behind an exterior of the cab  16 , and positioned to sense outward through the exterior. In some embodiments, the cab  16  includes one or more body panels, shown as body panels  702 , which make up the exterior of the cab  16 . In some embodiments, the body panel  702  may be a composite panel composed of multiple layers of material. For example, the body panels  702  may include a base material that provides structural integrity to the cab  16  and a cover material positioned directly in front of the radar sensors  610 , shown as covers  704 , which may be made from a material that is transparent to the emission from the radar sensors  610 . In some embodiments, the body panels  702  can be fabricated from a composite panel largely constructed from metal, such as aluminum or steel, with the portions of the body panel  702  directly in front of the radar sensors  610 , such as the covers  704 , being fabricated from radar-transmissive materials (e.g., plastics, non-metallic, polycarbonate material, etc.). 
     In some embodiments, each of the radar sensors  610  is positioned behind a respective one of the covers  704  and attached to a firewall of the cab  16 . The radar sensors  610  can be positioned with a gap between the radar sensors  610  and the cover  704 . In some embodiments, the radar sensors  610  must be placed within a maximum distance of any protruding metal feature (e.g., bumper) of cab  16 . For example, the radar sensors  610  may be at most one inch behind a protruding metal bumper to minimize interference to the radar sensors  610  due to the metal bumper. As shown in  FIGS.  11 - 14   , the cab  16  may include two radar sensors on the front of the cab  16  and two radar sensors on the front corners of the cab  16 . In some embodiments, the covers  704 , while composed of a different material than the remainder of the body panel  702 , are configured to resemble the external appearance of the body panel  702 . Further, by being integrated into the cab  16 , such as being installed behind a body panel  702  of the cab  16 , the radar sensors  610  are protected from hazards such as dirt, water, and/or accidental contact that may move radar sensors  610  out of alignment or damage the radar sensors  610 . Proper alignment of radar sensors  610  is important to the overall function of the radar system  600  and integrated sensors can provide a more stable platform. 
     In some embodiments, the radar sensors  610  may include an external case. The thickness of the external case may be limited to minimize the interference with the radar sensors  610  from external case. For example, the external case may have a maximum thickness of 1.8 mm. In some embodiments, the radar sensors  610  are mounted with a gap between external case and an outer face of radar sensors  610 . For example, the radar sensors  610  can be mounted with a 0.5 mm gap between the outer face of the radar sensors  610  and the external case. In some embodiments, the external case is made of plastic e.g., polycarbonate. 
     As shown in  FIG.  15   , refuse vehicle  10  may include both the camera system  500  and the radar system  600 . In some embodiments, the controller  402  of the ADAS  400  receives inputs from both the camera system  500  and the radar system  600  and integrates the two inputs into a single composite data model of the refuse vehicle  10  and/or its surroundings. As illustrated in  FIG.  15   , the camera FOVs  520  and the radar FOVs  620  may overlap. 
     As shown in  FIGS.  16 - 17   , the ADAS  400  additionally or alternatively includes a forward collision system, shown as collision detection system  1600 , with sensors, shown as a forward camera  1602  and a forward radar sensor  1604 , integrated into the cab  16  of the refuse vehicle  10 . In some embodiments, the collision detection system  1600  is a subsystem of the camera system  500  or the radar system  600 . In some embodiments, the collision detection system  1600  is an independent system that provides data to the controller  402 . The controller  402  can analyze the data provided by the collision detection system  1600  alone and/or in combination with other data and inputs (i.e., image data, radar data, control data, user inputs, etc.). In some embodiments, the forward camera  1602  and the forward radar sensor  1604  make up some or all of the sensors  414  of the ADAS  400 . In some embodiments, the forward radar  1604  is positioned behind a cover, shown as cover  704 , composed of radar-transmissive material to facilitate the operation of forward radar  1604 . 
     With specific reference to  FIG.  17   , the forward camera  1602  is positioned on an interior surface of the windshield  516  (i.e., on a surface of the windshield  516  that is arranged within an interior of the cab  16 ). The forward camera  1602  may be positioned approximately on the longitudinal centerline  1008  of the refuse vehicle  10 . In some embodiments, the forward camera  1602  can be positioned +/−10% of a width of windshield  516  from the longitudinal centerline  1008 . In some embodiments, the forward camera  1602  can be positioned within +/−6% of a width of windshield  516  from the longitudinal centerline  1008 . In the illustrated embodiment, the forward camera  1602  can be centered on longitudinal centerline  1008 . The exact position of forward camera  1602  may vary depending on the position of displays, input devices, and/or instrument clusters in the cab  16 . For example, the forward camera  1602  can be positioned near the bottom of windshield  516  and behind a console display  420  of the user interface  416  to hide the camera from the view of an operator within cab  16 . By being placed on an interior surface near the bottom of the windshield  516 , wires for connecting the forward camera  1602  (when a wired configuration) can be routed into a dash of the interior of the cab  16 . 
     Referring now to  FIGS.  17 - 18   , the forward camera  1602  is positioned at a minimum height above the ground plane  1607  in order to provide the forward camera  1602  with an adequate field of view, shown as forward camera FOV  1606 . For example, the forward camera  1602  may be positioned at a height between about 40 inches and about 120 inches above the ground plane  1607 , or between about 45 inches and about 115 inches above the ground plane  1607 , or between about 47 inches and about 110 inches above the ground plane  1607 . The minimum height of the forward camera  1602  ensures that a predefined vision distance  1609  is defined by the forward camera FOV  1606 . Specifically, the forward camera  1602  may include a main lens  1608  and a wide-angle lens  1610  (e.g., a fisheye lens), and the main lens  1608  defines a main lens FOV  1611  and the wide-angle lens  1610  defines a wide-angle FOV  1613 . The predefined vision distance  1609  may be distance between the forward camera  1602  and the point where the main lens FOV  1611  intersects the ground plane  1607  (e.g., the vertical angle of view defined by the main lens FOV  1611  intersecting with the ground plane  1607 ). In some embodiments, the predefined vision distance is less than or equal to about 7 meters, which ensures that the forward camera  1602  can detect the ground at least about 7 meters in front of the cab  16 . 
     In some embodiments, a position of the forward camera  1602  depends on the wiper path of wipers on the windshield  516 . In general, the forward camera  1602  can be positioned to not be obstructed by a parked wiper blade. In some embodiments, the clearance between the forward camera FOV  1606  and the edge of a wiper blade path may be at least about 20 millimeters, or at least 40 millimeters. 
     As shown in  FIGS.  19 - 21   , the forward radar  1604  is positioned behind a cover, such as cover  704 , in a manner similar to the radar sensors  610 . In some embodiments, a portion of a fascia  1612  of the cab  16  in front of forward radar  1604  is cut to allow for cover  704  to be positioned in front of forward radar  1604 . In other words, the fascia  1612  may include one or more cutouts that receive the cover  704 . As described above, the cover  704  may be composed a radar-transmissive material. The radar-transmissive material may have a low attenuation and/or low dielectric constant (e.g., ABS, polypropylene, polyamide, polycarbonate, PC-PCT, etc.) In some embodiments, the thickness of cover  704  limits the materials it can be composed of to avoid negatively affecting the forward radar  1604 . For example, a cover  704  of less than 2 mm thick can be composed of ABS, polycarbonate, and/or polypropylene. In some embodiments, cover  704  is mounted at an angle less than 30 degrees but not parallel to the face of the forward radar  1604 . In some embodiments, the forward radar  1604  is placed approximately on a longitudinal centerline  1008  of refuse vehicle  10 . In some embodiments, the forward radar  1604  may be offset from the longitudinal centerline  1008 . For example, the forward radar  1604  may be laterally offset about 10 inches from a vertical sensor line. The forward radar  1604  may have a “keep-out” zone, shown as keep out zone  1614 , in front of the forward radar  1604 . 
     ADAS Controls 
     In general, the controller  402  of the ADAS  400  is configured to operate the refuse vehicle  10  and/or its subsystems, attachments, assemblies, etc., according to various operation modes. As an ADAS, the controller  402  can a provide route information, monitor a human driver (i.e., for weariness, concentration, etc.), provide alerts to a human driver, control the movement of the refuse vehicle  10  (i.e., lane assist, cruise control, emergency braking, autonomous route tracking, parking, etc.), and/or communicate with a remote system or other vehicles to act in concert with one or more other vehicles. The controller  402  may also be configured to assist an operator of the refuse vehicle  10  with vocational activities (i.e., refuse collection). In some embodiments, the controller  402  generates control signals for one or more controllable elements  410  to assist the vocational activity. The control signals may include controlling the lift assembly  40 , compaction assembly, articulating collection arm, etc. of the refuse vehicle  10 . In some embodiments, the controller  402  can use sensor data and/or control data in both ADAS actions and vocational activity assistance. 
     In some embodiments, the controller  402  is configured to determine an operation mode based on the sensor data and/or control data. In some embodiments, the controller  402  can filter sensor data through the vehicle control data to identify false events. The false events can be sensor-detected events that are due to one or more controllable elements  410  of the refuse vehicle  10  (i.e., lift assembly  40 ). In some embodiments, the controller  402  is configured to determine the one or more sensors  414  from which sensor data should be obtained from. Depending on the configuration of the refuse vehicle  10 , a subset of sensors can be deactivated and a subset of sensors in a more preferable location can be activated. The controller  402  can be configured to determine the appropriate sensors based on sensor data and/or control data. In some embodiments, the controller  402  is configured to generate control signals for controllable elements  410  to control the movement of refuse vehicle  10  and/or its subsystems in response to receiving a user input, command, a request, etc. In some embodiments, the controller  402  is configured to generate control signals for one or more controllable elements  410  based on the sensor data and/or control data. In some embodiments, the controller  402  is configured to display different views via the user interface  416  based on the determined operation mode. The views can incorporate the sensor data and/or the control data relevant to the determined operation mode. The operation modes may include, for example, a collection mode, a forward mode, a reverse mode, a compaction mode, a dumping mode, and/or still other modes. In some embodiments, two or more modes may be active simultaneously. In some embodiments, once in a first operation mode, the controller  402  will not transition to a second operation mode until a set of conditions has first been met. 
     Sensor Data Filtering 
     Referring now to  FIG.  22   , a process or method  2200  for filtering sensor data is shown, according to an exemplary embodiment. In some embodiments, the method  2200  is performed by one or more components of refuse vehicle  10 . For example, the method  2200  can be performed by the controller  402  of the ADAS  400 . 
     In some embodiments, the method  2200  includes providing a refuse vehicle (e.g., the refuse vehicle  10 ) including an ADAS system (e.g., the ADAS  400 ) having one or more sensors and one or more controllable elements at step  2202 . Controllable elements may be the same or similar to controllable elements  410 . In some embodiments, controllable elements include a prime mover, steering components, power transmission or driver components, braking components, lift assemblies, electric actuators, hydraulic actuators, electric motors, systems, subsystems, assemblies, and/or any other components of the refuse vehicle  10  controllable by an operator or by the controller  402 . In some embodiments, provided sensor can be the same or similar to sensors  414 . In some embodiments, the sensors can include the camera system  500 , the radar system  600 , and the collision detection system  1600 . 
     In some embodiments, the method  2200  includes obtaining data from the one or more sensors and the one or more controllable elements relating to a detected event at step  2204 . In some embodiments, the data obtained includes sensor data and/or control data. The sensor data can include image data, proximity data, and or other types of data. The control data can include the position, direction of movement, speed, and/or acceleration of controllable elements  410 . The control data may also include a list of past control signals provided to controllable elements  410 . In some embodiments, the data is obtained from the one or more sensors via an Ethernet bus. In some embodiments, the sensors  414 , including the cameras  510 , the hopper camera  522  (both visible light and thermal imaging sensors), the radar sensors  610 , the forward camera  1602 , and the forward radar  1604  can all be connected to the Ethernet bus for transmitting information to the controller  402 . The Ethernet bus may be composed of copper using a coax line or differential twisted pairs. In some embodiments, the Ethernet bus is a fiber-optic line. 
     In some embodiments, the detected event is the presence of an obstacle. For example, when lift assembly  40  interfaces with carry can  200 , sensor data from the forward radar  1604  may indicate the presence of an obstacle. The sensor data relating to this event may be provided to the controller  402 . In some embodiments, the control data is the data received from one or more controllable elements at the time the sensor data indicated the presence of the obstacle. In some embodiments, the detected event may be based on a user input. For example, the detected event can be a movement of a joystick of the user interface  416 . In some embodiments, all sensor data is filtered by the corresponding control data. For example, the controller  402  may constantly be comparing sensor data to control data to identify, based on the control data, instances where the sensor data includes false events. 
     In some embodiments, the method  2200  includes filtering the sensor data through the control data at step  2206 . The controller  402  may be configured to filter the sensor data through the vehicle control data to identify, remove, and/or tag false events from the sensor data. False events may be instances of sensor data that appear to indicate one or more objects are present around refuse vehicle  10 , but actually are due to refuse vehicle  10  itself and/or one or more of its components. The filter process can include using the control data to identify the position of one or more components of refuse vehicle  10  and comparing that position to the detected object in the sensor data. The sensor data observations that align with control data can be filtered out as false events. For example, the lift assembly  40  and/or the robotic arm  300  may interface with the carry can  60 ,  200  in a front, rear, or side of refuse vehicle  10  (e.g., in front of the cab  16  or at a side or rear of the body  14 ). The forward radar  1604  (or another radar sensor  610  on the rear or side of the body  14 ) can detect the carry can  60 ,  200  and/or the robotic arm  300  as an object and provide sensor data to the controller  402  indicating the positon, direction of movement, speed, and/or acceleration of the carry can  60 ,  200  and/or the robotic arm  300 . The controller  402  can also receive control data indicating that the arms of lift assembly  40  are lowered and/or that the robotic arm  300  is extended or retracted. If the sensor data is not compared to the control data, the controller  402  may analyze the sensor data and determine an object is present. If the sensor data is filtered through the control data, the controller  402  can compare the filter sensor data and the control data and determine, at step  2208 , that the sensor data is a false event due to the carry can  60 ,  200  and/or the robotic arm  300  being intentionally manipulated and that no external object is present. 
     In some embodiments, if a false event is detected, the sensor data that the alert is based on may be removed, tagged, ignored, and/or adjusted by the controller  402 . For example, during the filtering process, the controller  402  can tag all sensor data that is determined to be due to one or more components of refuse vehicle  10 , based on the control data, as false event data, and not generate one or more control signals based on the false event data. In some embodiments, if the event is determined to be a false event, method  2200  proceeds directly to step  2216  and ends. In some embodiments, if the event is determined not to be a false event, method  2200  includes proceeding to step  2210 . 
     In some embodiments, method  2200  includes generating, via a user interface, an alert based on the sensor data at step  2210 . The alert may be a visual alert via a display (i.e., the instrument display  418 , the console display  420 , etc.), and/or an auditory alert via the alert devices  424 . In some embodiments, the alert includes a recommended control action for a user to perform. For example, the ADAS  400  via the radar system  600  and radar sensors  610  may detect a vehicle in a blind spot of the refuse vehicle  10 , and the controller  402  can generate an alert to a driver indicating the presence of the vehicle. In another example, the refuse vehicle  10  may be stopped, and the ADAS  400  senses fast approaching objects from the rear of the refuse vehicle  10 . The controller  402  can generate visual, audible, and/or haptic alerts that are apparent from outside of the refuse vehicle  10  and/or the alerts themselves are external to the refuse vehicle  10  to alert those around refuse vehicle  10  of the approaching objects. In some embodiments, the alerts are audible natural-language based alerts. Audible natural-language based alerts can explain with language (according to a user preference for example) the content of the alert. For example, the alert may include an audible natural-language based alert saying “Vehicle in blind spot.” Natural language based alerts allow a user to understand what an alert is for without any other supplemental information. In some embodiments, the alerts can indicate information about the refuse vehicle  10 . For example, alerts may include a tire pressure of the refuse vehicle  10  while operating. 
     In some embodiments, the method  2200  includes determining if the alert is cleared at step  2212 . For example, a user may clear an alert via a user input to the user interface  416 . Alerts may also be cleared automatically by the controller  402 . In some embodiments, the controller  402  automatically clears alerts if the underlying event that triggered the alert is no longer detected. For example, an alert of a car in a blind spot of the refuse vehicle  10  may persist so long as the car is in the blind spot. Once the car leaves the blind spot, the controller  402  may automatically clear the alert. In some embodiments, if the alert is cleared, method  2200  proceeds to step  2216  and ends. In some embodiments, if the alert is not cleared, method  2200  proceeds to step  2214 . 
     In some embodiments, the method  2200  includes generating one or more control signals based on the sensor data and control data at step  2214 . The controller  402  can be configured to generate control signals based on the sensor data and control data in response to an actual event (i.e., not a false event). Control signals may be commands to operate the refuse vehicle  10  and/or one or more components of the refuse vehicle  10 . For example, sensor data indicate an object (e.g., a vehicle) ahead of the refuse vehicle  10  and the controller  402  may generate an alert indicating this event. The sensor data may indicate that the refuse vehicle  10  is traveling at a sufficient speed that it will collide with the object if the speed is not diminished. If the alert is not cleared (i.e., before a time threshold, where the time threshold is the point in time determined by the controller  402  where action must be taken to avoid a collision), the controller  402  can generate control signals to activate the brakes of the refuse vehicle  10  and prevent the collision. In some embodiments, the control signals may also control components of the refuse vehicle  10  including actuators, motors, lift assemblies, etc. In some embodiments, the method  2200  skips steps  2210  and  2212  and proceeds directly to generating one or more control signals via at step  2218 . The controller  402  can be configured to automatically generate one or more control signals in emergencies where there is not enough time to generate an alert and wait for it to be cleared. For example, the controller  402  may determine that a control action such as emergency braking should be taken immediately in order to avoid an accident. 
     Operation Mode Views 
     Referring now to  FIG.  23   , a process or method  2300  for automatically displaying one or more views based on a determined operation mode is shown, according to an exemplary embodiment. In some embodiments, method  2300  is performed by one or more components of refuse vehicle  10 . For example, method  2300  can be performed by the controller  402  of the ADAS  400 . 
     In some embodiments, the method  2300  includes providing a refuse vehicle one or more controllable elements, a user interface, and an ADAS having one or more sensors at step  2302 . In some embodiments, the controllable elements can be the controllable elements  410 , a user interface can be the user interface  416 , and an ADAS can be the ADAS  400  with the one or more sensors  414 . In some embodiments, the method  2300  includes obtaining sensor data from the sensors, control data from the controllable elements, and a user input from the user interface at step  2304 . The user input may be the movement of an input device  422  of user interface  416 . For example, the user input can be a user pressing a joystick. In some embodiments, the control data includes position, speed, direction of travel, and/or acceleration of the refuse vehicle  10 . In some embodiments, the sensor data includes image data and/or proximity data from one or more sensors  414  including the cameras  510  of the camera system  500 , the radar sensors  610  of the radar system  600 , and/or the forward camera  1602  and the forward radar  1604  of the collision detection system  1600 . 
     In some embodiments, the method  2300  includes determining, at step  2306 , an operation mode based on the obtained data at step  2304 . The controller  402  can be configured to analyze obtained data (i.e., sensor data, control data, user input(s), etc.), and determine from the obtained data an operation mode of the refuse vehicle  10 . The operation modes may include, for example, a collection mode, a forward mode, a reverse mode, a compaction mode, a dumping mode, and/or still other modes. In some embodiments, the operation mode is based on a user input. For example, the controller  402  may automatically transition the refuse vehicle  10  into a collection mode when a driver presses a joystick of the user interface  416  that controls the lift assembly  40  or the robotic arm  300 . In some embodiments, the operation mode is determined based on a combination of one or more of sensor data, control data, and user inputs. For example, a user input may indicate a transition to a collection mode, but later control data indicating a speed of 25 miles per hour (MPH) may indicate a forward mode. 
     In some embodiments, the controller  402  is provided a pre-defined list (e.g., lookup table) of operation modes and various requirements for activation. The list can include multiple ways of activating or indicating an operating mode to the controller  402 . For example, a driver may input via the user interface  416  a command to enter a collection mode, a driver may audibly command the refuse vehicle  10  enter collection mode, or the controller  402  may automatically enter the collection mode when a refuse container is identified in a collection zone of the refuse vehicle  10  (e.g., by one of the cameras  510  or one of the radar sensors  610 ). In some embodiments, the controller  402  is configured to monitor the obtained data and learn when data and/or inputs can be reasonably associated with a collection mode. For example, the controller  402  can be configured to monitor a joystick of the user interface  416  that controls the lift assembly  40  or the robotic arm  300 , and determine that each time the joystick is activated in a leftward motion; it is then followed by a command to activate the lift assembly  40  or the robotic arm  300 . The controller  402  can determine that the refuse vehicle  10  is in a collection mode based on the activation of the lift assembly  40  or the robotic arm  300 , and in some embodiments, the controller  402  can thereby associate leftward movement of the joystick with indicating the collection mode. In some embodiments, once in a first operation mode, the controller  402  will not transition to a second operation mode until a set of conditions has first been met. In some embodiments, two or more modes may be active simultaneously. 
     In some embodiments, the method  2300  includes generating a view including sensor data and/or control data, at step  2308 , based on the operation mode determined at step  2306 . The views can be provided on one or more of the displays of the user interface  416 . The controller  402  can be configured to provide different information to different displays of user interface  416  based on the operation mode. The different information can include information from one or more separate systems of the refuse vehicle  10 . The controller  402  can be configured to integrate the various systems into a single system, such as the ADAS  400 , to provide centralized access and control with improved contextual awareness, to an operator. The systems can include the camera system  500 , the radar system  600 , the collision detection system  1600 , and the controllable elements  410  (i.e., lift assembly  40 ) of the refuse vehicle  10 . In some embodiments, the view(s) generated by the controller  402  include information from one or more of the above systems. For example, the views can incorporate the sensor data and/or the control data relevant to the determined operation mode. A feed from the hopper camera  522  and a feed from the camera system  500  can be combined and provided to an operator via the same display. By integrating the various systems into a single control system, the controller  402  can provide enhanced control and monitoring ability to an operator. In some embodiments, data and/or feeds that would otherwise be permanently display on independent monitors are integrated into the ADAS  400  by the controller  402  allowing the controller  402  to control the various feeds and display in a unified interface that displays the information necessary based on the determined operational mode. 
     In some embodiments, the controller  402  is configured with a predefined list of views corresponding to the operation mode. The list may also correlate views to vehicle type (i.e., a front-end loader may have different views available compared than a rear-end loader). The displays of the user interface  416  (i.e., instrument display  418  and console display  420 ) may be controlled independently, and may display different information based on the same operation mode. For example, when a joystick of the user interface  416  is pressed, the controller  402  can determine that the refuse vehicle  10  is in a collection mode and automatically update console display  420  of user interface  416  to display image data from the hopper camera  522  and a curbside camera (e.g., one of the cameras  510  arranged on a side or a front of the refuse vehicle  10 ). This can aid the operator during a collection mode by providing a view of the lift arm and the surrounding area. The controller  402  can also automatically update the instrument display  418  of the user interface  416  based on the collection mode with the reverse image feed (i.e., from a rearward facing cameras  510  of the camera system  500 ) and/or the  360  composite view. This can be beneficial when a refuse vehicle goes from house to house and needs to pull back onto a road. Each display can be provided a unique view based on the determined operation mode. In some embodiments, the views are only generated for the console display  420  of user interface  416 , and the instrument display  418  can permanently display material information such as a reverse camera video feed, speed, fuel level, battery charge, etc. 
     In some embodiments, the views are bound by a set of criteria, and the controller  402  can be configured to always display specific data based on the criteria no matter the operation mode and corresponding view. For example, rules/criteria can be applied requiring that the image data from the reverse camera be always displayed on the instrument display  418  regardless of the operation mode. Contextual information dependent on the operation mode can still be displayed around the reverse video feed on the instrument display  418 . 
     In some embodiments, the views persist until a new mode is determined. For example, once in collection mode, the refuse vehicle  10  can stay in collection mode until the vehicle reaches 25 MPH. The controller  402  can be configured to determine, based on the control data or the sensor data, the speed of refuse vehicle  10  and transition from the collection mode to another mode, for example, a forward mode. 
     Sensor Selection 
     Referring now to  FIG.  24   , a process or method  2400  for automatically selecting sensors based on the operation mode is shown, according to an exemplary embodiment. In some embodiments, method  2400  is performed by one or more components of refuse vehicle  10 . For example, method  2200  can be performed by controller  402  of ADAS  400 . In some embodiments, controller  402  can select which sensors to activate, obtain data from, and/or analyze the data of based on the operating mode of refuse vehicle  10  and/or its configuration. 
     In some embodiments, method  2400  includes providing a refuse vehicle including an ADAS with a first set of sensors at step  2402 . The sensors can be the sensors  414  of the ADAS  400 . In some embodiments, the first set of sensors is a subset of the sensors  414 . In some embodiments, the first set of sensors is comprised of sensors  414  all meeting a certain criteria. For example, the first set of sensors may be all forward looking sensors, all sensors that would be interfered with by a carry can  200 , all cameras  510 , all radar sensors  610 , etc. Still in other embodiments, the first set of sensors can be all sensors installed on the refuse vehicle  10 . 
     In some embodiments, method  2400  includes providing a carry can including a second set of sensors and configured to interface with the refuse vehicle at step  2404 . Referring now to  FIG.  25   , the carry can  200  can be configured to include one or more sensors, shown as sensors  2510 . Sensors  2510  can be communicably coupled to the ADAS  400  when the carry can  200  interfaces with the lift assembly  40  of refuse vehicle  10 . For example, a pigtail connection can be provided between the carry can  200  and the refuse vehicle  10 . In some embodiments, a pin and contact pad type connection may be used. It should be understood than any type of electrical connection between the sensors  2510  and the ADAS  400  configured to exchange information may be provided. In some embodiments, the sensors  2510  are wirelessly connected to the ADAS  400 . The sensors  2510  can be any type of sensor described above (e.g., cameras, radar sensors, etc.). For example, the sensors  2510  may include radar sensors similar to the radar sensors  610  for detecting the position, speed, direction of travel, and acceleration of an object external to the refuse vehicle  10 . The radar sensors can be positioned on the carry can  200  such that in collection mode, when the carry can  200  is held in front of refuse vehicle  10 , the sensors  2510  are positioned approximately horizontally and in approximately the same z-plane as the radar sensors  610  of the radar system  600 . 
     Referring back to  FIG.  24   , in some embodiments, the method  2400  includes determining the operation mode of refuse vehicle  10  at step  2406 . In some embodiments, step  2406  is the same and/or similar to step  2306  of the method  2300 . The controller  402  can be configured to analyze sensor data, control data, and/or user inputs and determine an operation mode of the refuse vehicle  10 . If the controller  402  determines the operation mode is a forward mode at step  2406 , method  2400  is shown proceeding to step  2408 . 
     In some embodiments, the method  2400  includes activating the first set of sensors at step  2408 . In the forward mode, in some embodiments, the carry can  200  is raised in a transportation position above the body  14  of the refuse vehicle  10 . As explained above, in some embodiments, the first set of sensors can be all forward-facing radar sensors  610  of the ADAS  400 . In this embodiment, the carry can  200  may not be interfering with the first set of sensors installed on the refuse vehicle  10  when in forward mode and the controller  402  can be configured to accordingly activate the first set of sensors for use in the ADAS  400 . In some embodiments, the sensors are always active, and the controller  402  can be configured to analyze only the data obtained from the first set of sensors. In some embodiments, all sensors are activate and the controller  402  is configured to weight the data obtained from the first set of sensors greater than the data from the second set of sensors. 
     In some embodiments, the method  2400  includes deactivating the second set of sensors at step  2410 . In some embodiments, in forward mode with the carry can  200  in a transportation position above the refuse vehicle  10 , the data from the second set of sensors on the carry can  200  may be not useful for control operations. For example, as described above with reference to  FIGS.  11 - 14   , in some embodiments, the radar sensors  610  are placed on approximately the same z-plane. When in a transportation mode, the sensors  2510  of the second set may be on a different z-plane, and it may not be desirable to integrate the data from the different orientations. Accordingly, the controller  402  can deactivate/ignore the second set of sensors on the carry can  200  in the forward mode. 
     In some embodiments, the method  2400  includes obtaining sensor data from the activated sensors at step  2412 . The obtained data may be provided to the ADAS  400 . In some embodiments, the sensors are not physically deactivated, and data is obtained from both sets of sensors. The controller  402  may instead be configured to only analyze the data from one set based on the operation mode. 
     Referring back to step  2406 , in some embodiments, if the controller  402  determines the operation mode is a collection mode, the method  2400  may proceed to step  2414 . In some embodiments, step  2414  includes deactivating the first set of sensors. In a collection mode, carry can  200  may be positioned in front of the refuse vehicle  10 . The carry can  200  can interfere with the forward radar sensors  610  and provide the ADAS  400  with data indicating false events based on the detection of the carry can  200 . In some embodiments, the first set of sensors may include all sensors whose operation is interfered with by the position of the carry can  200  (e.g., the forward-facing cameras  510 , the forward-facing radar sensors  610 , the collision detection system  1600 , etc.). To maintain the operation of the ADAS  400 , in some embodiments, the controller  402  can be configured to deactivate the first set of sensors, and activate the second set of sensors on the carry can  200  at step  2416 . By deactivating the first set of sensors and activating the second set of sensors, the ADAS  400  can maintain a 360-degree view around the refuse vehicle  10  and avoid instances of interference. In some embodiments, the method  2400  finally includes obtaining sensor data the activated sensors at step  2412 . 
     While the method  2400  is shown illustrating the process for selecting sensors based on a forward mode and a collection mode, the method  2400  can also be applied to the selection of sensors for other operation modes of the refuse vehicle  10 . The composition of the first set of sensors and the second set of sensors can also vary. It should be understood by a person of ordinary skill in the art in view of the present application that the sets of sensors can be determined by controller  402  based on the operation mode and vary accordingly. 
     Configuration of Exemplary Embodiments 
     As utilized herein with respect to numerical ranges, the terms “approximately,” “about,” “substantially,” and similar terms generally mean +/−10% of the disclosed values. When the terms “approximately,” “about,” “substantially,” and similar terms are applied to a structural feature (e.g., to describe its shape, size, orientation, direction, etc.), these terms are meant to cover minor variations in structure that may result from, for example, the manufacturing or assembly process and are intended to have a broad meaning in harmony with the common and accepted usage by those of ordinary skill in the art to which the subject matter of this disclosure pertains. Accordingly, these terms should be interpreted as indicating that insubstantial or inconsequential modifications or alterations of the subject matter described and claimed are considered to be within the scope of the disclosure as recited in the appended claims. 
     It should be noted that the term “exemplary” and variations thereof, as used herein to describe various embodiments, are intended to indicate that such embodiments are possible examples, representations, or illustrations of possible embodiments (and such terms are not intended to connote that such embodiments are necessarily extraordinary or superlative examples). 
     The term “coupled” and variations thereof, as used herein, means the joining of two members directly or indirectly to one another. Such joining may be stationary (e.g., permanent or fixed) or moveable (e.g., removable or releasable). Such joining may be achieved with the two members coupled directly to each other, with the two members coupled to each other using a separate intervening member and any additional intermediate members coupled with one another, or with the two members coupled to each other using an intervening member that is integrally formed as a single unitary body with one of the two members. If “coupled” or variations thereof are modified by an additional term (e.g., directly coupled), the generic definition of “coupled” provided above is modified by the plain language meaning of the additional term (e.g., “directly coupled” means the joining of two members without any separate intervening member), resulting in a narrower definition than the generic definition of “coupled” provided above. Such coupling may be mechanical, electrical, or fluidic. 
     References herein to the positions of elements (e.g., “top,” “bottom,” “above,” “below”) are merely used to describe the orientation of various elements in the FIGURES. It should be noted that the orientation of various elements may differ according to other exemplary embodiments, and that such variations are intended to be encompassed by the present disclosure. 
     The hardware and data processing components used to implement the various processes, operations, illustrative logics, logical blocks, modules and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose single- or multi-chip processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, or, any conventional processor, controller, microcontroller, or state machine. A processor also may be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In some embodiments, particular processes and methods may be performed by circuitry that is specific to a given function. The memory (e.g., memory, memory unit, storage device) may include one or more devices (e.g., RAM, ROM, Flash memory, hard disk storage) for storing data and/or computer code for completing or facilitating the various processes, layers and modules described in the present disclosure. The memory may be or include volatile memory or non-volatile memory, and may include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described in the present disclosure. According to an exemplary embodiment, the memory is communicably connected to the processor via a processing circuit and includes computer code for executing (e.g., by the processing circuit or the processor) the one or more processes described herein. 
     The present disclosure contemplates methods, systems and program products on any machine-readable media for accomplishing various operations. The embodiments of the present disclosure may be implemented using existing computer processors, or by a special purpose computer processor for an appropriate system, incorporated for this or another purpose, or by a hardwired system. Embodiments within the scope of the present disclosure include program products comprising machine-readable media for carrying or having machine-executable instructions or data structures stored thereon. Such machine-readable media can be any available media that can be accessed by a general purpose or special purpose computer or other machine with a processor. By way of example, such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer or other machine with a processor. Combinations of the above are also included within the scope of machine-readable media. Machine-executable instructions include, for example, instructions and data which cause a general purpose computer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions. 
     Although the figures and description may illustrate a specific order of method steps, the order of such steps may differ from what is depicted and described, unless specified differently above. Also, two or more steps may be performed concurrently or with partial concurrence, unless specified differently above. Such variation may depend, for example, on the software and hardware systems chosen and on designer choice. All such variations are within the scope of the disclosure. Likewise, software implementations of the described methods could be accomplished with standard programming techniques with rule-based logic and other logic to accomplish the various connection steps, processing steps, comparison steps, and decision steps. 
     It is important to note that the construction and arrangement of the refuse vehicle  10  and the systems and components thereof as shown in the various exemplary embodiments is illustrative only. Additionally, any element disclosed in one embodiment may be incorporated or utilized with any other embodiment disclosed herein. It should be appreciated that other elements of the various embodiments may be incorporated or utilized with any of the other embodiments disclosed herein.