Patent Description:
In the field of heavy vehicles such as trucks and the like, articulated vehicles can have different lengths depending on the type of trailer or lorry being coupled to a tractor or truck and also depending on the type of cargo carried. Accurate information of the length of the vehicle as a whole is important both for safety purposes since the vehicle length is used by various vehicle control systems and also to ensure that the length of the vehicle does not exceed regulations.

<CIT> discloses a method of determining the length of a trailer of an articulated vehicle.

<CIT> discloses a method for determining the length of the second frame of an articulated vehicle.

According to a first aspect of the disclosure, it is provided a computer system comprising a processor as claimed by claim <NUM> configured to: determine that a first articulation angle between a first frame of an articulated vehicle and a second frame of the articulated vehicle is above a first predetermined angle threshold on a first side of the articulated vehicle; determine a first vehicle length based on the first articulation angle and a first distance from a first distance determination device arranged in the first frame to a first rear portion of the second frame on the first side of the articulated vehicle; determine that a second articulation angle between the first frame and the second frame is above a second predetermined angle threshold on a second side of the articulated vehicle; determine a second vehicle length based on the second articulation angle and a second distance from a second distance determination device arranged in the second frame to a second rear portion of the second frame on the second side of the articulated vehicle; and determine whether a difference between the first vehicle length and the second vehicle length is lower than a predetermined threshold distance.

The first aspect of the disclosure may seek to improve the length determination of an articulated vehicle by determining the length of the vehicle based on distance measurements performed on both sides of the vehicle. A technical benefit may include that the length of a vehicle can be accurately determined also in situations where there is a difference in length between different sides of a rear end of a vehicle. In particular, by determining whether a difference between the first vehicle length and the second vehicle length is lower than a predetermined threshold distance, it can be determined if the length measurement is reliable or if additional steps need to be taken to verify the total length of the vehicle.

According to a second aspect of the disclosure, it is provided a method as claimed in claim <NUM>, comprising:.

The second aspect of the disclosure may seek to improve the length determination of an articulated vehicle by determining the length of the vehicle based on distance measurements performed on both sides of the vehicle in a similar manner as the first aspect.

In some examples, the method further comprises determining that a difference between the first vehicle length and the second vehicle length is lower than the predetermined threshold distance and that a total vehicle length is the largest of the first vehicle length and second vehicle length. A technical benefit may include that the total length of the vehicle can be accurately determined even if the rearmost portion of the vehicle is uneven or has protruding features.

In some examples, the method further comprises providing the total vehicle length to a driver maneuverability control system and adapting the driver maneuverability control system based on the length of the vehicle. A technical benefit may include that vehicle systems receive a reliable determination of the total vehicle length and can thereby more accurately adapt the driver maneuverability control system.

In some examples, the method further comprises providing the total vehicle length to a navigation system and adapting a route of the vehicle based on the length of the vehicle. A technical benefit may include that the route can be adapted based on an accurate total length of the vehicle including any cargo potentially protruding outside of the vehicle as such.

In some examples, each of the first and second distance determination device comprises an image acquisition device configured to acquire an image of the rear portion of the second frame. A technical benefit may include that it is possible to accurately determine the distance between the image detection device and a rear portion of the vehicle by identifying features of the vehicle in the acquired images.

In some examples, the first and second distance determination device comprises a corresponding first and second radar transceiver each configured to acquire a radar image. A technical benefit may include that a radar can form a detailed image of a rear portion of the vehicle so that the distance from the known location of the radar transceiver to the rear portion of the vehicle can be accurately determined.

In some examples, the first and second radar transceivers are arranged to face a direction substantially perpendicular to a longitudinal axis of the first frame and wherein the first and second radar transceivers are further configured to detect an object adjacent to the vehicle. A technical benefit may include that the radar transceivers can be used for multiple functions of the vehicle. For example, the radar transceivers can be used both as the above described distance determination devices as well as to detect other objects such as pedestrians adjacent to the vehicle and the radar transceivers can also form part of a lane change support system and/or of a blind spot detection system.

In some examples, the method further comprises determining that the difference between the first vehicle length and the second vehicle length is higher than a predetermined threshold distance and providing a notification to a vehicle control system. A technical benefit may include that if the difference between the two different vehicle lengths determined at respective sides of the vehicle is too large, it may be required to determine the reason for the difference. A vehicle control system can thereby be operable to redo the length determination and/or to prompt a driver to redo the length determination.

In some examples, the method further comprises determining that the difference between the first vehicle length and the second vehicle length is higher than the predetermined threshold distance and providing a notification to a driver of the vehicle. A technical benefit may include that a driver is alerted if manual verification of the vehicle length is required. A difference in length exceeding the predetermined threshold distance can also be caused by cargo protruding on only one side of the vehicle in which case a driver may be able to verify if the current vehicle configuration is in accordance with regulations.

In some examples, the method further comprises determining that the vehicle is in motion when determining the first distance and the second distance. A technical benefit may include that image processing to distinguish the rear portion of the vehicle from the vehicle surroundings can be simplified.

In some examples, determining the respective first and second distance comprises identifying a difference between a moving background portion and a first and second rear portion in the respective first and second image. A technical benefit may include improved accuracy since when the vehicle is moving, the background portion may exhibit motion blur and if a plurality of images are captured and compared, the background will changes while the a first and second rear portions of the vehicle will be substantially the same in the plurality of images.

In some examples, each of the first and second distance determination device is arranged between a respective front and rear wheel of the first frame. A technical benefit may include that the distance determination device is capable of determining a distance both to the rear portion of the vehicle as well as to objects adjacent to the vehicle.

In some examples, each of the first and second distance determination device is arranged in front of an articulated joint of the vehicle. A technical benefit may include that the distance determination device can avoid being obscured by a trailer of a vehicle during a turn.

In some examples, the articulated joint is located between front wheels and rear wheels of the first frame. Moreover, in some examples the first frame is a host vehicle, and the second frame is a trailer.

According to claim <NUM>, a vehicle comprises the processor device to perform the method of any the above examples.

According to claim <NUM>, a computer program product comprises program code for performing, when executed by the processor device, the method of any of the above examples.

According to claim <NUM>, a control system comprises one or more control units configured to perform the method of any of the above examples.

According to claim <NUM>, a non-transitory computer-readable storage medium comprises instructions, which when executed by the processor device, cause the processor device to perform the method of any of the above examples.

<FIG> is an exemplary articulated vehicle <NUM> comprising a computer system <NUM> according to one example. The following examples of the inventive concept will be described with further reference to <FIG> schematically illustrating the articulated vehicle <NUM> for different articulation angles and to <FIG> illustrating a block diagram outlining steps of a method according to one example of the inventive concept.

The computer system <NUM> comprises a processor <NUM> configured to: determine <NUM> that a first articulation angle <NUM> between a first frame <NUM> of an articulated vehicle <NUM> and a second frame <NUM> of the articulated vehicle <NUM> is above a first predetermined angle threshold on a first side <NUM> of the articulated vehicle; determine <NUM> a first vehicle length <NUM> based on the first articulation angle <NUM> and a first distance from a first distance determination device <NUM> arranged in the first frame <NUM> to a first rear portion <NUM> of the second frame <NUM> on the first side <NUM> of the articulated vehicle <NUM>; determine <NUM> that a second articulation angle <NUM> between the first frame <NUM> and the second frame <NUM> is above a second predetermined angle threshold on a second side <NUM> of the articulated vehicle <NUM>; determine <NUM> a second vehicle length <NUM> based on the second articulation angle <NUM> and a second distance from a second distance determination device <NUM> arranged in the second frame to a second rear portion <NUM> of the second frame <NUM> on the second side <NUM> of the articulated vehicle <NUM>; and determine <NUM> whether a difference <NUM> between the first vehicle length and the second vehicle length is lower than a predetermined threshold distance.

The articulated vehicle <NUM> may be any type of vehicle comprising at least two frames <NUM>, <NUM> with an articulated joint <NUM> between two frames <NUM>, <NUM> where the first frame <NUM> may be referred to as a truck, tractor, cab, tow car or the like, and the second frame <NUM> may be referred to as a trailer, cargo trailer, lorry or the like. Moreover, the articulated joint <NUM> may be located between the first frame <NUM> and the second frame <NUM> as illustrated in <FIG> or it may be located in the first frame, for example between the front wheels 120a-b and rear wheels 122a-b of the first frame. Furthermore, the distance determination devices are arranged in front of the mechanical coupling forming the articulated joint <NUM> between the first and second frame <NUM>, <NUM>.

The articulation angle describes the difference in angle between the first frame <NUM> and the second frame <NUM> of the articulated vehicle <NUM> as illustrated by the angles ±β illustrated in <FIG> and <FIG>. When the two frames <NUM>, <NUM> are aligned along the same longitudinal axis <NUM> of the vehicle <NUM>, the articulation angle is <NUM>°.

Since it can be assumed that the precise locations of the distance determination devices <NUM>, <NUM> in the first frame <NUM> are known, and in particular the distance from each distance determination device <NUM>, <NUM> to a front end of the vehicle, the length of the vehicle can be determined by knowing the distance between the distance determination device <NUM>, <NUM> and the respective rear portion <NUM>, <NUM> of the vehicle <NUM> together with the corresponding articulation angle <NUM>, <NUM>. The first and second rear portion <NUM>, <NUM> may be first and second rear corners of the trailer, e.g. the left and right rear corners, and rear here refers to the rearmost portion of the vehicle <NUM> so that the total length <NUM> of the vehicle <NUM> can determined. In some examples, the length <NUM> of the first frame <NUM> may be known and by knowing the total length <NUM> it is possible to determine the length <NUM> of the second frame, e.g. of a trailer.

Moreover, cargo such as logs or other items extending beyond the vehicle <NUM> are taken into account in the distance determination in order to determine the total length <NUM> of the vehicle <NUM>. In such examples, the rear portion of the vehicle <NUM> may be an item protruding beyond the second frame as such.

The articulation angle can be determined in several different ways, for example using an angle sensor located in the articulation joint which in some applications is referred to as a "fifth wheel". It could also be possible to determine the articulation angle using accelerometers located in the first and second frame and/or by optical angle determination devices. Accordingly, the articulation angle can be assumed to be known with sufficient accuracy to accurately determine the vehicle length.

In some examples, the distance determination device <NUM>, <NUM> comprises an image acquisition device such as a radar. However, the distance determination device may also be any other device capable of distance determination such as a LIDAR, camera or the like. An advantage of using a radar is that existing side radars of the vehicle may be used also for the purpose of vehicle length determination, thereby enabling the inventive concept with components existing in the vehicle. Moreover, radars are capable of capturing an image also in bad weather conditions or in other situations where visibility is reduced.

The described inventive concept is based on the principle that a certain articulation angle is required for the distance determination device <NUM>, <NUM> to be able to determine the distance between the distance determination device <NUM>, <NUM> and the respective rear portion <NUM>, <NUM> of the vehicle <NUM>. In particular, in examples where the distance determination device <NUM>, <NUM> comprises an image acquisition device such as a radar <NUM>, <NUM> as schematically illustrated in <FIG>, there needs to be an uninterrupted line of sight between the radar <NUM>, <NUM>, and the rear portion <NUM>, <NUM> of the vehicle <NUM>. In an example using a side facing radar having a lobe angle of <NUM>°, an articulation angle of at least <NUM>° is required to acquire a radar image of the rear portion of the vehicle <NUM>. However, depending on the type and arrangement of the radar, the required threshold articulation angle may differ. In applications where it is known that cargo is protruding in the central rear portion of the second frame <NUM>, a larger articulation angle may be required to accurately determine the length of the vehicle.

<FIG> schematically illustrates determining the length of the articulated vehicle <NUM> where in <FIG>, the vehicle <NUM> performs a left turn so that the articulation angle -β exceeds a first threshold angle of for example <NUM>°. The first distance determination device <NUM> arranged on the left side of the first frame, e.g. a truck, captures one or more images of the first rear portion <NUM> of the second frame <NUM>, which for low articulation angles is the rearmost left corner of the second frame <NUM>. Next, in <FIG>, the vehicle <NUM> performs a right turn and the same procedure is performed on the right side of the vehicle by the second distance determination device <NUM> once the articulation angle exceeds the second predetermined angle threshold on the second side <NUM> of the vehicle.

In some examples, the vehicle <NUM> is in motion when determining the first distance and the second distance. The distance determination devices <NUM>, <NUM> can thereby determine the first and second length during a left turn and a right turn of the vehicle. Such a maneuver can for example be performed after loading of the vehicle or after connection of a first and second frame <NUM>, <NUM> to ensure that the length of the vehicle is within regulations and that vehicle system have an accurate measure of the total vehicle length <NUM>.

Moreover, determining the respective first and second distance may comprise identifying a difference between a moving background portion and a first and second rear portion in respective first and second image captured by the first and second radars <NUM>, <NUM>. In some examples, multiple images are captured at different articulation angles in order to improve the quality of the resulting image and consequently of the distance determinations. Moreover, a greater articulation angle may improve the distance determinations since a higher articulation angle will provide a larger area for radar wave reflection. Thereby, the distance determination can advantageously be based on a composite image composed form images at a range of articulation angles, or the distance may be determined as an average of distances determined at different articulation angles. It should be noted that the same principle is applicable also for distance determination devices which are not image acquisition devices, but which may be based on ultrasound, IR or the like.

In scenarios where the two determined vehicle lengths are different, i.e. the lengths determined on the left and right side of the vehicle <NUM>, the largest of the two length is taken to represent the true total vehicle length <NUM>. Accordingly, if a difference between the first vehicle length and the second vehicle length is lower than the predetermined threshold distance, the total vehicle length <NUM> is determined to be the largest of the first vehicle length and second vehicle length. A total vehicle length <NUM> can thereby be provided to a driver maneuverability control system and the driver maneuverability control system can be adapted based on the total length <NUM> of the vehicle <NUM>. For example, vehicle handling parameters, braking and other safety features, engine parameters and the like can be adjusted based on the total vehicle length <NUM>. The total vehicle length <NUM> can also be automatically matched against regulatory systems to determine if the total vehicle length <NUM> is within regulations.

Moreover, the total vehicle length <NUM> may advantageously be provided to a navigation system so that a route of the vehicle can be adapted based on the length of the vehicle. There may for example be routes which has limitation on the length of the vehicle and other routes may be more suitable if the vehicle exceeds a certain length.

In examples where it is determined that the difference between the first vehicle length and the second vehicle length is higher than the predetermined threshold distance, a notification can be provided to a vehicle control system. That the difference between the first and second vehicle length exceeds the threshold length can for example depend on cargo protruding on only one side of the vehicle in which case a vehicle and/or the driver can confirm that the distance determination is accurate, and the total length <NUM> of the vehicle can be set to the maximum of the two determined vehicle lengths. A difference in vehicle length exceeding the threshold distance can also be the result of an erroneous measurement in which case the driver can be prompted to redo the distance determination, e.g. by making a left turn and right turn exceeding the threshold articulation angles. If the difference remains also for consecutive measurements, the driver can be prompted to take further action as described above. In an autonomous vehicle, the autonomous vehicle operator can be notified in the difference in length exceeds the threshold distance. Moreover, until further actions are taken either by the driver or by an autonomous vehicle operator, the maximum determined length can be taken to represent to be the total length <NUM> of the vehicle.

In one example, the inventive concept relates to a system for determining the length of an articulated vehicle <NUM> comprising a first frame <NUM>, a second frame <NUM> and an articulated joint <NUM> connecting the first frame <NUM> and the second frame <NUM>. The system comprises: a first distance determination device <NUM> arranged in the first frame <NUM> on a first side <NUM> of the vehicle <NUM>; a second distance determination device <NUM> arranged in the first frame <NUM> on a second side <NUM> of the vehicle <NUM>, the second side <NUM> being opposite the first side <NUM>. The system further comprises a length determination control unit <NUM> configured to: determine that an articulation angle between the first frame <NUM> and the second frame <NUM> is above a first predetermined angle threshold; determine a first distance between the first distance determination device <NUM> and a first rear portion <NUM> of the second frame; determine that an articulation angle between the first frame <NUM> and the second frame <NUM> is above a second predetermined angle threshold; determine a second distance between the second distance determination device <NUM> and a second rear portion <NUM> of the second frame <NUM>; and determine whether a difference between the first distance and the second distance is lower than a predetermined threshold distance.

<FIG> schematically illustrate steps of a method according to the inventive concept. The method comprises: determining <NUM>, by a processor device <NUM> of a computer system <NUM>, that a first articulation angle <NUM> between a first frame <NUM> of an articulated vehicle <NUM> and a second frame <NUM> of the articulated vehicle <NUM> is above a first predetermined angle threshold on a first side <NUM> of the articulated vehicle <NUM>; determining <NUM>, by the processor device <NUM>, a first vehicle length <NUM> based on the first articulation angle <NUM> and a first distance from a first distance determination device <NUM> arranged in the first frame <NUM> to a first rear portion <NUM> of the second frame <NUM> on the first side <NUM> of the articulated vehicle <NUM>; determining <NUM>, by the processor device <NUM>, that a second articulation angle <NUM> between the first frame <NUM> and the second frame <NUM> is above a second predetermined angle threshold on a second side <NUM> of the articulated vehicle <NUM>; determining <NUM>, by the processor device <NUM>, a second vehicle length <NUM> based on the second articulation angle <NUM> and a second distance from a second distance determination device <NUM> arranged in the second frame to a second rear portion <NUM> of the second frame <NUM> on the second side <NUM> of the articulated vehicle <NUM>; and determining <NUM> by the processor device <NUM>, whether a difference between the first vehicle length and the second vehicle length is lower than a predetermined threshold distance.

<FIG> is a schematic diagram of a computer system <NUM> for implementing examples disclosed herein. The computer system <NUM> is adapted to execute instructions from a computer-readable medium to perform these and/or any of the functions or processing described herein. The computer system <NUM> may be connected (e.g., networked) to other machines in a LAN, an intranet, an extranet, or the Internet. While only a single device is illustrated, the computer system <NUM> may include any collection of devices that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. Accordingly, any reference in the disclosure and/or claims to a computer system, computing system, computer device, computing device, control system, control unit, electronic control unit (ECU), processor device, etc., includes reference to one or more such devices to individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. For example, control system may include a single control unit or a plurality of control units connected or otherwise communicatively coupled to each other, such that any performed function may be distributed between the control units as desired. Further, such devices may communicate with each other or other devices by various system architectures, such as directly or via a Controller Area Network (CAN) bus, etc..

The computer system <NUM> may comprise at least one computing device or electronic device capable of including firmware, hardware, and/or executing software instructions to implement the functionality described herein. The computer system <NUM> may include a processor device <NUM> (may also be referred to as a control unit), a memory <NUM>, and a system bus <NUM>. The computer system <NUM> may include at least one computing device having the processor device <NUM>. The system bus <NUM> provides an interface for system components including, but not limited to, the memory <NUM> and the processor device <NUM>. The processor device <NUM> may include any number of hardware components for conducting data or signal processing or for executing computer code stored in memory <NUM>. The processor device <NUM> (e.g., control unit) may, for example, include a general-purpose processor, an application specific processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit containing processing components, a group of distributed processing components, a group of distributed computers configured for processing, or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The processor device may further include computer executable code that controls operation of the programmable device.

The system bus <NUM> may be any of several types of bus structures that may further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and/or a local bus using any of a variety of bus architectures. The memory <NUM> may be one or more devices for storing data and/or computer code for completing or facilitating methods described herein. The memory <NUM> may include database components, object code components, script components, or other types of information structure for supporting the various activities herein. Any distributed or local memory device may be utilized with the systems and methods of this description. The memory <NUM> may be communicably connected to the processor device <NUM> (e.g., via a circuit or any other wired, wireless, or network connection) and may include computer code for executing one or more processes described herein. The memory <NUM> may include non-volatile memory <NUM> (e.g., read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.), and volatile memory <NUM> (e.g., random-access memory (RAM)), 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 computer or other machine with a processor device <NUM>. A basic input/output system (BIOS) <NUM> may be stored in the non-volatile memory <NUM> and can include the basic routines that help to transfer information between elements within the computer system <NUM>.

A number of modules can be implemented as software and/or hard-coded in circuitry to implement the functionality described herein in whole or in part. The modules may be stored in the storage device <NUM> and/or in the volatile memory <NUM>, which may include an operating system <NUM> and/or one or more program modules <NUM>. All or a portion of the examples disclosed herein may be implemented as a computer program product <NUM> stored on a transitory or non-transitory computer-usable or computer-readable storage medium (e.g., single medium or multiple media), such as the storage device <NUM>, which includes complex programming instructions (e.g., complex computer-readable program code) to cause the processor device <NUM> to carry out the steps described herein. Thus, the computer-readable program code can comprise software instructions for implementing the functionality of the examples described herein when executed by the processor device <NUM>. The processor device <NUM> may serve as a controller or control system for the computer system <NUM> that is to implement the functionality described herein.

The computer system <NUM> also may include an input device interface <NUM> (e.g., input device interface and/or output device interface). The input device interface <NUM> may be configured to receive input and selections to be communicated to the computer system <NUM> when executing instructions, such as from a keyboard, mouse, touch-sensitive surface, etc. Such input devices may be connected to the processor device <NUM> through the input device interface <NUM> coupled to the system bus <NUM> but can be connected through other interfaces such as a parallel port, an Institute of Electrical and Electronic Engineers (IEEE) <NUM> serial port, a Universal Serial Bus (USB) port, an IR interface, and the like. The computer system <NUM> may include an output device interface <NUM> configured to forward output, such as to a display, a video display unit (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)). The computer system <NUM> may also include a communications interface <NUM> suitable for communicating with a network as appropriate or desired.

Claim 1:
A computer system (<NUM>) comprising a processor (<NUM>) configured to:
determine (<NUM>) that a first articulation angle (<NUM>) between a first frame (<NUM>) of an articulated vehicle (<NUM>) and a second frame (<NUM>) of the articulated vehicle is above a first predetermined angle threshold on a first side (<NUM>) of the articulated vehicle;
determine (<NUM>) a first vehicle length (<NUM>) based on the first articulation angle and a first distance from a first distance determination device (<NUM>) arranged in the first frame to a first rear portion (<NUM>) of the second frame on the first side of the articulated vehicle;
determine (<NUM>) that a second articulation angle (<NUM>) between the first frame and the second frame is above a second predetermined angle threshold on a second side (<NUM>) of the articulated vehicle;
determine (<NUM>) a second vehicle length (<NUM>) based on the second articulation angle and a second distance from a second distance determination device (<NUM>) arranged in the second frame to a second rear portion (<NUM>) of the second frame on the second side of the articulated vehicle; and
determine (<NUM>) whether a difference (<NUM>) between the first vehicle length and the second vehicle length is lower than a predetermined threshold distance.