SYSTEM AND METHOD FOR STABILIZING ONE OR MORE SENSORS ON A VEHICLE
A system for stabilizing one or more sensors on a vehicle having a vehicle frame is provided. This system comprises a sensor frame arranged for receiving one or more sensors and a sensor frame actuator, which attached to the sensor frame and to the vehicle. The system further comprises a first and a second inertial measurement unit. The first inertial measurement unit is attached to the sensor frame for determining a movement of the sensor frame. The second inertial measurement unit is attached to the vehicle frame for determining a movement of the vehicle frame. The sensor frame actuator is arranged for stabilizing the sensor frame with respect to the vehicle frame based on the determined movements.
1 . A system for stabilizing one or more sensors on a vehicle having a vehicle frame, the system comprising:
a sensor frame arranged for receiving the one or more sensors;
a first inertial measurement unit attached to the sensor frame for determining a movement of the sensor frame;
a second inertial measurement unit arranged to be attached to the vehicle frame and for determining a movement of the vehicle frame; and
a sensor frame actuator, attached to the sensor frame and arranged for being attached to the vehicle, and arranged for stabilizing the sensor frame with respect to the vehicle frame based on the determined movements.
2 . A system according to claim 1 , further comprising one or more sensors attached to the sensor frame, wherein the one or more sensors comprise a camera, a radar-device, and/or a lidar-device.
3 . A vehicle having a vehicle frame, comprising:
a cabin;
a cabin actuator, attached to said cabin and to the vehicle frame, arranged for stabilizing the cabin with respect to a gravitational reference frame; and
a system comprising:
a sensor frame arranged for receiving the one or more sensors;
a first inertial measurement unit attached to the sensor frame for determining a movement of the sensor frame;
a second inertial measurement unit arranged to be attached to the vehicle frame and for determining a movement of the vehicle frame; and
a sensor frame actuator, attached to the sensor frame and arranged for being attached to the vehicle, and arranged for stabilizing the sensor frame with respect to the vehicle frame based on the determined movements,
wherein the sensor frame actuator is attached to the cabin.
4 . A vehicle according to claim 3 , wherein a stabilizing time scale of the sensor frame actuator is shorter than a stabilizing time scale of the cabin actuator.
5 . A vehicle according to claim 3 , wherein a stabilizing accuracy of the sensor frame actuator is higher than a stabilizing accuracy of the cabin actuator.
6 . A vehicle according to claim 3 , wherein the vehicle is a truck.
7 . A computer-implemented method for stabilizing one or more sensors on a vehicle having a vehicle frame, the method comprising steps of:
determining a movement of a sensor frame arranged for receiving the one or more sensors;
determining a movement of the vehicle frame; and,
stabilizing the sensor frame with respect to the vehicle frame based on the determined movements.
8 . (canceled)
9 . (canceled)