Internship | Trailer articulation angle estimation using LiDAR data

Introduction

The TNO Integrated Vehicle Safety department is working on a concept called Cost-efficient Yard Automation Solutions (CEYAS). The aim of CEYAS is to automate parts of the on-yard logistics process. This has the following advantages:

• Reduce personal cost
• Increase efficiency
• Reduce material damages

You can learn more about CEYAS via the following links:
• https://www.tno.nl/en/newsroom/insights/2024/10/ceyas-easy-affordable-solution-yard/
• https://www.youtube.com/watch?v=9RuGcDCeV5Y

What will you be doing?

The vehicle is equipped with LIDAR sensors to observe its surroundings. The LiDAR measurement is primarily used for localization. However, the measurements can also be used for other purposes. One of these is the angle between the vehicle and the trailer, the so-called articulation angle. This angle is especially important for reverse parking maneuvers with a trailer and swept path calculation.
Currently, a sensor in the fifth wheel (the joint that connects the trailer to the mover) measures the articulation angle directly using a hall-effect measurement principle. However, this approach requires modifying the trailer: a magnet needs to be placed in the kingpin. For scalability reasons, modification to the trailer must be avoided at all times. Therefore, it is desired to determine the articulation angle solely using sensors mounted on the vehicle.

The assignment is both theoretical and practical. You will develop an algorithm that uses the available LiDAR measurements to determine the articulation angle of the mover-trailer system. Datasets with all the relevant measurements, including ground truth information, are available. The expected outcome of your work will be a literature survey on this topic, followed by a working algorithm in ROS (written in C++ or Python). All results should be properly reported and presented.

What can you expect of your work situation?

You will work at the Integrated Vehicle Safety department of TNO on the Automotive Campus in Helmond. In this department people are working on developing software for automated driving vehicles. The developed software is tested in pilots and on the public road. (more info on the department: https://www.tno.nl/en/about-tno/organisation/units/mobility-built-environment/integrated-vehicle-safety/). The people are young, enthusiastic and driven. You will work in an open area, within your own team. One of our employees will be your mentor. He will help you to get acquainted with the department and give you guidelines for your research in order to help you to get the best out of it.

The internship fits to a 3-month project (based on full time availability). We require you to work in Helmond at the TNO office at least twice a week to enable you to work with our tools and to have short communication lines.

Minimum requirements:

• To follow a Master program in STEM (for example, Mechanical Engineering, Applied Physics, Applied Mathematics, Computer Science, or similar);
• Have a strong interest in robotics engineering and especially perception systems. You should have followed the module ‘Advanced Sensing using Deep Learning’ at TU Eindhoven or a similar course;
• Have good communication and collaboration skills;
• Have an excellent command of the English language.

Desirable:

• Have good knowledge of a programming language (e.g. Python, C++, etc.).

You want an internship opportunity on the precursor of your career; an internship gives you an opportunity to take a good look at your prospective future employer. TNO goes a step further. It’s not just looking that interests us; you and your knowledge are essential to our innovation. That’s why we attach a great deal of value to your personal and professional development. You will, of course, be properly supervised during your work placement and be given the scope for you to get the best out of yourself. Furthermore, we provide:

• A highly professional, innovative internship environment, within a team of top experts.
• A suitable internship allowance (615 euro for wo-, hbo- and mbo-students, for a full-time internship).
• Possibility of eight hours of free leave per internship month (for a full-time internship).
• A free membership of Jong TNO, where you can meet other TNO professionals and join several activities, such as sports activities, (work-related) courses or the yearly ski-trip.
• Use of a laptop.
• An allowance for travel expenses in case you don’t receive an OV-card.

At TNO, we innovate for a healthier, safer and more sustainable life. And for a strong economy. Since 1932, we have been making knowledge and technology available for the common good. We find each other in wonder and ingenuity. We are driven to push boundaries. There is all the space and support for your talent and ambition. You work with people who will challenge you: who inspire you and want to learn from you. Our state-of-the-art facilities are there to realize your vision. What you do at TNO matters: impact makes the difference. Because with every innovation you contribute to tomorrow’s world. Read more about TNO as an employer.

At TNO we encourage an inclusive work environment, where you can be yourself. Whatever your story and whatever unique qualities you bring to the table. It is by combining our unique strengths and perspectives that we are able to develop innovations that make a real difference in society. Want to know more? Read what steps we are taking in the area of diversity and inclusion.

After the first CV selection, the application process will be conducted by the concerning department. TNO will provide a suitable internship agreement. If you have any questions about this vacancy, you can contact the contact person mentioned below.

Important to be aware of before applying:

• Before the start of the internship, the internship agreement from TNO needs to be signed. For students at a college or university based in the Netherlands, TNO uses the UNL-template (supplemented with a number of specific agreements from TNO). For students of foreign and MBO educational institutions, the TNO internship agreement applies. TNO does not sign any other internship agreements.
• Before the start of the internship, the educational institution will need to confirm in writing that:
• 1) you are enrolled at the educational institution during the internship, and;
• 2) the internship takes place as part of the programme of the study.
• The confirmation of educational institution takes place by signing the UNL template or forms prepared by TNO.
• Interns at TNO must be in possession of a Dutch residential address at the start of the internship. Performance of internship activities from abroad is not possible.