Relative angle detection device for connected vehicles

Abstract

The invention provides a device for detecting the relative angle of a connected vehicle, which can detect the relative angle of a towed vehicle relative to a towed vehicle without arranging a mark for detecting the relative angle with the towed vehicle on the towed vehicle. A relative angle detection device (6) for a connected vehicle (1) in which a towed vehicle (2) and a towed vehicle (3) are connected via a towed-side connecting member (4) and a towed-side connecting member (5), the relative angle detection device (6) being provided with: an imaging device (61) which is attached to the towed vehicle (3) side and which images the towed vehicle (2); and a calculation processing device (62) that calculates the relative angle of the towed vehicle (3) with respect to the towed vehicle (2) on the basis of information obtained from the imaging device (61).

Description

Technical Field

[0001] The present invention relates to a relative angle detection device for a coupling vehicle, which is used for a towed vehicle towed by a towing vehicle and detects a relative angle of the towed vehicle relative to the towing vehicle. Background Art

[0002] Conventionally, there is a coupled vehicle formed by coupling a towed vehicle and a towing vehicle, which can detect a hook angle which is an angle of the towed vehicle relative to the towing vehicle when the coupled vehicle is viewed from above.

[0003] The trailer angle detection system described in Patent Document 1 uses a camera installed on the towing vehicle to capture a mark on the towed vehicle (trailer) and detects the hook angle based on the position of the mark in the captured image. The mark is an edge of the towed vehicle or a sticker.

[0004] Patent Document 1: U.S. Patent No. 9971943

[0005] The towed vehicle has various shapes, such as a box-shaped camper or a boat trailer carrying a boat. In the system described in Patent Document 1, if an edge portion of a shape suitable for use as a marker does not exist at a position that can be photographed by a camera of the towing vehicle, a sticker as a marker must be affixed to an appropriate position of the towed vehicle, which increases the burden on the user and may affect the appearance of the towed vehicle. Summary of the invention

[0006] Therefore, an object of the present invention is to provide a relative angle detection device for connecting vehicles, which can detect the relative angle of the towed vehicle with respect to the towing vehicle without providing a mark on the towed vehicle for detecting the relative angle with the towing vehicle.

[0007] In order to achieve the above-mentioned purpose, the present invention provides a relative angle detection device for connecting vehicles. The relative angle detection device for connecting vehicles is used for connecting vehicles formed by connecting a tractor vehicle and a towed vehicle via a tractor-side connecting component and a towed-side connecting component, and comprises: a photographing device installed on the towed vehicle side and photographing the tractor vehicle; and a calculation processing device, which calculates the relative angle of the towed vehicle with respect to the tractor vehicle based on information obtained from the photographing device.

[0008] According to the present invention, the relative angle of the towed vehicle with respect to the towing vehicle can be detected without providing a mark for detecting the relative angle with the towing vehicle on the towed vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1AIt is a schematic diagram showing a state where a connected vehicle, which is a detection target of a relative angle according to an embodiment of the present invention, is viewed from above.

[0010] Figure 1B This is a schematic diagram showing a state where the connected vehicles are viewed from the left side with respect to the advancing direction.

[0011] Figure 1C It is a schematic diagram showing a state of a connected vehicle as viewed from the rear.

[0012] Figure 2A It is a structural diagram showing an example of the structure of the traction-side connecting member and the pulled-side connecting member.

[0013] Figure 2B It is a cross-sectional view of a state where the traction-side coupling member and the towed-side coupling member are assembled.

[0014] Figure 3 It is a block diagram showing the functional structure of the relative angle detection device.

[0015] Figure 4 This is an explanatory diagram showing an example of the rear end portion of a tractor vehicle captured by the imaging device.

[0016] Figure 5 It is an explanatory diagram showing the front end face of a towed vehicle.

[0017] Fig. 6A This is an explanatory diagram of a connected vehicle in a straight-moving state as viewed from above in the vertical direction.

[0018] Figure 6B This is an explanatory diagram of a coupled vehicle in a straight-ahead traveling state as viewed from the left side of a towing vehicle and a towed vehicle.

[0019] Figure 7 It is a schematic diagram showing the positional relationship among the towing vehicle, the towed vehicle, and the imaging device when the towed vehicle is tilted to the left in the horizontal direction relative to the towing vehicle to generate a hook angle.

[0020] Figure 8 Schematic diagram showing the positional relationship between the towing vehicle, the towed vehicle, and the imaging device when the towed vehicle is tilted upward with respect to the towing vehicle to generate a relative pitch angle.

[0021] Fig. 9 It is an explanatory diagram of the rear end portion of the towing vehicle viewed from the towed vehicle side, showing a state in which the towed vehicle is swaying left and right relative to the towing vehicle.

[0022] Fig.10 This is a flowchart showing an example of a processing procedure executed by the processing device to calculate the hook angle, the relative pitch angle, and the relative roll angle. DETAILED DESCRIPTION

[0023] [Implementation Method]

[0024] The embodiments of the present invention are described with reference to the accompanying drawings. In addition, the embodiments described below are shown as preferred specific examples of the aspects of implementing the present invention, and although there are also parts that specifically illustrate various technical matters that are technically preferred, the technical scope of the present invention is not limited to the specific methods.

[0025] Figure 1A , Figure 1B as well as Figure 1C 1 is a schematic diagram showing a coupled vehicle 1 equipped with a relative angle detection device according to an embodiment of the present invention. Figure 1A The state of the connected vehicle 1 as viewed from above is shown. Figure 1B Indicates the side surface on the left side relative to the advancing direction of the connected vehicle 1. Figure 1C , the state of the connected vehicle 1 is shown as viewed from the rear. Figure 1A and Figure 1B , a center line 2a of the tractor vehicle 2 along the front-rear direction of the tractor vehicle 2 and a center line 3a of the towed vehicle 3 along the front-rear direction of the towed vehicle 3 are indicated by dot-dash lines, respectively.

[0026] The coupled vehicle 1 includes a tractor vehicle 2 and a towed vehicle 3, and the tractor vehicle 2 and the towed vehicle 3 are coupled via a tractor-side coupling member 4 and a towed-side coupling member 5. Figure 1A , Figure 1B as well as Figure 1C In the figure, the towed vehicle 3 is a box-shaped camper, but the towed vehicle is not limited to this, and may be, for example, a boat trailer carrying a boat. In addition, the towing vehicle 2 may be a manual driving vehicle in which a driver performs driving operations such as steering operation, or an automatic driving vehicle in which a part or all of the driving operations are automatically performed.

[0027] Figure 2A It is a structural diagram showing an example of the structure of the traction-side connecting member 4 and the pulled-side connecting member 5 . Figure 2B It is a cross-sectional view of a state where the traction-side coupling member 4 and the pulled-side coupling member 5 are assembled.

[0028] The traction-side connecting member 4 includes a hook cross beam 41 disposed along the vehicle width direction of the traction vehicle 2; a pair of hook longitudinal beams 42 fixed to both ends of the hook cross beam 41; a ball base 43 provided to protrude from the center of the hook cross beam 41 in the vehicle width direction toward the rear side of the traction vehicle 2; a hook pin 44 protruding upward from the ball base 43; and a spherical hook ball 45 provided integrally with the upper end of the hook pin 44. The hook cross beam 41 and the pair of hook longitudinal beams 42 are disposed inside the rear bumper 20 of the traction vehicle 2. The ball base 43, the hook pin 44, and the hook ball 45 are exposed to the rear side from the rear bumper 20. The pair of hook longitudinal beams 42 are fixed to the body of the traction vehicle 2 by a plurality of bolts.

[0029] The towed-side coupling member 5 includes: a coupling 51 covering the hook ball 45; a latch mechanism 52 for preventing the coupling 51 from falling off relative to the hook ball 45; a rod-shaped tongue piece 53 fixing the coupling 51 at the distal end; and a pair of side beams 54 extending in a direction inclined relative to the longitudinal direction of the tongue piece 53. One end of each of the side beams 54 is connected to the tongue piece 53. The base end of the tongue piece 53 and the other end of each of the pair of side beams 54 are connected to the chassis of the towed vehicle 3.

[0030] like Figure 2B As shown, the connector 51 has a cup portion 511 for accommodating the hook ball 45. The latch mechanism 52 has a rod support 520, a rod 521 that is rotated relative to the rod support 520, a latch plate 522 that is opposite to the upper surface 51a of the connector 51, a latch rod 523 that enters between the upper surface 51a of the connector 51 and the latch plate 522 when the rod 521 is operated, a locking plate 524 that receives the hook ball 45 from the lower side, a coil spring 525 that urges the locking plate 524 downward, and a bolt 526 and a nut 527 that connect the latch plate 522 and the locking plate 524.

[0031] The locking plate 524 can rotate around the support pin 512 horizontally arranged on the connector 51. Figure 2B When the coupling 51 is operated as shown by arrow A, the latch plate 522 is lifted upward relative to the coupling 51 by the latch rod 523, and the locking plate 524 prevents the hook ball 45 from falling off. The inner surface 511a of the cup portion 511 of the coupling 51 is a concave spherical surface with a curvature corresponding to the curvature of the surface 45a of the hook ball 45. The coupling 51 can swing in all directions with the center point of the hook ball 45 as the center due to the sliding between the inner surface 511a of the cup portion 511 and the surface 45a of the hook ball 45. Hereinafter, the center point of the hook ball 45 is referred to as the hook point 450.

[0032] The relative angle of the towed vehicle 3 to the tractor vehicle 2 in the coupled vehicle 1 changes in various ways. In particular, when the towed vehicle 3 moves backward toward the front side of the traveling direction, the relative angle of the towed vehicle 3 to the tractor vehicle 2 becomes an important indicator for driving operation. Therefore, a relative angle detection device is used in the coupled vehicle 1. When the tractor vehicle 2 is a manual driving vehicle (non-automatic driving vehicle), an image showing the detection result of the relative angle detection device is displayed on a display arranged in the cabin of the tractor vehicle 2 to assist the driver's driving operation. In addition, when the tractor vehicle 2 is an automatic driving vehicle, the tractor vehicle 2 performs automatic steering based on the detection result of the relative angle detection device.

[0033] The relative angles of the towed vehicle 3 with respect to the towing vehicle 2 include: the hook angle indicating the horizontal inclination of the towed vehicle 3 with respect to the towing vehicle 2; the relative pitch angle indicating the vertical inclination of the towed vehicle 3 with respect to the towing vehicle 2; and the relative roll angle, which is the difference between the roll angle of the towing vehicle 2 and the roll angle of the towed vehicle 3. Figure 1A , the hook angle θh is shown when the towed vehicle 3 is tilted to the left relative to the towing vehicle 2. Figure 1B In FIG. 1 , the relative pitch angle θp when the towed vehicle 3 is tilted upward relative to the towing vehicle 2 is shown. Figure 1C , the relative roll angle θr when the towed vehicle 3 is tilted clockwise with respect to the towing vehicle 2 when viewed from the rear side of the coupling vehicle 1 is shown.

[0034] The relative angle detection device according to the present embodiment can detect the hook angle, relative pitch angle, and relative roll angle of the towed vehicle 3 relative to the towing vehicle 2. Next, the structure, arrangement, and operation of the relative angle detection device will be described.

[0035] Figure 3 : is a block diagram showing the functional structure of the relative angle detection device 6. The relative angle detection device 6 includes: a camera 61 installed on the side of the towed vehicle 3 to capture the towing vehicle 2; and a calculation processing device 62 to calculate the relative angle of the towed vehicle 3 with respect to the towing vehicle 2 based on the information obtained from the camera 61. The camera 61 captures the towing vehicle 2 according to the instruction from the calculation processing device 62, and sends the information of the captured image to the calculation processing device 62. The camera 61 and the calculation processing device 62 can communicate with each other using wireless signals, for example.

[0036] like Figure 2A As shown, the camera 61 is mounted on the front end 3b of the towed vehicle 3. Next, the length L in the front-rear direction of the towed vehicle 3 from the hook point 450 to the camera 61 in the state where the towing-side coupling member 4 and the towed-side coupling member 5 are coupled (see FIG. Figure 2A ) is called the reference shooting distance. Figure 2A In the example shown, the length from the hook point 450 to the towed-side coupling member 5 of the towed vehicle 3 is the reference imaging distance.

[0037] The calculation processing device 62 includes: a reference shooting distance storage unit 621 for storing information of the reference shooting distance; a positional relationship information storage unit 622 for storing positional relationship information indicating the relative positional relationship between the feature point of the tractor vehicle 2 photographed by the camera 61 and the hook point 450; and a camera position information storage unit 623 for storing information on the installation position of the camera 61 to the towed vehicle 3. In addition, the calculation processing device 62 can obtain information related to the driving state of the tractor vehicle 2, such as the vehicle speed and the yaw rate, through a communication network such as CAN (Controller Area Network). The calculation processing device 62 detects the relative angle of the towed vehicle 3 with respect to the tractor vehicle 2 based on these information.

[0038] The detection result of the relative angle based on the calculation processing device 62 is sent to the display device 7 of the towing vehicle 2, for example. Figure 3 As shown in FIG. 1 , an image showing the detection result of the relative angle detection device 6 is displayed on the touch panel display 71 in the vehicle cabin. Figure 3 , an example of displaying an overhead image 710 is shown in the first display area 71a of the touch panel display 71, and the overhead image 710 shows a graphic symbol 711 representing the tractor vehicle 2 and a graphic symbol 712 representing the towed vehicle 3 in a state of being inclined according to the hook angle detected by the relative angle detection device 6. The second display area 71b of the touch panel display 71 displays an image captured by the camera 61, for example.

[0039] The driver performs the steering operation with reference to the display content of the touch panel display 71. The touch panel display 71 may also display an image showing the rotation direction of the steering wheel recommended according to the hook angle detected by the relative angle detection device 6. In addition, when the towing vehicle 2 is an automatic driving vehicle, the detection result of the relative angle detection device 6 is output to the automatic driving device 8.

[0040] The information of the reference shooting distance is input by, for example, the user of the towing vehicle 2 and the towed vehicle 3, and is stored in the reference shooting distance storage unit 621 of the processing unit 62. This input can be performed, for example, via the touch panel display 71. When the user has a plurality of towed vehicles 3 (for example, camping cars, boat trailers, water bike trailers, jet ski trailers, etc.), when the towed vehicle 3 is replaced, the user sets the reference shooting distance, whereby the relative angle detection device 6 can appropriately detect the hook angle and the relative pitch angle.

[0041] Figure 4 6 is an explanatory diagram showing an example of the rear end of the tractor vehicle 2 captured by the camera 61. A pair of left and right lamps 21, 22, a logo mark 23, and a license plate 24 are provided at the rear end of the tractor vehicle 2. In addition, the left and right rear wheels 25, 26 are also captured by the camera 61. These lamps 21, 22, the logo mark 23, the license plate 24, and the rear wheels 25, 26 are inherent structures of the tractor vehicle 2, and are characteristic points of the tractor vehicle 2 included in the image captured by the camera 61. The lamps 21, 22 are rear combination lamps including brake lights, turn signals, tail lights, and backup lights. In addition, the structures of the tractor vehicle 2 are structures that are equipped on the tractor vehicle 2 from the time when the tractor vehicle 2 is manufactured, and are structures that the tractor vehicle 2 of the model has in the body structure.

[0042] Here, if Figure 4 As shown, an XYZ orthogonal coordinate system is defined with the hook point 450 as the origin of each coordinate axis. The X axis is a coordinate axis in the vehicle width direction of the tractor vehicle 2, and the Y axis is a coordinate axis in the vertical direction of the tractor vehicle 2. The Z axis is a coordinate axis in the front-rear direction of the tractor vehicle 2. In the positional relationship information storage unit 622 of the calculation processing device 62, the X coordinates, Y coordinates, and Z coordinates of the lamps 21, 22, the LOGO mark 23, the license plate 24, and the rear wheels 25, 26, which are characteristic points of the tractor vehicle 2, are stored. These coordinate values ​​are input to the calculation processing device 62 by the operator when the tractor-side coupling member 4 is mounted on the tractor vehicle 2, and are stored in the positional relationship information storage unit 622. The coordinate values ​​of each characteristic point can be actually measured by the operator, for example, or can be provided to the operator through a paper medium or electronic storage medium attached to the tractor-side coupling member 4 and recording the coordinate values ​​of each characteristic point suitable for the vehicle model.

[0043] The camera 61 is installed, for example, by a user of the towed vehicle 3. In this case, the camera 61 is not limited to being installed at the center of the towed vehicle 3 in the vehicle width direction, and may be installed at a position offset to the right or left from the center of the towed vehicle 3 in the vehicle width direction. In the present embodiment, the processing unit 62 calculates the installation position of the camera 61 based on information obtained from the camera 61 when the coupled vehicle 1 is traveling straight. The processing unit 62 detects the relative angle of the towed vehicle 3 with respect to the towing vehicle 2 in consideration of the calculated installation position of the camera 61. The specific processing content of the processing unit 62 will be described in detail below.

[0044] Figure 5 4 is an explanatory diagram showing the front end face 3b of the towed vehicle 3 together with the towed-side coupling member 5 and the hook point 450. Figure 5In FIG. 1 , Oh represents the offset amount of the installation position of the camera 61 relative to the hook point 450 in the horizontal direction (the vehicle width direction of the towed vehicle 3), and Ov represents the offset amount of the installation position of the camera 61 relative to the hook point 450 in the vertical direction. Here, the installation position of the camera 61 specifically refers to the center position of the lens 611 of the camera 61.

[0045] Fig. 6A This is an explanatory diagram of the connected vehicle 1 in a straight-moving state as viewed from above in the vertical direction. Figure 6B This is an explanatory diagram of the coupled vehicle 1 in a straight-ahead state as viewed from the left side of the tractor vehicle 2 and the towed vehicle 3. In the straight-ahead state, the tractor vehicle 2 and the towed vehicle 3 are arranged in a straight line relative to the traveling direction, and the hook angle, relative pitch angle, and relative roll angle are substantially zero.

[0046] The processing device 62 can detect the distance between the camera 61 and the characteristic point of the tractor vehicle 2 based on the information obtained from the camera 61. The distance can be detected by analyzing the image of each characteristic point when the focus (focal length) of the camera 61 is changed, for example.

[0047] The horizontal offset Oh of the camera 61 can be obtained, for example, using the distances D1 and D2 between the left and right pair of lamps 21 and 22 and the camera 61. When the offset Oh is zero, the distance D1 is equal to the distance D2, and the larger the offset Oh is, the larger the difference between the distance D1 and the distance D2 is. In addition, the processing unit 62 can calculate the distance D3 between the left and right pair of lamps 21 and 22 based on the information stored in the position relationship information storage unit 622, and thus can calculate the offset Oh based on the relationship between the distances D1, D2, and D3 based on the principle of trigonometric functions.

[0048] In addition, the vertical offset Ov of the camera 61 can be obtained by using the distances between a plurality of feature points at different positions in the vertical direction and the camera 61. For example, if the distances D4 and D5 between the camera 61 and the left lamp 21 and the license plate 24 are known, the distance D6 between the lamp 21 and the license plate 24 can be calculated based on the information stored in the positional relationship information storage unit 622, and thus the offset Ov can be calculated based on the principle of trigonometric functions in the same manner as described above.

[0049] Figure 7 2 is a schematic diagram showing the positional relationship between the towed vehicle 2, the towed vehicle 3, and the camera 61 when the towed vehicle 3 is tilted to the left in the horizontal direction relative to the towing vehicle 2 to produce a hook angle θh. Figure 7θ1 is the angle formed by the straight line connecting the hook point 450 and the left lamp 21 and the center line 2a of the towing vehicle 2, and can be calculated based on the information stored in the positional relationship information storage unit 622. θ2 is the angle formed by the straight line connecting the hook point 450 and the imaging device 61 and the center line 3a of the towed vehicle 3, and can be calculated based on the reference imaging distance L and the horizontal offset Oh.

[0050] θ3 is the angle formed by the straight line connecting the hook point 450 and the left lamp 21 and the straight line connecting the hook point 450 and the imaging device 61 , and can be calculated from the lengths of the sides of the triangle T1 with the hook point 450 , the left lamp 21 , and the imaging device 61 as vertices. Figure 7 The distance between the hook point 450 and the camera 61 is calculated based on the square root of the sum of the squares of the reference shooting distance L and the offset Oh. The distance between the hook point 450 and the left lamp 21 can be calculated based on the information stored in the position relationship information storage unit 622. The distance between the camera 61 and the left lamp 21 can be calculated by analyzing the image captured by the camera 61. Figure 7 As shown, the hook angle θh can be obtained from θ1, θ2, and θ3 by a calculation formula of 180(°)-θ1-θ2-θ3.

[0051] Figure 8 2 is a schematic diagram showing the positional relationship between the towed vehicle 2, the towed vehicle 3, and the camera 61 when the towed vehicle 3 is tilted upward relative to the towing vehicle 2 to generate a relative pitch angle θp. Figure 8 θ4 is the angle formed by the straight line connecting the hook point 450 and the left lamp 21 and the straight line passing through the hook point 450 and parallel to the front-rear direction of the towing vehicle 2, and can be calculated based on the information stored in the positional relationship information storage unit 622. θ5 is the angle formed by the straight line connecting the hook point 450 and the imaging device 61 and the straight line passing through the hook point 450 and parallel to the front-rear direction of the towed vehicle 3, and can be calculated based on the reference imaging distance L and the offset Ov in the vertical direction.

[0052] θ6 is the angle formed by the straight line connecting the hook point 450 and the left lamp 21 and the straight line connecting the hook point 450 and the imaging device 61 , and can be calculated from the lengths of the sides of the triangle T2 with the hook point 450 , the left lamp 21 , and the imaging device 61 as vertices. Figure 8 The distance between the hook point 450 and the camera 61 in FIG. 4 is calculated based on the square root of the sum of the squares of the reference shooting distance L and the offset Ov. The distance between the hook point 450 and the left lamp 21 can be calculated based on the information stored in the position relationship information storage unit 622. The distance between the camera 61 and the left lamp 21 can be calculated by analyzing the image captured by the camera 61. Figure 7 As shown, the relative pitch angle θp can be obtained from θ4, θ5, and θ6 by the calculation formula of 180(°)-θ4-θ5-θ6.

[0053] Fig. 9 1 is an explanatory diagram showing the rear end of the tractor vehicle 2 as viewed from the towed vehicle 3 side that is swaying left and right relative to the tractor vehicle 2. When the towed vehicle 3 is swaying left and right relative to the tractor vehicle 2, for example, the straight line connecting the left and right lamps 21 and 22 extending in the horizontal direction when the relative roll angle θr is zero is tilted relative to the horizontal direction. The processing unit 62 can detect the tilt based on the information of the image captured by the imaging unit 61 and obtain the relative roll angle.

[0054] Fig.10 1 is a flowchart showing an example of processing steps performed by the processing unit 62 to calculate the hook angle θh, the relative pitch angle θp, and the relative roll angle θr. In addition, it is assumed that the reference shooting distance storage unit 621 and the positional relationship information storage unit 622 of the processing unit 62 store the reference shooting distance information and the positional relationship information in advance.

[0055] exist Fig.10 In the process of the flowchart shown, the calculation processing device 62 first determines whether the connected vehicle 1 is in a straight-moving state (step S1). The connected vehicle 1 can be detected in a straight-moving state, for example, when the vehicle speed is greater than a predetermined value and the yaw rate is substantially zero. When the result of this determination is "yes", the calculation processing device 62 detects the installation position of the camera 61 based on the information of the distance between the camera 61 and the characteristic point of the towing vehicle 2 obtained from the camera 61 (step S2). Specifically, the offset Oh and the offset Ov indicating the installation position of the camera 61 to the towed vehicle 3 are calculated.

[0056] Next, the processing device 62 calculates the distance between the camera 61 and at least one feature point of the towing vehicle 2 (e.g., the left lamp 21) based on the information from the camera 61 (step S3), and calculates the hook angle θh and the relative pitch angle θp as described above (step S4). In addition, the processing device 62 calculates the relative roll angle θr based on the inclination of the positions of the plurality of feature points (e.g., the positions of the left and right lamps 21, 22) in the image captured by the camera 61 (step S5).

[0057] Then, the processing unit 62 determines whether to stop detecting the hook angle θh, the relative pitch angle θp, and the relative roll angle θr (step S6). If the result of the determination is "No", the processing of steps S3 to S5 is repeatedly performed. The processing unit 62 determines to stop detecting the hook angle θh, the relative pitch angle θp, and the relative roll angle θr when, for example, the vehicle speed of the towing vehicle 2 is zero or the shift lever is shifted to the P (parking) position.

[0058] In addition, when the information in the reference shooting distance storage unit 621 or the position relationship information storage unit 622 is newly stored or updated, or when the installation position of the shooting device 61 is changed, the processing of step S2 only needs to be performed at least once, and the stored information of the offset Oh and the offset Ov can also be used to calculate the hook angle θh, the relative pitch angle θp and the relative roll angle θr.

[0059] In addition, in the process of step S3, the distance between one of the plurality of characteristic points of the tractor vehicle 2 and the camera 61 may be calculated, and the hook angle θh, the relative pitch angle θp, and the relative roll angle θr may be calculated based on the calculation result in the processes of steps S4 and S5. Alternatively, the distance between the plurality of characteristic points of the tractor vehicle 2 and the camera 61 may be calculated, and the calculation results of the hook angle θh, the relative pitch angle θp, and the relative roll angle θr obtained based on the calculation results of the distances to the respective characteristic points may be averaged as the detection result. Thus, the accuracy of the relative angle detection result of the relative angle detection device 6 can be improved.

[0060] (Effects of Embodiments)

[0061] According to the embodiment described above, the processing unit 62 calculates the hook angle θh, the relative pitch angle θp, and the relative roll angle θr based on the information obtained from the camera 61 installed on the towed vehicle 3 side and photographing the towing vehicle 2. Therefore, without providing a mark for detecting the relative angle with the towing vehicle 2 on the towed vehicle 3, the relative angle of the towed vehicle with respect to the towing vehicle can be detected.

[0062] In addition, the processing unit 62 calculates the installation position of the camera 61 to the towed vehicle 3 based on the information obtained from the camera 61 when the coupled vehicle 1 is traveling straight, and detects the relative angle of the towed vehicle with respect to the towing vehicle in consideration of the installation position. Therefore, the user does not need to cause the processing unit 62 to store the installation position of the camera 61, which reduces the burden on the user and allows the hook angle θh, the relative pitch angle θp, and the relative roll angle θr to be accurately calculated.

[0063] (Note)

[0064] The present invention has been described above based on the embodiments, but the embodiments do not limit the invention involved in the claims. In addition, it should be noted that all combinations of the features described in the embodiments are not necessary for the means for solving the problems of the invention. In addition, the present invention can omit a part of the structure, or add or replace the structure, and be implemented by appropriate deformation without departing from the scope of its purpose.

[0065] Description of Reference Numerals

[0066] 1…connecting vehicle; 2…tracting vehicle; 21, 22…lights; 23…logo; 24…license plate; 25, 26…rear wheels; 3…towed vehicle; 4…tractive-side connecting component; 45…hook ball; 450…hook point; 5…towed-side connecting component; 51…coupler; 6…relative angle detection device; 61…photographing device; 62…processing device.

Claims

1. A relative angle detection device for a coupled vehicle, used for a coupled vehicle in which a tractor vehicle and a towed vehicle are coupled via a tractor-side coupling member and a towed-side coupling member, wherein: have: a photographing device installed on the side of the towed vehicle and photographing the towing vehicle; and The calculation processing device calculates a relative angle of the towed vehicle with respect to the towing vehicle based on the information obtained from the imaging device.

2. The relative angle detection device for connecting vehicles according to claim 1, wherein: The arithmetic processing device detects the relative angle in consideration of the installation position of the imaging device based on information obtained from the imaging device when the coupled vehicle is traveling straight.

3. The relative angle detection device for connecting vehicles according to claim 2, wherein: The processing device calculates a mounting position of the imaging device based on a position of a feature point of the towing vehicle included in an image captured by the imaging device when the coupled vehicle is traveling straight.

4. The relative angle detection device for coupled vehicles according to claim 3, wherein: The traction-side connecting member has a spherical hook ball. The towed-side connecting member has a coupling for accommodating the hook ball. The processing device stores positional relationship information indicating the relative positional relationship between the hook point, which is the center point of the hook ball, and the feature point, and detects the relative angle based on the distance between the camera and the feature point and the positional relationship information.

5. The relative angle detection device for connecting vehicles according to claim 3 or 4, wherein: The characteristic point is a structure of the traction vehicle.

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