Method and device for determining trailer dimensions in a motor vehicle

Abstract

Device comprising: a radar (320) for generating a depth map, wherein the depth map includes a detection of a first trailer surface; a camera (310) for producing an image of the first trailer surface; a processor (330) that determines a first dimension of the first pendant surface in response to the depth map and a second dimension of the first pendant surface in response to the first dimension and the image; and a vehicle control system (345) that controls a vehicle (110) in response to the first dimension and the second dimension.

Description

[0001] This description generally relates to a system for determining the three-dimensional dimensions of a trailer using a camera and vehicle radar for use in a trailer combination with a motor vehicle. More specifically, aspects of this description relate to systems, methods, and devices for determining the trailer's length and width using one or more vehicle radar devices installed behind the rear bumper of a towing vehicle, and for determining the trailer's height using radar and camera fusion techniques.

[0002] Towing a trailer with a towing vehicle has always been a complicated undertaking for many drivers and automated driving systems. A ball coupling is typically used as the trailer hitch and establishes the connection between the towing vehicle and the trailer. To align the trailer, the rear of the towing vehicle must be turned in the opposite direction to the desired direction of the trailer. Furthermore, the driver's line of sight is often obstructed by the trailer, requiring a second person outside the vehicle to provide visual confirmation and feedback to the driver while reversing.For vehicles equipped with automatic and advanced driver assistance systems (ADAS), reliably determining the dimensions of a trailer is a key component for ADAS functions such as autonomous driving with a trailer, jack detection, and fully automatic trailer parking. Different trailers have different dimensions, which complicates ADAS operation.

[0003] US Patent 2018 / 0068447A1 describes a trailer detection system that determines the presence of a trailer towed by a carrier vehicle. The system includes a camera and a controller. The camera captures an image of the area behind the carrier vehicle. The controller communicates with the camera. The controller detects the position of an edge in the image and determines that the edge is associated with a trailer towed by the carrier vehicle if the edge's position moves less than a specified movement threshold.

[0004] DE 10 2019 109 604 A1 describes a trailer angle module that determines a trailer angle based on input from at least one reversing camera of the vehicle and a trailer angle sensor. The trailer angle is the angle between the longitudinal centerline of a trailer and the longitudinal centerline of a vehicle. A trailer load sensor measures the load on the vehicle's trailer coupling. A trailer wheel speed sensor measures the wheel speed of the trailer. A trailer dimension module determines at least one of the following dimensions: the width of the trailer, the mass of the trailer, the drawbar length of the trailer, the height of the trailer, and the trailer coupling length of the vehicle, based on at least one of the following values: the trailer angle, the trailer load, and the wheel speed of the trailer. The trailer coupling length is the distance from a rear axle of the vehicle to a distal end of the trailer coupling.

[0005] It can be seen as a task to enable improved trailer measurement by an ADAS while overcoming the problems mentioned above.

[0006] The problem is solved by a device according to claim 1 and a method according to claim 9. Furthermore, an exemplary advanced driver assistance system is described.

[0007] Furthermore, vehicle braking procedures and systems and the associated control logic for providing vehicle systems, methods for manufacturing and operating such systems, as well as motor vehicles equipped with on-board control systems, are described. As an example, and not as a limitation, various embodiments of the automatic estimation of trailer dimensions for trailer operation in a motor vehicle are presented, and a method for performing the automatic estimation of trailer dimensions for trailer operation in a motor vehicle is described here.

[0008] An apparatus according to the invention comprises a radar for generating a depth map, wherein the depth map is a detection of a first trailer surface, a camera for generating an image of the first trailer surface, a processor that is operational to determine a first dimension of the first trailer surface in response to the depth map and a second dimension of the first trailer surface in response to the first dimension and the image, and a vehicle control system that controls a vehicle in response to the first dimension and the second dimension.

[0009] In one embodiment, the processor is able to determine a third dimension of a second pendant surface in response to the depth map, wherein the first dimension and the third dimension are horizontal dimensions.

[0010] In one embodiment, the second dimension is determined depending on a pixel ratio within the image and the first dimension.

[0011] In one embodiment, the first trailer surface is a front surface of a trailer.

[0012] In one embodiment, the image is captured in response to a vehicle reversing.

[0013] In one embodiment, the vehicle control remains effective to steer the vehicle along a path during the generation of the depth map, where the path is not parallel to the first trailer surface.

[0014] In one embodiment, the depth map is generated in response to user input.

[0015] In one embodiment, the depth map is generated in response to a control signal from an advanced driving assistance system.

[0016] A method according to the invention comprises: acquiring a depth map by a radar, wherein the depth map indicates a location of a first trailer surface; acquiring an image by a camera, wherein the image contains the first trailer surface; estimating a first dimension of the first trailer surface in response to the depth map using a processor; estimating, using the processor, a second dimension of the first trailer surface in response to the first dimension and the image; transmitting the first dimension and the second dimension to a vehicle control system; and controlling, using the vehicle control system, a vehicle which performs a following maneuver in response to the first dimension and the second dimension.

[0017] In one embodiment, the method is executable to determine a third dimension of a second pendant surface in response to the depth map, wherein the first dimension and the third dimension are a width and a length of a pendant.

[0018] In one embodiment, the depth map is generated while the vehicle travels a path near the trailer, the path being neither parallel to the first trailer surface nor to a second trailer surface.

[0019] In one embodiment, controlling the vehicle includes executing an automatic driving assistance algorithm during a towing operation.

[0020] In one embodiment, the image is captured by a reversing camera.

[0021] In one embodiment, an image is taken in response to a vehicle reversing.

[0022] In one embodiment, the depth map is generated in response to a user command received via a user interface.

[0023] In one embodiment, the second dimension is determined depending on a pixel ratio within the image and the first dimension.

[0024] An exemplary advanced driver assistance system comprises a radar for generating a depth map, wherein the depth map displays a first surface of a trailer and a second surface of the trailer; a camera for capturing an image of the first surface; a processor configured to determine the width and length of the trailer in response to the first and second surfaces, the processor further operating to determine the height of the trailer in response to the width of the trailer and the image; and a vehicle control system configured to perform an assisted driving operation in response to the width, length, and height of the trailer.

[0025] For example, the depth map is generated in response to user input received at a user interface.

[0026] For example, the advanced driver assistance system works by traversing a path near the trailer while generating the depth map.

[0027] For example, the vehicle control system is also able to control a vehicle, including the advanced driver assistance program, in such a way that the first surface and the second surface are exposed to a radar field of view during the generation of the depth map.

[0028] The embodiments are described below in conjunction with the following figures, where similar reference numerals denote similar elements, and where Fig. Figure 1 shows an application of the method and device for determining the pivot angle of a trailer coupling on a motor vehicle. Fig. 2 shows an exemplary representation according to an exemplary embodiment of a system for determining the pivot angle of a trailer coupling on a motor vehicle. Fig. Figure 3 shows a block diagram of an exemplary system for determining the pivot angle of a trailer coupling on a motor vehicle. Fig. Figure 4 shows a flowchart illustrating a procedure for determining the pivot angle of a trailer hitch on a motor vehicle. Fig. 5 shows a block diagram illustrating a system for determining the pivot angle of a trailer hitch in a motor vehicle; and Fig. Figure 6 shows a flowchart illustrating a procedure for determining the pivot angle of a trailer hitch on a motor vehicle.

[0029] When performing ADAS trailer operations, accurate trailer dimensions are a required input for the algorithm to function safely and reliably. Each trailer can have different dimensions and handling characteristics, making generic assumptions about trailer parameters inefficient. The exemplary algorithm and the system that enables it are designed to determine the trailer's length and width using two short-range radar units mounted behind the vehicle's rear bumper. Additionally, the trailer's height can be determined using radar and camera fusion. The system can be used to determine the trailer's length and width by driving the equipped vehicle over the trailer. Alternatively, the system can be used to determine the trailer's length and width using the radar system's acquisition responses.Additionally, the overtaking angle of the vehicle relative to the trailer can be determined in response to the amplitude of the received radar signal power.

[0030] Now to Fig. To arrive at the following, an exemplary environment 100 for the method and device for determining the trailer dimensions according to an exemplary embodiment of the present description is shown. The exemplary environment 100 is shown in a top-down perspective, showing a towing vehicle 110 with vehicle centerline 120 and a trailer 140 with trailer centerline 150. The exemplary towing vehicle 110 is equipped with a vehicle radar system with a radar field of view (FOV) 130.

[0031] In this exemplary embodiment, the towing vehicle 110 performs a pass-by maneuver of the trailer 140 by driving forward past the trailer 140 in a direction along the vehicle centerline 120. Both the range measurement and the received power can be used to accurately determine the trailer's length and width. The towing vehicle 110 passes the trailer 140 at an angle to, and not parallel to, the trailer 140 to improve the signal-to-noise ratio and increase the accuracy of detecting the trailer's length and width. In this exemplary embodiment, the system is able to detect reflections of the radar signal from the trailer as well as the radar signal amplitude reflected from points along the trailer when the towing vehicle 110 travels in a direction parallel to the vehicle centerline 120 and the trailer 140 is guided through the radar's field of view (FOV) 130.In response to these reflections and amplitudes, the system can estimate the dimensions of the trailer.

[0032] In an exemplary embodiment, the amplitude of the reflected radar signal can also be used to determine an angle between the vehicle centerline 120 and the trailer centerline 150. This angle can be estimated by measuring the distance, and the vehicle's effective travel distance can be determined by checking the received signal power. In this way, the trailer length or width, particularly for trailers with rounded corners, can be accurately determined simply by comparing the method with distance data.

[0033] Now to Fig. To arrive at point 2, an exemplary environment 200 for determining a trailer height in a motor vehicle is shown. The exemplary environment 200 shows a trailer 230 and a camera 220. The camera 220 can be mounted in a vehicle rear panel or similar and can be mounted near one or more vehicle radar devices that are related to Fig. 1 are described. For example, the camera 220 could be a mandatory reversing camera, normally used to reduce the blind spot when reversing. In this exemplary embodiment, the height of the trailer can be determined by fusing the vehicle radar output and an image captured by a vehicle camera 220. Normally, due to the limited field of view (FOV) of a radar, it can be difficult to determine the trailer height using radar signals alone. Typically, vehicle radars scan a horizontal FOV and are unable to distinguish the heights of objects within the field of view. While a camera 220 has a achievable wide field of view, it faces its own challenges in deriving an absolute object dimension due to the lack of a reference measurement within the same image area.Using radar and camera fusion technology, the trailer height can be accurately estimated by processing trailer images in which the trailer width or length has been determined using radar signals.

[0034] In an exemplary embodiment, the towing vehicle is initially ready for operation in order to perform the radar scan of the trailer 230 as described in Fig. The procedure described in section 1 is to be carried out. The system is able to determine the width (M1 to M2) of the trailer in response to the radar scan. Next, the system uses camera 220 to capture an image of the front of the trailer 230. In one exemplary embodiment, the image can be captured during a reversing maneuver to connect the trailer 230 to a towing vehicle coupling or similar device. In another exemplary embodiment, the height (M1 to M3) of the trailer can be determined using edge detection image processing techniques, whereby the ratio of the image pixels between the detected trailer 230 and the height of the trailer 230 is used to estimate the height of the trailer 230 after the width of the trailer 230 has been previously determined.

[0035] Now to Fig. To arrive at the following, a block diagram of an exemplary system for determining the trailer dimensions in a motor vehicle 300 according to an exemplary embodiment of the present description is shown. The system 300 can include a processor 330, a vehicle control unit 345, a user interface module 350, a video control unit 315, a camera 310, a radar 320, and a radar control unit 325.

[0036] The camera 310 can be a reversing camera, mounted at the rear of the vehicle so that the trailer hitch assembly is visible in the camera's field of view. Alternatively or additionally, the camera 310 can be one of several cameras mounted at different locations around the vehicle and then aligned together to provide a panoramic or top-down view. The camera 310 can transmit an image or a series of images to the processor 330 or to a video controller 315 for image processing and coupling of this signal to the processor 330.

[0037] The Radar 320 is capable of transmitting an electromagnetic signal, such as an electromagnetic pulse, and receiving a reflection of the electromagnetic pulse from an object or surface within the Radar 320's field of view (FOV). The Radar 320 can be one of several radars forming a radar group, each radar having a separate FOV, so that a composite depth map can be generated to depict objects and surfaces around the carrier vehicle. In one exemplary embodiment, the radar can transmit pulses in discrete angular increments longitudinally within the radar FOV to generate a two-dimensional depth map of the FOV. In another exemplary embodiment, the depth can be generated by a Radar Controller 325 in response to the data received from the Radar 320.In another exemplary embodiment, the radar emits pulses in both longitudinal and elevation angle increments and can generate a three-dimensional depth map of the FOV. Additionally, the radar transmitter and receiver can be replaced by a lidar transmitter and detector to generate a two-dimensional or three-dimensional depth map of a lidar FOV.

[0038] The User Interface Module 350 can be a button, a touchscreen, a dial, a vehicle operating setting such as a trailer operating mode, a trailer interface, or another user input device. The User Interface Module 350 can be operated to receive user input indicating the request to execute the trailer measurement algorithm. For example, a vehicle operator can use the User Interface Module 350 to initiate a trailer operating mode for a towing vehicle.

[0039] The processor 330 first receives radar data from the radar 320 or the radar controller 325, indicating the distance and direction to a detected object within the radar's field of view (FOV). The received radar data may be in the form of a depth map or similar and can be used to estimate one or more longitudinal dimensions of the trailer using standard geometric operations. The processor 330 is then able to receive an image of the trailer from the camera 310. The processor 330 can then estimate the trailer's height using a ratio between the height and the estimated longitudinal dimension, calculated in response to the radar data.

[0040] In an exemplary embodiment, the processor 330 could first be able to estimate a trailer centerline in response to a first set of radar data received by the radar, or in response to an image and image processing technique such as edge detection or the like. The processor 330 can then generate control signals that are coupled to the vehicle controller 345 or the line to control vehicle propulsion along a path that is not parallel to the trailer centerline. The processor 330 can generate the control signals until a complete scan of the trailer has been performed by the radar 320. In an exemplary embodiment, the processor 330 can generate the vehicle control signals to couple them to the vehicle controller 345 such that two sides of the trailer, as scanned by one or more radars 320 with different fields of view (FOVs), are scanned by the radar 320.

[0041] In one exemplary embodiment, the processor 330 is then able to transmit the estimated trailer dimensions to a vehicle control unit 345 or similar device. Depending on the trailer dimensions, the vehicle control unit 345 can then perform an ADAS operation, such as reversing the trailer or autonomous driving.

[0042] In an exemplary embodiment, the processor 330 is an ADAS controller, and the measurement algorithm is executed by an ADAS vehicle controller. The ADAS controller can control the vehicle's drive along the route to complete the radar scan. The ADAS vehicle controller can then position the vehicle so that the trailer is within the camera's FOV 310 and an image can be acquired to estimate the trailer's height.

[0043] Now to Fig. To arrive at Section 4, a flowchart is shown illustrating an exemplary procedure for determining the trailer dimensions of a motor vehicle 400 according to an exemplary embodiment of the present description. In this exemplary embodiment, the procedure is initially operational to obtain a reference to a measurement request 405. The measurement request can be generated in response to user input received at a user interface, such as initiating a trailer operating mode of the vehicle, or it can be made in response to a request generated by an ADAS. The procedure can be carried out in response to a driver controlling the vehicle in response to prompts generated by a human-machine interface, such as a loudspeaker or a visual prompt.Alternatively, the vehicle can be autonomously controlled by an ADAS system during the measurement process, or an attempt can be made to perform the procedure while the vehicle is operating independently after trailer operation has been initiated. For example, if a driver has initiated trailer operation, passes the trailer, and reverses in front of it while attempting to align the towing vehicle with the trailer hitch, the procedure can attempt to locate the trailer and perform the measurement without driver intervention or knowledge of the process. If the measurements are unsuccessful, the system can prompt the driver or the ADAS system to perform a vehicle maneuver to complete the measurements, or it can estimate the dimensions of the trailer and continue attempting to measure the trailer while it is in tow.

[0044] In response to the initiation of the measurement system, the procedure is next operational to perform a radar scan of the FOV. The radar scan is performed by transmitting an electromagnetic pulse with a radar transmitter at a known altitude and azimuth. A reflection of the electromagnetic pulse can be received by a radar receiver at a distance from an object or surface at a known altitude, and the azimuth is determined in response to the travel time of the electromagnetic pulse. This measurement is repeated in regular angular azimuth increments to produce a depth map of the radar field of view. It is desirable to perform the radar scan along a vehicle centerline that is not parallel to the trailer centerline. In an exemplary embodiment, the non-parallel centerlines allow two sides, such as a trailer, to be measured independently.the side and front of the trailer, illuminated by the radar and measured during a single vehicle pass over the trailer.

[0045] In response to the depth map generated in response to the vehicle overhaul, the exemplary procedure is next operational to estimate the trailer width and length. In one exemplary embodiment, the length can be estimated from the longest side of the rectangular object captured in the depth map. Alternatively, the trailer width can be estimated from a side closest to the maximum permissible width of a trailer, which is often eight and a half meters. Alternatively, the width can be estimated as the shorter of the two sides. Alternatively, the width can be determined in response to a coupling attachment, the engagement of the trailer interface module, or the trailer's towing operation.

[0046] The next operational step is to capture an image of the trailer. Using the depth map, the trailer's direction can be determined to ensure it is within the camera's field of view (FOV). The image can be captured in response to a reversing maneuver while the trailer hitch is aligned with the towing vehicle. Alternatively, the image can be captured in response to a command generated by an ADAS.

[0047] The next operational step is to estimate the trailer height based on the captured image and one of the estimated trailer widths or heights. For example, a pixel ratio of the image can be used to estimate the trailer's longitudinal dimension. In one example variation, the longitudinal estimate within the image is adjusted based on the angle of the trailer side relative to the camera's field of view (FOV). The angle of the trailer side can be estimated based on edge detection in the captured image.

[0048] The method is next operational to transmit the estimated trailer dimensions to a vehicle control system or similar device used in an ADAS trailer operation or similar system. In an exemplary embodiment, the method is next operational to control a vehicle control system that performs a driving-assisted operation in response to the estimated trailer dimensions. The method may, for example, be used to generate a navigation route or similar route, avoiding roads whose clearance height is less than the estimated height of the trailer.

[0049] Now to Fig. To arrive at Section 5, a block diagram is shown illustrating a system 500 for determining a trailer dimension according to another exemplary embodiment of the present description. The exemplary system comprises a radar 510, a camera 520, a processor 530, and a vehicle controller 540.

[0050] In this exemplary embedding, a vehicle equipped with the trailer dimension determination system includes a Radar 510 for generating a depth map, the depth map containing a first trailer surface detection. The Radar 510 can include a radar transmitter and receiver, a radar transmitter / receiver, or a radar array with multiple radar transmitters and receivers. In one exemplary embodiment, the Radar 510 has a field of view (FOV) of an area near the vehicle, limited by the scanning capabilities of the Radar 510. The Radar 510 transmits electromagnetic pulses in regular azimuth degree increments and receives reflected electromagnetic pulses when they are reflected by an object within the FOV.The Radar 510 and its associated circuitry and processors then generate a depth map that displays an azimuth angle and a distance to a reflection point at that azimuth angle. The Radar 510 and / or its associated hardware may further convert the azimuth angle and distance into an x,y coordinate system map. In an example application, the depth map can be generated in response to user input or in response to a control signal from an ADAS.

[0051] The example system can further include a camera 520 for generating an image of the first trailer surface. The camera 520 can be one of several cameras mounted on the vehicle and can capture an image from one of the camera's fields of view (FOV). Multiple images from several camera FOVs can be combined to create a panoramic image or similar image to generate the image of the first trailer surface. The image can be captured in response to the vehicle reversing, to a signal from the radar 510 or the processor 530 indicating that the trailer surface is within the camera 520's FOV, or to the vehicle initiating a trailer mode.

[0052] The example system can further include a processor 530 capable of determining a first dimension of the first pendant surface in response to the depth map and a second dimension of the first pendant surface in response to the first dimension and the image. The processor 530 can be a digital signal processor, a microprocessor, or the like, and can be used to perform mathematical and geometric operations. The processor 530 can further be used to determine a third dimension of a second pendant surface in response to the depth map, wherein the first and third dimensions are horizontal dimensions. In an exemplary embodiment, the second dimension can be determined in response to a pixel ratio within the image and the first dimension.In one example, the first trailer surface is the front surface of a trailer, and the second trailer surface can be the side surface of a trailer.

[0053] The system can further include a vehicle control 540 for controlling the vehicle in response to the first and second dimensions. In an additional exemplary embodiment, the vehicle control 540 can also be used to control the vehicle along a path during the generation of the depth map, where the path is not parallel to the first trailer surface.

[0054] Now to Fig.To arrive at Section 6, a flowchart is shown illustrating a method 600 for determining a trailer dimension according to another exemplary embodiment of the present description. The exemplary method 600 first serves to generate a depth map 610, wherein the depth map indicates the location of a first trailer surface. The depth map can be generated in response to data produced by a radar transmitter and receiver, wherein the data indicate a reflected electromagnetic pulse emitted at an azimuth angle. The first trailer surface can be a side of a trailer, e.g., the front, side, or rear of the trailer.

[0055] In a first exemplary embodiment, the depth map is a map displaying a multitude of radar reflections received at regular intervals of azimuth angles, representing a two-dimensional view of the radar receiver's field of view. In a further exemplary embodiment, the depth map can be generated while the vehicle travels a path near the trailer, the path being non-parallel to the first or a second trailer surface. The generation of the depth map and the initiation of the process can be initiated in response to a user.

[0056] The exemplary procedure is next operational for capturing an image, wherein the image encompasses the first trailer surface. The image can be captured by a vehicle-mounted camera, such as a reversing camera, typically mounted in a vehicle rear panel, and can be captured in response to one or more reversing maneuvers or the activation of a trailer mode in the towing vehicle.

[0057] The exemplary method is then operational to estimate a first dimension of the first pendant surface in response to the depth map 630. For example, the first dimension may be a pendant length, and the estimation may be performed by a processor in response to the depth map. In a further exemplary embodiment, the method may also be effective in determining a third dimension of a second pendant surface in response to the depth map, wherein the first and third dimensions are a width and a length of a pendant.

[0058] The exemplary method is next operational to estimate a second dimension of the first pendant surface with the aid of the processor in response to the first dimension and the image 640. In an exemplary embodiment, the second dimension is determined in response to a pixel ratio within the image and the first dimension.

[0059] The exemplary procedure is next operational to transmit the first and second dimensions to a vehicle control unit 650. The first and second dimensions can be transmitted via a CAN bus, an internal vehicle network, or another local communication network. In an exemplary embodiment, the depth map, camera image, length, width, and height of the trailer can be transmitted to a vehicle control unit, an ADAS control unit, or similar device.

[0060] The exemplary procedure is next operational for the control 660 using the vehicle control, a vehicle that performs trailer operation in response to the first and second dimensions. In an exemplary application, the vehicle control can include the execution of an automatic driving assistance algorithm during a towing operation.

Claims

[1] Device comprising: a radar (320) for generating a depth map, wherein the depth map includes a detection of a first trailer surface; a camera (310) for producing an image of the first trailer surface; a processor (330) that determines a first dimension of the first pendant surface in response to the depth map and a second dimension of the first pendant surface in response to the first dimension and the image; and a vehicle control system (345) that controls a vehicle (110) in response to the first dimension and the second dimension. [2] Device according to claim 1, wherein the processor (330) further acts to determine a third dimension of a second pendant surface in response to the depth map, wherein the first dimension and the third dimension are horizontal dimensions. [3] Device according to claim 1, wherein the second dimension is determined depending on a pixel ratio within the image and the first dimension. [4] Device according to claim 1, wherein the first trailer surface is a front surface of a trailer (140). [5] Device according to claim 1, wherein the image is captured in response to a reversing maneuver of a vehicle (110). [6] Device according to claim 1, wherein the vehicle control (345) is further effective in controlling the vehicle (110) along a path during the generation of the depth map, wherein the path is not parallel to the first trailer surface. [7] Device according to claim 1, wherein the depth map is generated in response to user input. [8] Device according to claim 1, wherein the depth map is generated in response to a control signal from an advanced driving assistance system. [9] Procedure encompassing: - Detection by radar (320), a depth map, the depth map indicating the location of a first trailer surface; - Capturing, by a camera (310), an image, wherein the image includes the first trailer surface; - Estimating, using a processor (330), a first dimension of the first pendant surface in response to the depth map; - Estimating, using the processor (330), a second dimension of the first pendant surface in response to the first dimension and the image; - Transferring the first dimension and the second dimension to a vehicle control system (345); - Controlling a vehicle (110), using the vehicle control system (345), which performs a trailer operation in response to the first dimension and the second dimension. [10] Method according to claim 9, further executable for determining a third dimension of a second pendant surface in response to the depth map, wherein the first dimension and the third dimension are a width and a length of a pendant (140).

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