Articulated Vehicle Angle Estimation Under Variable Light
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Solution Overview
Problem
Current systems for estimating the articulation angle in articulated vehicle combinations, such as truck and trailer combinations, face challenges in providing reliable and robust angle estimation, especially under conditions of varying light intensity and device unreliability.
Innovation Solution
A system comprising a primary and secondary image obtaining device, where the secondary device is positioned and oriented differently to mitigate unreliability conditions, such as high or low light intensity, allowing for reliable articulation angle estimation by switching or combining data from both devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single image obtaining device is used to estimate articulation angle, then the system complexity is low, but the reliability of articulation angle estimation deteriorates under varying light conditions
Solution Approach 1:
The patent combines multiple image obtaining devices (primary and secondary cameras) into a unified system for articulation angle estimation. The control unit processes images from both devices and selects or combines their outputs based on reliability assessment, thereby merging multiple sensing resources to achieve superior reliability compared to a single device while managing system complexity through intelligent coordination.
Solution Approach 2:
The system changes the operational parameters of the image obtaining devices by selecting different devices based on light intensity conditions. The control unit monitors lighting parameters and switches between the primary camera (for normal conditions) and secondary camera (for high/low light conditions), effectively using parameter changes in the operating environment to determine device selection and maintain estimation reliability.
2Reliability
If a primary image obtaining device is used under normal conditions, then the device complexity is low, but the reliability deteriorates when light intensity is too high or too low
Solution Approach 1:
The patent converts the harmful effect of extreme light intensity conditions into a beneficial selection criterion. By detecting when light intensity exceeds thresholds (harmful to primary camera performance), the system automatically switches to the secondary image obtaining device positioned to avoid direct sunlight or headlight glare, thereby transforming the light condition challenge into a reliable device selection mechanism.
Solution Approach 2:
The control unit acts as an intermediary between the image obtaining devices and the articulation angle estimation process. It monitors light intensity conditions, assesses the reliability of images from the primary device, and mediates by selecting either the primary or secondary device based on current conditions, thereby protecting the overall system from light intensity interference.
3Reliability
If multiple image obtaining devices are positioned at different locations, then the reliability improves under varying conditions, but the device complexity and calibration requirements increase
Solution Approach 1:
The patent applies preliminary action by pre-positioning the secondary image obtaining device at a location and orientation specifically designed to avoid light intensity issues that affect the primary device. The device is pre-calibrated with known geometric parameters (mounting position, mounting orientation) before deployment, so that when switching is needed, the system can immediately use the secondary device without requiring real-time recalibration, thus maintaining robustness while managing complexity.
4Reliability
If image data from multiple devices is processed, then the articulation angle estimation reliability improves, but the processing time and computational load increase
Solution Approach 1:
The patent applies partial action by processing images from only one device at a time based on current conditions, rather than continuously processing from all devices. The control unit selects either the primary or secondary device depending on light intensity assessment, thereby achieving reliable estimation accuracy while minimizing processing time and computational load by avoiding simultaneous processing of multiple device outputs.
Data Source
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AI summary
A system (1) for estimating an articulation angle (α) between a first (110) and a second (120) connected vehicle section of an articulated vehicle combination (100), the system comprising: - a primary image obtaining device (2) configured to be mounted on a first position of one of the vehicle sections and to obtain images of the other vehicle section during use; - a secondary image obtaining device (3) configured to be mounted on a second position of one of the vehicle sections and to obtain images of the other vehicle section during use, the second position being different from the first position, and/or a mounting orientation at the second position of the second image obtaining device being different from a mounting orientation at the first position of the primary image obtaining device; and wherein the system is configured to: - estimate the articulation angle by use of at least one obtained image from the primary image obtaining device; - determine if an unreliability condition has been fulfilled which indicates that the articulation angle cannot be reliably estimated from the at least one obtained image from the primary image obtaining device; and when the unreliability condition has been fulfilled, the system is further configured to: - estimate the articulation angle by use of at least one obtained image from the secondary image obtaining device.