Camera-Based Trailer Angle Estimation for Double-Articulated Vehicles
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Solution Overview
Problem
The difficulty in maneuvering double-articulated vehicles, such as those with a towing vehicle, a towing platform, and a trailer, is due to the dual rotation between the towing vehicle and the trailer, making precise control of the trailer's yaw angle challenging, especially during parking maneuvers.
Innovation Solution
A method using a camera and a computer to determine the angular position of the trailer relative to the towing platform by detecting characteristic points in multiple images and minimizing a cost function to estimate the angle of rotation, adaptable to various trailer geometries.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a double-articulated vehicle configuration is used to increase versatility and adaptability, then the ability to handle diverse trailer types is improved, but the difficulty of maneuvering and controlling the trailer's yaw angle increases
Solution Approach 1:
The patent replaces mechanical control systems with an optical measurement system. A camera captures images of the trailer, and image processing algorithms automatically calculate the yaw angle and articulation angles. This substitution eliminates the complexity of mechanical sensors and manual measurement, providing precise angular position data without increasing mechanical system complexity.
Solution Approach 2:
The patent creates a virtual copy of the physical vehicle configuration through image processing. By capturing images and processing them to extract geometric relationships, the system creates a digital representation of the vehicle's articulation angles and positions. This allows the control system to work with accurate angular data without physical contact with the vehicle components.
2Device complexity
If traditional mechanical control systems are used, then the system structure is simple, but the precision of determining the trailer's angular position is insufficient
Solution Approach 1:
The patent replaces mechanical angle sensors and complex mechanical measurement devices with an optical camera system. The camera, combined with image processing algorithms, achieves high-precision angular measurement without requiring complex mechanical linkages or multiple physical sensors throughout the vehicle structure.
Solution Approach 2:
The patent introduces an intermediary computational layer between the simple camera input and the angular position output. Image processing algorithms serve as the intermediary, extracting geometric relationships from images and calculating precise angles. This intermediary process transforms simple optical data into precise measurement information without requiring complex hardware.
3Device complexity
If manual control methods are used, then the control system is simple, but the accuracy of trajectory control during parking maneuvers is insufficient
Solution Approach 1:
The patent implements a feedback control system where the camera continuously monitors the vehicle's articulation angles and positions. This real-time data feeds back to the control system, enabling automatic adjustment of the steering angle and vehicle speed to achieve precise parking trajectory control. The feedback loop eliminates the need for complex manual coordination while improving accuracy.
Solution Approach 2:
The patent replaces manual mechanical control with an automated system based on optical measurement and computational control. The camera-based measurement system substitutes for manual visual estimation, and the control algorithms substitute for manual coordination of steering and acceleration, achieving superior trajectory accuracy with a relatively simple overall system architecture.
Data Source
AI summary
A method for determining the angular position of a vehicle including a towing vehicle, a towing platform articulated on the towing vehicle, and a trailer articulated on the towing platform. The method includes camera acquiring a first image in a first reference position of the vehicle, and detecting at least one characteristic point of the trailer in the first position. The camera acquires a second image in a second position of the vehicle, and detects the characteristic point in the second position, the detected characteristic point being the same for each position. A position of the characteristic point is estimated in the first position and the second position of the vehicle by minimizing a cost function based on an iteration of different values of the height of the characteristic point in the first position of the vehicle and of the characteristic point in the second position of the vehicle. The angle of rotation between the trailer and the towing platform is determined based on the estimated position of the characteristic point estimated during the estimation step.