Hitch Angle Determination Using Trailer Target and Vehicle Sensors
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Solution Overview
Problem
Reversing a vehicle connected to a trailer is challenging due to difficulties in determining the hitch angle, which can lead to jackknife conditions, especially with large trailers obstructing the view and smaller trailers requiring precise steering adjustments.
Innovation Solution
A system comprising imaging devices on the vehicle and trailer, combined with GPS receivers and inertial sensors, determines the hitch angle by capturing image data and positional information to provide a comprehensive view and accurate angle calculations, enabling improved path prediction and obstacle avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a hitch angle detection system is implemented, then the risk of jackknife conditions is reduced, but the device complexity increases due to multiple sensors and processing requirements
Solution Approach 1:
The patent uses an intermediary target object attached to the trailer that reflects light from the vehicle's camera. This target serves as a mediator between the vehicle's imaging system and the trailer, enabling hitch angle detection without requiring complex sensors on both vehicles. The target plausibility module further acts as an intermediary to validate and filter the detected target information, ensuring reliable angle calculation while maintaining system simplicity.
Solution Approach 2:
The system creates a virtual representation (copy) of the trailer's position and orientation by detecting the target object's appearance in the vehicle's camera feed. This optical copy allows the vehicle's controller to calculate hitch angle and monitor jackknife conditions without physical contact or complex bidirectional communication systems, reducing overall device complexity while maintaining detection reliability.
2Measurement precision
If multiple sensors (imaging devices, GPS, inertial sensors) are integrated, then measurement precision of hitch angle is improved, but the device complexity and cost increase
Solution Approach 1:
The patent merges multiple sensing functions into a unified hitch angle determination system. The vehicle's existing camera is combined with a target object on the trailer to create an optical measurement system, while integrating GPS receivers and inertial sensors from both vehicles into a single controller that processes all data to calculate hitch angle. This consolidation improves measurement precision by using multiple data sources while managing complexity through centralized processing.
Solution Approach 2:
The system implements multi-functionality by using the vehicle's camera for both primary driving visibility and hitch angle detection. The GPS and inertial sensors serve dual purposes: navigation/positioning and hitch angle measurement. The target object on the trailer serves multiple functions including visual identification, angle reference, and plausibility verification. This multi-use approach improves measurement precision without proportionally increasing device complexity.
3Reliability
If real-time hitch angle monitoring is implemented, then safety is improved, but the loss of processing time and computational resources increases
Solution Approach 1:
The system performs preliminary actions by continuously tracking the target object's position and maintaining a plausibility assessment ready state. The target plausibility module pre-evaluates target detection results against expected parameters (size, shape, position relative to trailer) before final hitch angle calculation is needed. GPS and inertial sensors continuously gather position and orientation data in advance, so when hitch angle calculation is required, the processing time is minimized while maintaining real-time safety monitoring capability.
Data Source
AI summary
A system for determining a hitch angle between a vehicle and trailer is provided. The system includes an imaging device disposed on the trailer. A first navigation system is disposed on-board the vehicle. A second navigation system is integrated with the imaging device. A controller determines the hitch angle based on data received from the first navigation system and the second navigation system.