Hitch Angle Detection via Radar Point Set Registration
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Solution Overview
Problem
Existing trailer backup assistance systems face inaccuracies in determining the hitch angle between a vehicle and a trailer, primarily due to reliance on user-input trailer length and angle, which can lead to unreliable steering inputs during reversing maneuvers.
Innovation Solution
A radar-based system that processes object point location data from multiple radar units to estimate the hitch angle by applying rotational point set registration and minimizing error, using a kinematic model to control the vehicle's steering system and maintain a stable backing path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If user input is used for trailer length, then the system is simple to operate, but the measurement precision and reliability deteriorate due to user errors and inaccuracies
Solution Approach 1:
The system automatically detects and determines trailer length and hitch angle using radar sensors and point set registration algorithms, eliminating the need for manual user input. The radar system performs self-measurement by detecting persistent point locations on the trailer and calculating geometric relationships, thereby resolving the contradiction between ease of operation and measurement precision.
2Device complexity
If traditional sensor systems are used for hitch angle detection, then the device complexity is low, but the measurement precision and reliability deteriorate due to inability to handle various trailer types and lengths
Solution Approach 1:
The system dynamically adjusts detection parameters including sensitivity levels for radar processing, coordinate system transformations, and error minimization thresholds based on detected trailer characteristics. By changing these parameters adaptively, the system maintains high reliability across diverse trailer types and lengths while managing device complexity through software-based solutions.
3Measurement precision
If increased sensitivity processing is applied to radar data, then the measurement precision improves for hitch angle detection, but the loss of time increases due to intensive computational requirements
Solution Approach 1:
The system performs preliminary processing by storing sequential radar data sets and identifying persistent point locations before executing the computationally intensive point set registration and error minimization algorithms. This preliminary organization of data reduces the computational burden during critical hitch angle calculation, thereby minimizing time loss while maintaining high measurement precision.
Data Source
AI summary
A vehicle trailer detection system includes a radar system and a controller receiving object point location data from the radar system at an increased sensitivity level, storing sequential first and second object point location data sets, and applying a rotational point set registration to the first and second object point location data sets to achieve a match between a subset of persistent point locations within the first and second object point location data sets to output an estimated rotation angle. The persistent point locations in the first and second data sets are determined to correspond with detected points on a trailer coupled with the vehicle. The controller refines the estimated rotation angle by minimizing an error in matching between the persistent point locations in the first and second object point location data sets to output a determined hitch angle between the trailer and the vehicle about a coupling point.