Hitch Articulation Angle Estimation Using Vehicle Feature Detection
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Solution Overview
Problem
Existing methods for estimating hitch articulation angle in vehicles towing trailers are prone to errors due to mistaken identification of trailer features in image data, particularly with fifth-wheel and gooseneck trailers lacking distinguishable texture or being covered in single-shade paint.
Innovation Solution
A method and system that utilize image sensors to capture vehicle features like the center high mount stop light (CHMSL) to determine the hitch articulation angle by processing image data through a regression model and kinematic model, using trigonometric equations to compute the angle accurately.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If image data from the trailer's image sensor is used to estimate hitch articulation angle, then the estimation can be performed, but errors occur when identification of the trailer is mistaken with elements of the environment in case of fifth-wheel trailer without distinguishable texture or gooseneck trailer with visible structure covered in single-shade paint
Solution Approach 1:
The patent introduces an intermediary object (distinctive feature on the vehicle such as CHMSL, license plate, or emblem) that is captured in the image data to identify the vehicle's position and orientation. This intermediary serves as a reliable reference point that is not affected by the trailer's appearance or environmental conditions, thereby resolving the identification reliability issue while maintaining angle estimation accuracy
Solution Approach 2:
Instead of trying to identify the trailer directly (which fails when the trailer lacks distinguishable features), the system inverts the approach by identifying the vehicle in the image data. The vehicle's known features are used as a reference frame to calculate the hitch articulation angle, effectively solving the problem by working backwards from a reliable reference point
Data Source
AI summary
Methods and systems are provided for a vehicle. In one embodiment, a method includes: storing, in a datastore device, intrinsic and extrinsic parameter data associated with an image sensor coupled to a trailer and configured to capture an image that includes at least a portion of the vehicle; receiving, by a processor, image data from the image sensor of the trailer; determining, by the processor, a region of interest within the image data based on a feature of the vehicle; computing, by the processor, a hitch articulation angle from the region of interest and the parameter data; and generating, by the processor, hitch articulation angle data for use in controlling at least one of the vehicle and the trailer.