Hitch Ball Detection via Trailer Template Matching
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Solution Overview
Problem
Existing vehicle trailer assist systems face challenges in accurately determining the hitch ball location and trailer angle during calibration and operation, which affects safe maneuvering and alignment of trailers with vehicles.
Innovation Solution
A vehicle vision system equipped with a rear-viewing camera and an electronic control unit (ECU) processes image data to determine an initial trailer template, hitch ball location, and current trailer angle, using template matching and image processing techniques to enhance hitch ball detection and trailer angle detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a camera and image processing system are used to detect hitch ball location and trailer angle, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The system creates a template copy of the hitch ball based on initial calibration images. This template is then reused for comparison in subsequent operations, eliminating the need for complex real-time detection algorithms while maintaining accurate hitch ball location identification
Solution Approach 2:
The system performs preliminary calibration maneuvers to establish the hitch ball template and initial trailer angle before actual towing operations. This pre-processing step simplifies subsequent measurements by having reference data ready for comparison
2Measurement precision
If template matching and image processing techniques are used to determine trailer angle, then measurement precision is improved, but loss of time increases due to processing requirements
Solution Approach 1:
The system performs template matching only on specific regions of interest in the image data rather than processing the entire image. This partial processing approach maintains accurate trailer angle detection while reducing overall processing time
Solution Approach 2:
By using pre-established templates for comparison, the system avoids complex real-time analysis. The template matching process is computationally efficient compared to full image processing, reducing time loss while maintaining precision
Data Source
AI summary
A vehicular trailer assist system includes a camera at a vehicle and viewing at least a portion of a trailer hitched to the vehicle. A control, responsive to processing of frames of image data captured by the camera and during a calibration maneuver by the vehicle, determines an initial trailer template of trailer hitched to the vehicle. The control, during a turning portion of the calibration maneuver, and at least in part via processing of frames of image data captured by the camera, determines a hitch ball location of a hitch of the vehicle based on the determined initial trailer template. The control, after completion of the calibration maneuver, determines a current trailer angle of the trailer relative to the vehicle via processing of frames of image data captured by the camera and based on the determined hitch ball location as the vehicle is driven along a road.