Hitchball Location Estimation Using Step-and-Scan Drawbar Imaging
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Solution Overview
Problem
Existing systems struggle to accurately estimate the location of a hitchball for trailer angle detection and driver-assisted maneuvers, particularly after a vehicle is hitched to a trailer.
Innovation Solution
A system utilizing a rear-facing camera and neural network to perform a stepwise lateral scan of cropped images along the hitch drawbar, processing each image to detect the hitchball, and employing a voting mechanism to enhance accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single image is processed by a neural network to detect the hitchball, then the detection speed is fast, but the detection accuracy is insufficient
Solution Approach 1:
The detection process is segmented into multiple vertical steps, where the image is divided into multiple cropped images at different vertical positions. Each cropped image is processed independently by the neural network, and the results are combined through a voting mechanism to determine the final hitchball location, thereby improving accuracy without sacrificing too much time.
Solution Approach 2:
Instead of processing the entire image at once or using a single detection point, the system performs partial processing by taking multiple cropped images at different vertical steps. This excessive action of processing more images than a single detection point provides redundant information that improves accuracy through voting, while still being faster than exhaustive search methods.
2Measurement precision
If multiple cropped images are processed through a neural network with voting mechanism, then the hitchball detection accuracy is improved, but the computational complexity increases
Solution Approach 1:
The complex task of detecting the hitchball in the entire image is segmented into multiple simpler sub-tasks of detecting the hitchball in individual cropped images at different vertical positions. Each sub-task is processed by the neural network independently, and the results are combined through a simple voting mechanism, reducing the overall computational complexity compared to processing the full image with complex algorithms.
Solution Approach 2:
The system extracts only the relevant portions of the image (cropped images at vertical steps) that are likely to contain the hitchball, rather than processing the entire image. This extraction reduces the amount of data the neural network needs to process, simplifying the detection system while maintaining or improving accuracy.
3Measurement precision
If a stepwise lateral scan is performed at multiple vertical steps, then the hitchball location estimation precision is improved, but the processing time increases
Solution Approach 1:
The system performs preliminary action by first determining an approximate lateral location of the hitchball before conducting the stepwise lateral scan. This preliminary information guides the scanning process, allowing the system to focus computational resources on a smaller region of interest and reduce the number of vertical steps needed, thereby improving precision while minimizing the increase in processing time.
Solution Approach 2:
The system performs a partial scan at multiple vertical steps rather than a complete exhaustive search. By taking cropped images at strategically selected vertical positions and using a voting mechanism, the system achieves sufficient precision with fewer processing operations than a full exhaustive search would require, maintaining productivity while improving location precision.
Data Source
AI summary
Systems and methods for estimation of vehicle hitchball location are disclosed. A plurality of image frames may be received from a rear-facing camera of a vehicle. The rear-facing camera may be directed at a front of a trailer that is coupled to the vehicle at a hitchball. An approximate lateral location of the hitchball coupled to the vehicle may be determined by obtaining a plurality of cropped images along a hitch drawbar coupled to the vehicle by stepping along the vertical direction, and performing a stepwise lateral scan, centered at the hitch drawbar.