Trailer Hitch Angle Estimation from Offset Rear-View Camera Images
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Solution Overview
Problem
Existing systems for assisting drivers in reversing a vehicle with a trailer attached are costly and inefficient, particularly due to the reliance on expensive LIDAR sensors, and lack effective methods for accurately determining the trailer's angle without the need for specific markers.
Innovation Solution
An apparatus and method using a rear-view camera mounted offset from the tow ball, which acquires multiple images of the trailer in different orientations, employs triangulation and image processing to determine the 3D location of trailer features, allowing for the calculation of the trailer's rotational angle about the tow ball, thereby aiding reversing maneuvers without expensive sensors or markers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If LIDAR sensors are used to determine trailer angle, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces complex LIDAR sensors with a simpler camera-based optical system. The camera captures images of the trailer, and image processing algorithms extract angle information, substituting mechanical/optical sensing with computational vision methods that are less complex and more cost-effective.
Solution Approach 2:
The system creates a 2D image copy of the trailer scene and extracts geometric information through image processing. Instead of directly measuring 3D spatial relationships with LIDAR, the system captures a visual copy and derives angle data from pixel coordinates and perspective geometry.
2Measurement precision
If LIDAR sensors are used to determine trailer angle, then measurement precision is improved, but cost increases
Solution Approach 1:
The patent employs inexpensive camera sensors and standard image processing components instead of costly LIDAR systems. The approach uses readily available, low-cost hardware that can be mass-produced, significantly reducing the overall system cost while maintaining adequate measurement precision for trailer angle determination.
3Device complexity
If camera is mounted at location other than tow ball, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
The patent compensates for the offset camera position by introducing computational dimensions - using image processing algorithms that account for the known camera-to-tow-ball geometry. The system calculates angle measurements by transforming 2D image coordinates into accurate angular information, effectively compensating for the spatial offset through mathematical modeling.
Solution Approach 2:
The patent introduces an intermediary computational model that bridges the gap between the offset camera position and the tow ball reference point. The system uses the known relative geometry as an intermediary parameter to transform camera observations into accurate trailer angle measurements, maintaining precision despite the non-coincident mounting location.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach provides a more accurate and less noisy determination of the trailer's pose in three degrees of freedom, enabling effective reversing assistance using only a rear-view camera, reducing costs and complexity, and functioning with both stationary and moving vehicles.
Implementation Method 1
determine a system calibration that includes utilization of triangulation with respect to the at least one image location of the at least one feature of the trailer in the one of the at least one first image and the at least one image location of the at least one feature of the trailer in the second image
Data Source
AI summary
The disclosure relates to an apparatus for determining an angle of a trailer with respect to a vehicle. A camera captures first, second, and third images when the trailer is at a first, second, third orientations respectively with respect to the vehicle. A processing unit determines at least one image location of at least one feature of the trailer in the first image, the second image, and the third image. The processing unit determines a rotational angle of the trailer about the tow ball for the trailer in the third orientation with respect to the first orientation comprising utilization of the at least one 3D location of the at least one feature of the trailer when the trailer was in the first orientation and the 3D location of the one feature of the trailer when the trailer was in the third orientation.