Tractor-Trailer Operating Angle Detection via Rear Camera Vision
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Solution Overview
Problem
Current methods for estimating the operating angle between a tractor and a trailer are prone to uncertainties, leading to errors in the movement model of tractor trailers, which can affect the precision of vehicle ego movement models and driver assistance systems.
Innovation Solution
The method involves using rear-facing cameras on the tractor to capture chronologically consecutive images, detecting structures in these images, and evaluating them to ascertain the operating angle, with refinements including optic flow, stereo camera disparity, image segmentation, and neural network classification, and incorporating additional vehicle parameters for precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a mathematical model is used to estimate the operating angle between tractor and trailer, then the movement model can be established, but uncertainties and errors occur in the estimation
Solution Approach 1:
The patent replaces the mathematical model-based estimation method with a vision-based detection system using cameras. The system captures images of the trailer from the tractor, detects trailer structures (such as rear edge, side edge, or top edge) in the images, and calculates the operating angle based on the detected structure positions and known trailer dimensions. This substitution eliminates the uncertainties inherent in mathematical modeling and provides direct visual measurement, thereby improving both measurement precision and reliability of the movement model.
2Measurement precision
If camera-based detection is used to ascertain the operating angle, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent uses camera images as an intermediary between the physical trailer and the operating angle calculation. Instead of directly measuring the angle between tractor and trailer, the system captures visual information through cameras, detects trailer structures in the images, and uses these image-based measurements to infer the operating angle. This intermediary approach simplifies the measurement process while maintaining high precision, as the camera system is relatively simple compared to other sensing methods.
Solution Approach 2:
The patent creates a visual copy of the trailer in camera images and performs measurements on this copy rather than directly on the physical trailer. By detecting trailer structures (rear edge, side edge, top edge) in the image plane and using the known real-world dimensions of the trailer, the system calculates the operating angle. This copying approach allows for precise non-contact measurement while keeping the detection device simple - essentially just requiring cameras and image processing capability.
Data Source
AI summary
A method for ascertaining an operating angle between a tractor and a trailer of the tractor. The method includes: ascertaining camera images carried out in a chronologically consecutive manner with the aid of at least one rear-facing camera situated on the tractor; detecting structures of the trailer in the camera images; and ascertaining the operating angle by evaluating the detected structures in the camera image.