Trailer Angle Detection Using Camera Triangulation Without Markers
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Solution Overview
Problem
Existing systems for assisting drivers in reversing vehicles with trailers attached are costly due to the use of expensive LIDAR sensors and lack accuracy in determining trailer angles without specific markers.
Innovation Solution
An apparatus and method using a rear-view camera and triangulation to determine trailer angles relative to the vehicle, employing algorithms like the 8-point algorithm and Singular Value Decomposition to calculate 3D positions and rotational angles without the need for specific markers, utilizing a system calibration based on known camera and tow ball positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If LIDAR sensors are used to determine trailer angles, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces complex LIDAR sensors with a standard camera system. The camera captures images of the trailer, and image processing algorithms (including triangulation and the 8-point algorithm) compute trailer angle and position. This substitutes expensive optical ranging technology with a simpler visual sensing approach, maintaining measurement precision while reducing device complexity and cost.
Solution Approach 2:
The system creates a virtual model of the trailer by detecting characteristic points and constructing a 3D representation from 2D camera images. This virtual copy allows accurate angle determination without direct physical measurement, enabling precise trailer positioning using standard imaging equipment rather than specialized sensors.
2Measurement precision
If markers are attached to the trailer for angle detection, then measurement precision is improved, but ease of operation deteriorates
Solution Approach 1:
The system automatically detects and tracks natural characteristic points on the trailer (such as corners, edges, or distinctive features) without requiring any manual attachment of markers. The image processing algorithms identify these features autonomously, making the system ready to use immediately upon trailer attachment, thereby maintaining high measurement precision while preserving ease of operation.
3Measurement precision
If multiple sensors are used to reduce noise in angle determination, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent transitions from using multiple sensors in 3D space to using a single camera capturing 2D images that are processed through computational algorithms. By moving the computational work from physical sensor multiplication to digital image processing (including triangulation geometry and the 8-point algorithm), the system reduces hardware complexity while maintaining or improving measurement precision through mathematical noise reduction.
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
Accurately determines trailer angles in 3 degrees of freedom with reduced noise, enabling precise reversing maneuvers using a single inexpensive sensor, applicable to articulated vehicles and trailers, and functioning during vehicle movement.
Implementation Method 1
determine a system calibration comprising 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
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AI summary
The present invention relates to an apparatus (10) for determining an angle of a trailer with respect to a vehicle. It is described to acquire (210) at least one first image by a camera fixedly mounted to a vehicle at a location other than a location of a tow ball fixedly mounted to the vehicle, wherein the location of the camera is known with respect to the location of the tow ball, wherein a part of a trailer at a position of the tow ball can rotate about the tow ball, and wherein the at least one first image is acquired when the trailer is in a first orientation with respect to the vehicle, wherein the at least one first image comprises image data of the trailer. A second image is acquired (220) by the camera when the trailer is in a second orientation with respect to the vehicle, wherein the second image comprises image data of the trailer. A processing unit is provided (230) with the at least one first image and the second image. The processing unit determines (240) at least one image location of at least one feature of the trailer in one of the at least one first image. The processing unit determines (250) at least one image location of the at least one feature of the trailer in the second image. The processing unit determines (260) a system calibration comprising 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. The processing unit determines (270) at least one 3D location of the at least one feature of the trailer when the trailer was in the first orientation comprising utilization of 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 system calibration. The camera acquires (280) a third image, wherein the third image is acquired when the trailer is in a third orientation with respect to the vehicle, wherein the third image comprises image data of the trailer. The processing unit is provided (290) with the third image. The processing unit determines (300) at least one image location of the at least one feature of the trailer in the third image. The processing unit determines (320) at least one 3D location of the at least one feature of the trailer when the trailer was in the third orientation comprising utilisation of the at least one image location of the at least one feature of the trailer in the third image and the at least one 3D location of the at least one feature of the trailer when the trailer was in the first orientation.. The processing unit determines (320) a rotational angle of the trailer about the tow ball for the trailer in the third orientation with respect to the first orientation comprising utilisation 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 at least one 3D location of the at least one feature of the trailer when the trailer was in the third orientation.