Trailer Angle Estimation Using Dual-Camera 3D Point Matching
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Solution Overview
Problem
Existing trailer assist systems struggle to accurately estimate the trailer angle relative to the tow vehicle, which is crucial for preventing jackknife events during maneuvers.
Innovation Solution
A method and system that utilize image data from cameras mounted on both the vehicle and the trailer to identify matched point pairs and estimate the trailer angle based on a 3D point cloud map, without requiring feature identification of the vehicle or trailer.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If existing trailer assist systems use traditional methods to estimate trailer angle, then the system complexity is reduced, but the measurement precision of trailer angle deteriorates
Solution Approach 1:
The patent introduces a 3D point cloud map as an intermediary representation between the camera images and the trailer angle estimation. The point cloud map serves as a mediator that transforms 2D image data into 3D spatial information, enabling more accurate angle measurement while systematically processing the complexity through structured data representation
Solution Approach 2:
The patent replaces traditional mechanical or geometric feature-based angle estimation methods with a computational approach using 3D point cloud processing. Instead of relying on physical markers or predefined feature points on the trailer, the system uses computer vision algorithms to extract and match points directly from image data, substituting mechanical measurement concepts with digital processing
2Measurement precision
If the system uses matched point pairs from 3D point cloud map, then the trailer angle estimation accuracy is improved, but the difficulty of detecting and measuring increases
Solution Approach 1:
The system performs preliminary actions by first generating the complete 3D point cloud map from multiple camera views before attempting to match points for angle estimation. This pre-processing step organizes the spatial data in advance, making the subsequent point matching and angle calculation more straightforward and accurate
Solution Approach 2:
The patent transitions from 2D image coordinate systems to 3D spatial coordinates by constructing a point cloud map. This dimensional transformation allows points to be matched in three-dimensional space rather than constrained to two-dimensional image planes, improving the accuracy of spatial relationships and angle measurements while providing an additional dimension for point correspondence
Data Source
AI summary
A method and system are disclosed for estimating and using a trailer angle of a trailer relative to a vehicle connected to thereto. The method includes receiving image data from at least one first camera disposed on a vehicle and from at least one second camera disposed on a trailer coupled to the vehicle, and identifying matched point pairs by matching points in the image data from the at least one first camera with points in the image data from the at least one second camera, the points matched not being points of a representation of the vehicle or a representations of the trailer in the image data. The trailer angle of the trailer relative to the vehicle is estimated based upon the matched point pairs.