Trailer Articulation Angle Estimation via Multi-View Image Analysis
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Solution Overview
Problem
Current rear view camera systems for vehicles lack information on trailer dimensions, distance, and articulation angle, making it difficult for operators to align vehicle hitches with trailer couplers during coupling.
Innovation Solution
A method and apparatus that use image processing and sensor data to detect trailer dimensions, position, and articulation angle by generating bounding boxes around trailer features in multiple images, determining feature point correspondences, and performing least squares analysis to estimate three-dimensional coordinates, which are then used to calculate the articulation angle relative to the vehicle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If a rear view camera system is used to assist trailer coupling, then the operator can see the trailer position, but the system lacks information on trailer dimensions, distance, and articulation angle
Solution Approach 1:
The camera system performs multiple functions: it captures images for visual guidance, detects trailer faces to determine dimensions, calculates distance from the vehicle, and estimates articulation angles. By making the camera system multi-functional, the patent provides comprehensive trailer information without adding separate dedicated sensors for each measurement type.
Solution Approach 2:
The patent introduces an image processing and analysis system as an intermediary between the camera and the operator. This intermediary processes raw camera images to extract trailer face positions, calculates geometric parameters, and presents processed information to the operator, thereby converting simple visual data into actionable dimensional and angular measurements.
2Ease of operation
If the operator manually aligns the vehicle hitch with the trailer coupler using only visual guidance, then the process requires repeated attempts and external guidance, but adding sensors and processing increases system complexity
Solution Approach 1:
The system performs self-service by automatically detecting trailer faces from camera images, calculating dimensions and articulation angles, and providing this information to the operator without requiring external guidance or manual measurement. The camera system serves itself to gather and process the necessary alignment information.
Solution Approach 2:
The patent replaces manual mechanical alignment processes with automated image-based detection and calculation. Instead of relying on the operator's manual judgment and physical adjustment, the system uses computer vision and geometric analysis to automatically determine trailer position, dimensions, and orientation, thereby simplifying the operator's task.
3Measurement precision
If multiple images are captured at different distances to estimate trailer dimensions, then accurate three-dimensional coordinates can be calculated, but the processing time and computational complexity increase
Solution Approach 1:
The system captures multiple images at different distances before final dimension estimation is needed. By preliminarily gathering multiple views of the trailer face at various positions, the system prepares the necessary data for accurate three-dimensional coordinate calculation, enabling precise measurement without rushing the data collection process.
Solution Approach 2:
The patent creates multiple copies of the trailer face image at different distances and perspectives. By analyzing these copied images from various viewpoints, the system can triangulate and calculate accurate three-dimensional coordinates of trailer features, thereby deriving precise dimensions through computational geometry rather than direct measurement.
Data Source
AI summary
A method and apparatus for trailer recognition are provided. The method includes detecting a face of a trailer in a first and second image, taken at first and second distances respectively, generating a bounding box around the face of the trailer in the first and second images, determining a first and second set of feature points in the bounding boxes of the first and second images, determining a correspondence between the first set of feature points and the second set of feature points and a correspondence between corners of the bounding boxes and estimating at least one dimension of the trailer by performing a least squares analysis to solve for three-dimensional real world coordinates of the first and second set of features points and the corners of the bounding boxes. The method may assist an operator of a vehicle in aligning the vehicle hitch with a trailer coupler.