Trailer Assist Camera Calibration for Hitch Ball Angle Detection
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Solution Overview
Problem
Existing vehicle trailer assist systems face challenges in accurately calibrating and detecting the trailer hitch and collision angles during the initial hitching of a new trailer, which can lead to difficulties in smooth operation and safety concerns.
Innovation Solution
A vehicle vision system that includes a rearward-facing camera and an electronic control unit (ECU) with image processing capabilities, which performs a calibration maneuver to determine the trailer template, detect the hitch ball, and estimate the trailer angle by processing frames of image data, allowing for precise calibration and detection of trailer features.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a trailer assist system uses imaging sensors to detect trailer features, then the system can provide trailering assistance, but the system fails to accurately calibrate and detect trailer hitch and collision angles during initial hitching
Solution Approach 1:
The system performs a calibration maneuver before normal operation to pre-determine the trailer template and hitch ball location. This preliminary calibration action ensures accurate angle detection is established before the trailer is actually hitched, resolving the issue of inaccurate detection during initial hitching.
Solution Approach 2:
The system uses the camera and image processing algorithms to automatically detect trailer features, calculate angles, and calibrate the system without requiring external equipment or manual intervention. The trailer assist system calibrates itself by processing image data from the camera to determine the trailer template and hitch ball position.
2Measurement precision
If the system performs calibration maneuvers to determine trailer features, then detection accuracy improves, but the calibration process becomes complex and time-consuming
Solution Approach 1:
The system captures multiple frames of image data during the calibration maneuver and processes a subset of these frames to determine the trailer template and hitch ball location. By processing only the necessary subset of captured data rather than all possible data, the system achieves accurate calibration while reducing the time required.
3Measurement precision
If the system stores multiple frames of image data at different trailer angles, then the calibration accuracy improves, but the memory requirements and data processing load increase
Solution Approach 1:
The system extracts and stores only the essential information needed for calibration - specifically, a subset of frames at different trailer angles that are sufficient to determine the trailer template and hitch ball location. This selective extraction of necessary data reduces storage requirements while maintaining calibration precision.
Data Source
AI summary
A vehicular trailer assist system includes a camera disposed at a vehicle and viewing at least a portion of a trailer hitched to the vehicle. A control, responsive to processing of frames of image data captured by the camera and during a calibration maneuver by the vehicle, determines an initial trailer template of trailer hitched to the vehicle. During a turning portion of the calibration maneuver, a subset of frames of image data is stored, each stored frame of image data including the trailer at a different trailer angle relative to a longitudinal axis of the vehicle. The control, responsive to storing the subset of frames of image data, converts each stored frame of image data to an edge image and matches each edge image to the determined initial trailer template, and determines a location of a hitch ball of the vehicle.