Trailer Coupling Coordinate Transformation for Precise Kingpin Alignment
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Solution Overview
Problem
Current methods for autonomously or semi-autonomously coupling vehicles to trailers lack precision, particularly for semi-trailers, due to unknown kingpin positions and the risk of incorrect couplings, which can lead to damage and inefficiencies.
Innovation Solution
A method using cameras and evaluation electronics on the towing vehicle to identify a 3D-positioned sign on the trailer, allowing for precise calculation of the kingpin's position and automated approach paths, enabling accurate alignment and coupling without driver intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a detection unit (camera system) is used to detect a pattern on the front of the semi-trailer, then the approach of the vehicle can be simplified and made autonomous, but the detectability of the coupling means (kingpin) remains unknown due to unknown distance in the longitudinal direction
Solution Approach 1:
The patent transitions from 2D pattern detection to 3D position determination by incorporating depth information through triangulation. The evaluation electronics calculate the three-dimensional position of the kingpin by combining the known pattern geometry with the detected pattern distortion and the baseline distance between the two camera positions, enabling precise longitudinal positioning of the coupling means.
Solution Approach 2:
The detection unit serves as an intermediary between the vehicle's navigation system and the physical kingpin position. By detecting the known pattern on the trailer and calculating its three-dimensional position through image processing and triangulation, the system indirectly determines the kingpin location without directly detecting it, resolving the detectability issue.
2Power
If only a region of interest from the camera image is processed, then the calculation load is reduced, but largely precise pre-positioning of the vehicle is required which needs driver cooperation
Solution Approach 1:
The system performs preliminary detection of the complete pattern within the full camera field of view before processing. By first identifying the pattern's location and extent in the entire image, the system can then focus subsequent processing on the relevant region, reducing computational load while eliminating the need for precise pre-positioning since the full image is initially analyzed.
3Extent of automation
If a plate with QR code is attached to the front of the semi-trailer for positioning, then the vehicle can be moved to a coupling position based on calculated path, but the plate would be driven over by the camera during coupling making it unavailable for navigation
Solution Approach 1:
Instead of placing the detection target at the exact coupling point (kingpin location), the patent places the known pattern at a different location on the trailer front that is not in the camera's path during coupling. The evaluation electronics then calculate the kingpin position relative to this offset pattern position, maintaining navigation availability while enabling automated positioning.
4Measurement precision
If the exact height of the coupling device is unknown, then the approach angle can be calculated from pattern distortion, but incorrect couplings can occur leading to damage
Solution Approach 1:
The system determines the three-dimensional position parameters (including height/elevation) of the kingpin by analyzing the pattern's position in multiple camera views and applying triangulation mathematics. This transforms the unknown coupling device height into a calculable parameter, enabling both approach angle calculation and vertical positioning accuracy to prevent incorrect couplings.
Data Source
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AI summary
A method for moving a vehicle (10) towards a component (21) of a spaced-apart object (20) is described, wherein the vehicle (10) has a navigation module (11) comprising a camera (12) and evaluation electronics (13), and an identification element (30) is attached to the object (20) at a predetermined position such that the identification element (30) is detected by the camera (12) at a distance (Dmax) from the vehicle (10) to the object (20), and the evaluation electronics (13) calculate a reverse driving line (40i, 40ii, 40iii, 40a) of the vehicle (10) from the perspective position of the camera (12) relative to the identification element (30). The invention was based on the objective of developing a method for improved approach of a vehicle (10) to a stationary object (20).The task is solved by generating a static object coordinate system (Ko) from the navigation module (11) in a starting position (S) of the vehicle (10) and calculating a reverse driving line (40i, 40ii, 40iii, 40a) from the starting position (S) to a pre-positioning point (SVi, SVii, SViii).