Trailer Hitch Angle Detection Using Automotive Radar
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Solution Overview
Problem
Existing trailer backup assistance systems face inaccuracies in estimating trailer length and hitch angle, which are critical for determining the kinematic relationship between a vehicle and a trailer, often relying on user input and prone to errors.
Innovation Solution
A radar-based system that outputs object point location data to a controller, which processes and filters the data to determine the trailer's edge position and angle relative to the vehicle, using a combination of static and dynamic matrices to calculate the hitch angle, even at low speeds during both forward and reverse maneuvers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If user input is used for trailer length determination, then the system can operate with simple sensors, but accuracy and reliability of calculations are compromised
Solution Approach 1:
The system automatically determines trailer length by processing radar object point location data without requiring user input. The controller filters and correlates radar data to extract trailer edge positions and calculate length, allowing the system to serve itself by eliminating manual input requirements while maintaining measurement accuracy.
Solution Approach 2:
The patent replaces manual user input (mechanical interaction) with automated radar-based detection and data processing. The radar system and controller substitute for user input actions, using electromagnetic wave detection and algorithmic processing to automatically determine trailer dimensions.
2Reliability
If radar detection threshold is set high for vehicle detection, then false positives are reduced, but trailer edge detection accuracy deteriorates
Solution Approach 1:
The system applies different detection thresholds for different detection purposes: a higher threshold for general vehicle detection to ensure reliability, and a lower threshold specifically for trailer edge detection to capture subtle radar returns from trailer surfaces. This localized quality adjustment allows the system to optimize for both reliability and precision in different operational contexts.
Solution Approach 2:
The detection process is segmented into different stages with different threshold requirements. The system first performs general object detection with higher thresholds, then applies lower thresholds specifically for extracting trailer edge points from the detected objects. This segmentation allows each stage to operate with optimal thresholds for its specific purpose.
3Ease of operation
If automated trailer length estimation is implemented, then user burden is reduced, but system complexity increases
Solution Approach 1:
The system uses the existing radar system, already present for other safety functions, to perform multiple tasks including vehicle detection, trailer detection, and automated length estimation. This multi-functionality allows the system to provide automated trailer length estimation without adding dedicated hardware, thereby reducing the increase in system complexity.
Solution Approach 2:
The patent combines trailer length estimation functionality with the existing radar-based vehicle detection and backup assistance systems. By merging these functions into a unified processing framework, the system achieves automated length estimation without creating separate independent subsystems, thus minimizing the increase in overall system complexity.
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
This approach provides accurate and reliable hitch angle detection, reducing user burden and improving the accuracy of steering inputs for maintaining a stable backing path, enhancing the overall trailer backup assistance system's performance.
Implementation Method 1
a radar system outputting object point location data to a rear of the vehicle
Data Source
AI summary
A trailer detection system for a vehicle includes a radar system outputting object point location data to a rear of the vehicle and a controller. The controller receives the object point location data and determines a position of an edge of the trailer relative to the vehicle by processing the object point location data from the radar system at a reduced threshold relative to use of the data in detecting a vehicle and filters out object point location data not correlated with the edge of the trailer based on object point location data persistence during driving of the vehicle. The controller further correlates the determined position of the edge of the trailer relative to the vehicle to determine an angle of the trailer relative to the vehicle about a coupling point.