Trailer Hitch Angle Detection via Optical Flow Segmentation
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Solution Overview
Problem
Existing trailer backup assist systems face challenges in accurately determining the hitch angle between a vehicle and a trailer, especially in environments with ground noise interference, which can lead to unreliable measurements and potential jackknife scenarios.
Innovation Solution
A system utilizing an imaging device to capture images and a controller to process optical flow data, distinguishing between trailer and environmental pixels, calculating average angular velocity to determine the hitch angle, and employing methods like template matching and optical flow analysis to enhance accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional hitch angle measurement methods are used, then the system can determine hitch angle, but the measurements become unreliable in environments with ground noise interference
Solution Approach 1:
The patent segments the image data into different components: trailer pixels and ground pixels. By separating these components and processing them differently, the system can extract accurate hitch angle information from trailer pixels while filtering out ground noise interference through distinct processing paths for each pixel type.
Solution Approach 2:
The patent extracts optical flow vectors specifically from trailer pixels by distinguishing them from ground pixels. This extraction process isolates the relevant information (trailer motion) from irrelevant information (ground noise), allowing reliable hitch angle measurement even in noisy environments.
2Measurement precision
If optical flow analysis is used to determine hitch angle, then the system can achieve accurate measurements, but the complexity of processing increases due to distinguishing trailer pixels from environmental pixels
Solution Approach 1:
The patent introduces an intermediary classification step that assigns each pixel a probability of being associated with the trailer. This intermediary probability map serves as a mediator between raw image data and final hitch angle calculation, simplifying the overall processing by providing a clear distinction mechanism between trailer and ground pixels.
Solution Approach 2:
The system uses the optical flow vectors themselves to determine pixel classification. By analyzing the motion patterns inherent in the optical flow data, the system automatically distinguishes trailer pixels from ground pixels without requiring external intervention or complex pre-processing, allowing the data to serve its own classification purpose.
3Measurement precision
If the system processes all pixels to determine hitch angle, then comprehensive data is available, but ground noise pixels interfere with accurate hitch angle determination
Solution Approach 1:
Instead of trying to identify ground pixels to exclude them, the patent inverts the approach by identifying trailer pixels through their distinctive motion patterns in the optical flow field. By focusing on what the trailer pixels look like (their motion characteristics) rather than what ground pixels are not, the system achieves accurate hitch angle measurement while naturally filtering out ground noise.
Data Source
AI summary
A system for determining a hitch angle between a vehicle and a trailer is provided herein. An imaging device is configured to capture images of the trailer. A controller is configured to process image data to determine an optical flow. The controller distinguishes between optical flow vectors of pixels associated with the trailer and an operating environment. The controller calculates an average angular velocity for the pixels associated with the trailer and determines the hitch angle based on the average angular velocity.