Trailer Hitch Location Estimation From 2D Rear Camera Images
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Solution Overview
Problem
Current vehicle vision systems struggle to accurately determine the three-dimensional location of a hitch, essential for safe trailer maneuvering, as they rely on two-dimensional image data which lacks depth information.
Innovation Solution
A vehicle vision system that utilizes one or more cameras to capture exterior images, processes the data to detect hitch features, transforms Cartesian coordinates to cylindrical coordinates, and determines the three-dimensional location of the hitch using image processing and projective equations, allowing for enhanced hitch location estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If two-dimensional image data from cameras is used to determine hitch location, then the system is simple and cost-effective, but the measurement precision of three-dimensional location is insufficient
Solution Approach 1:
The patent transforms two-dimensional image coordinates into three-dimensional spatial coordinates by introducing a vertical dimension (z-axis) representing height above ground. This is achieved through coordinate transformation equations that map pixel coordinates (u, v) to three-dimensional hitch ball coordinates (x, y, z), enabling 3D location determination from 2D camera images without adding physical sensors at multiple heights.
2Reliability
If traditional two-dimensional image processing is used, then the processing is computationally simple, but the reliability of hitch location determination is insufficient for safe trailer maneuvering
Solution Approach 1:
The patent changes the parameter representation from two-dimensional image coordinates to three-dimensional spatial coordinates. By introducing height (z) as an additional parameter and using transformation equations that incorporate camera calibration parameters and geometric relationships, the system reliably determines complete 3D hitch location (x, y, z) from 2D images, providing sufficient reliability for safe trailer maneuvering.
Data Source
AI summary
A vehicular trailer hitching assist system includes a camera disposed at a rear portion of a vehicle and viewing a trailer hitch disposed at the vehicle. Responsive to processing at an electronic control unit (ECU) of frames of image data captured by the camera, a feature of the trailer hitch is detected. The system, at least in part via processing at the ECU of at least one frame of image data captured by the camera, determines a ground location at the ground below the detected feature of the trailer hitch, and determines a location of the trailer hitch at the vehicle. The vehicle is maneuvered toward a trailer for hitching the trailer to the trailer hitch of the vehicle based at least in part on (i) the determined location of the trailer hitch and (ii) the height of the detected feature of the trailer hitch above the ground location.