Trailer Levelness Estimation Using Rear Camera and IMU Fusion
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Solution Overview
Problem
Existing methods for estimating the levelness of a trailer often require additional hardware installation on the towing vehicle or trailer, which is inconvenient and costly, and do not provide accurate leveling without additional sensors or cameras.
Innovation Solution
A system utilizing a rear-facing camera on the vehicle to capture images of the trailer, combined with Inertial Measurement Unit (IMU) sensors, to determine the trailer's levelness by fusing vision-based and sensor-based estimates, providing a user interface for leveling guidance without the need for extra equipment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If additional hardware (sensors or cameras) is installed on the towing vehicle or trailer to estimate trailer levelness, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent makes the existing rear-facing camera and vehicle levelness estimator serve multiple functions: their original purposes plus the additional function of estimating trailer levelness. By processing the rear camera image to detect trailer orientation relative to the vehicle and combining this with the vehicle's levelness parameter, the system derives trailer levelness without adding dedicated sensors or cameras to the trailer.
Solution Approach 2:
The system uses resources already present in the towing vehicle (the rear-facing camera and vehicle levelness estimator) to perform the trailer levelness measurement function. This self-service approach eliminates the need for external hardware additions to both the vehicle and trailer, reducing complexity while maintaining measurement capability.
2Measurement precision
If additional hardware (sensors or cameras) is installed on the towing vehicle or trailer to estimate trailer levelness, then measurement precision is improved, but cost increases
Solution Approach 1:
The patent makes the existing rear-facing camera and vehicle levelness estimator serve multiple functions: their original purposes plus the additional function of estimating trailer levelness. By processing the rear camera image to detect trailer orientation relative to the vehicle and combining this with the vehicle's levelness parameter, the system derives trailer levelness without adding dedicated sensors or cameras to the trailer.
Solution Approach 2:
The system uses resources already present in the towing vehicle (the rear-facing camera and vehicle levelness estimator) to perform the trailer levelness measurement function. This self-service approach eliminates the need for external hardware additions to both the vehicle and trailer, reducing complexity while maintaining measurement capability.
3Ease of operation
If vision-based methods are used to determine trailer rotation angle from camera images, then ease of operation is improved, but measurement precision may be affected by image alignment accuracy
Solution Approach 1:
The system employs an iterative feedback mechanism where the processor generates a transformed reference image by applying a candidate rotation angle, compares it with the actual rear camera image, evaluates alignment quality, and adjusts the rotation angle accordingly. This feedback loop continues until optimal alignment is achieved, ensuring precise rotation angle measurement while maintaining ease of operation through automated processing.
Solution Approach 2:
The system performs preliminary actions by capturing a reference image of the trailer when it is known to be level (during initialization), storing this reference in memory, and pre-processing both reference and actual images to identify optical features. This preliminary preparation enables accurate rotation angle determination without requiring manual intervention during the actual leveling operation.
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
Enables accurate and efficient trailer leveling by integrating image analysis and IMU sensor data, reducing the need for additional hardware and providing precise leveling information for both manual and automatic leveling systems.
Implementation Method 1
receiving, via at least one processor, a vehicle levelness parameter from a vehicle levelness estimator of the vehicle
Implementation Method 2
vehicle levelness parameter from a vehicle levelness estimator of the vehicle
Implementation Method 3
capturing an image of the trailer using a rear facing camera of the vehicle
Data Source
AI summary
Systems and methods for measuring how level a trailer is and providing trailer levelling guidance. The systems and methods include a vehicle comprising a vehicle levelness estimator, a trailer connectable to the vehicle and a rear facing camera mounted on the vehicle. The methods and systems include capturing an image of the trailer using the rear facing camera, receiving a vehicle levelness parameter from the vehicle levelness estimator of the vehicle, determining a rotation angle of the trailer relative to the vehicle based on the image, determining an estimated trailer levelness parameter based on the rotation angle and the vehicle levelness parameter, and outputting the estimated trailer levelness parameter.