Trailer Orientation Detection Using Rear Camera Edge Tracking
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Solution Overview
Problem
Existing methods for determining the spatial orientation of trailers in autonomously driving towing vehicles are not reliable or economical for various trailer types, requiring additional hardware and complex calculations.
Innovation Solution
A method using rear-facing cameras to assign image points to the trailer or surrounding environment, determining the trailer angle based on image coordinates, dimensions, and camera position, with optional machine learning models and stereo cameras for accurate and efficient orientation calculation without additional sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If additional hardware sensors are used to determine trailer orientation, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces mechanical/orientation sensors with a camera-based optical system. The camera captures images of the trailer, and image processing algorithms determine the trailer angle by analyzing the position of trailer edges or contours in the image, thereby eliminating the need for additional mechanical sensors while maintaining measurement capability
Solution Approach 2:
The patent creates a digital copy of the trailer's visual appearance through camera imaging. By processing the image data and extracting geometric information about the trailer's position and orientation, the system determines trailer angle without physical contact or additional hardware sensors on the trailer
2Measurement precision
If trailer-specific markings or identifiers are added to enable angle detection, then measurement precision is improved, but ease of manufacture and adaptability deteriorate
Solution Approach 1:
The patent treats all trailers uniformly by detecting general geometric features (edges, contours, corners) that are common to all trailer types. The method does not rely on trailer-specific markings or identifiers but rather on universal geometric properties of rectangular or box-shaped structures, making the system adaptable to various trailer types without modification
Solution Approach 2:
The patent creates a universal solution that works with different trailer types (box trailers, tank trailers, flatbeds) by using a single camera-based detection method. The system can identify and process various trailer geometries through image analysis without requiring trailer-specific hardware or markings, enabling broad applicability across different trailer configurations
3Measurement precision
If complex calculation methods are used to determine trailer orientation from multiple parameters, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent extracts only the essential information needed for angle determination from the image data. By identifying specific key points (trailer corners, edge intersections with image boundaries) and using basic geometric relationships, the system calculates the trailer angle without requiring complex multi-parameter processing or advanced computational algorithms
Data Source
AI summary
A method for ascertaining a spatial orientation of a trailer of an autonomously driving towing vehicle with trailer. The method includes the steps of reading in image data of at least one rear-facing camera, assigning image points of the image data to the trailer or to the vehicle surrounding environment, ascertaining a rear trailer edge or at least one point of the rear trailer contour from the image points assigned to the trailer, and determining the trailer angle as a function of image coordinates of the trailer edge or of the point, the dimensions of the trailer, and the position of the camera relative to the support point of the trailer.