Trailer Pose Detection Using LiDAR Edge Segmentation
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Solution Overview
Problem
Trailer sway and jackknifing pose challenges for vehicle control, especially in autonomous vehicles lacking the experience of human truck drivers, as they navigate turns and reverse with trailers, leading to potential collisions or loss of control.
Innovation Solution
A trailer pose detection system using sensors, such as LiDAR, to collect and process data on the trailer's edges relative to the vehicle, determining if adjustments are needed to maintain alignment and prevent collisions, by filtering irrelevant data and utilizing historical profiles for precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If autonomous vehicles use sensor-based trailer pose detection, then measurement precision of trailer position is improved, but device complexity increases due to multiple sensors and processing requirements
Solution Approach 1:
The system divides the trailer into discrete detectable features (edges, corners, body parts) and uses multiple sensors positioned at different locations to detect each segment independently. This segmentation allows precise localization of trailer pose through geometric calculation from multiple viewpoint data
Solution Approach 2:
The sensor system performs multiple functions: detecting trailer edges, determining trailer pose, identifying potential collisions, and providing data for path planning. The same sensor infrastructure supports both trailer monitoring and general autonomous navigation functions
2Measurement precision
If the system processes sensor data to remove irrelevant objects, then measurement precision of trailer edges is improved, but loss of information increases due to data filtering
Solution Approach 1:
The system applies different processing qualities to different parts of the sensor data. Trailer edge points receive high-precision processing with detailed geometric analysis, while background objects and irrelevant features receive minimal or no processing. This selective quality approach maintains precision where needed while reducing computational load
3Reliability
If the system uses multiple sensors to detect trailer edges, then reliability of trailer pose detection is improved, but device complexity increases
Solution Approach 1:
The system merges data from multiple sensors (LiDAR, cameras, ultrasonic sensors) positioned at different locations on the vehicle to create a unified trailer pose estimate. By combining multiple independent measurements and cross-validating them, the system achieves high reliability while managing complexity through integrated processing
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
The system effectively adjusts vehicle control to prevent trailer sway and jackknifing, ensuring safe navigation and reducing the risk of collisions by providing real-time driving adjustments based on accurate trailer positioning and orientation.
Implementation Method 1
receiving, from a first sensor coupled to a front part of a vehicle, a first set of sensor data that include data of a first edge of a body part of the vehicle
Data Source
AI summary
A system may comprise one or more processors, and a memory storing instructions that, when executed by the one or more processors, causing the system to perform receiving, from a first sensor coupled to a front part of a vehicle, a first set of sensor data that include data of a first edge of a body part, or from a second sensor coupled to the front part of the vehicle, a second set of sensor data that include data of a second edge of the body part. The system may perform calculating, based on the first or second set of the sensor data, location of the first edge or the second edge of the body part relative to the front part, and determining whether the relative location of the first edge or the second edge is within an expected location range. The system may perform sending a notification that driving adjustment of the vehicle is required if the relative location is outside the expected location range.