Optical Trailer Surface Tracking for Tractor-Trailer Angle Measurement
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Solution Overview
Problem
Autonomous driving systems face challenges in accurately measuring the angle between sections of articulated vehicles, such as semi-trucks, due to the complexity of these vehicles and the limitations of existing angular sensors, which can lead to inefficiencies and safety issues during coupling and operation.
Innovation Solution
An in-vehicle control system equipped with an optical sensor mounted on the tractor to generate data indicative of the angle between the tractor and trailer, using image processing to determine the angle based on visible surfaces, thereby eliminating the need for sensors on the trailer and improving measurement accuracy and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If angular sensors are installed on both the tractor and trailer to measure the angle between them, then measurement accuracy can be improved, but device complexity and sensor wear increase
Solution Approach 1:
The patent extracts the angular measurement function from physical angular sensors and implements it through optical sensors (cameras) that capture images of the trailer. The angle is then calculated through image processing and geometric computations rather than direct mechanical sensing, thereby eliminating the need for complex angular sensor installations on both vehicles.
Solution Approach 2:
The patent replaces the mechanical angular sensor system with an optical-based measurement system. Instead of using mechanical sensors that physically measure the angle between tractor and trailer, the system uses optical sensors to capture visual data and computes the angle through image processing algorithms, substituting a mechanical measurement system with an optical-computational one.
2Reliability
If multiple sensors are installed on the trailer to detect angle and position, then measurement reliability is improved, but ease of operation and logistical efficiency deteriorate
Solution Approach 1:
The patent makes the optical sensor system universal by placing it only on the tractor, which remains constant across different operations. This single sensor system serves multiple functions: measuring the angle between tractor and trailer, determining trailer position, and facilitating coupling operations, thereby eliminating the need for trailer-specific sensor installations while maintaining measurement reliability.
Solution Approach 2:
The system enables the tractor to perform self-measurement of the relative angle and position between itself and the trailer using only sensors mounted on the tractor. The optical sensors capture images of the trailer, and the processing system computes the geometric relationships, allowing the tractor to autonomously determine coupling parameters without requiring active participation or sensors on the trailer.
3Device complexity
If optical sensors are used instead of angular sensors, then device complexity is reduced, but measurement precision may worsen
Solution Approach 1:
The patent transitions from direct one-dimensional angular measurement to two-dimensional optical image capture. By capturing the trailer in an optical image and extracting geometric features from the 2D image data, the system derives the angle measurement through dimensional transformation, maintaining precision while using simpler optical sensors instead of specialized angular sensors.
Solution Approach 2:
The patent introduces an intermediary processing system that bridges optical sensor data and angle measurement. The image processing algorithms and geometric computations serve as intermediaries, transforming optical images into accurate angle measurements. This intermediary computational layer enables precise angle determination from optical data without requiring direct mechanical angular sensing.
Data Source
AI summary
Systems and methods for detecting trailer angle are provided. In one aspect, an in-vehicle control system includes an optical sensor configured to be mounted on a tractor so as to face a trailer coupled to the tractor, the optical sensor further configured to generate optical data indicative of an angle formed between the trailer and the tractor. The system further includes a processor and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to receive the optical data from the optical sensor, determine at least one candidate plane representative of a surface of the trailer visible in the optical data based on the optical data, and determine an angle between the trailer and the tractor based on the at least one candidate plane.