Trailer Trajectory Overlay with Speed-Based Correction
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Solution Overview
Problem
Existing camera systems struggle to accurately predict trailer trajectory during reversing maneuvers due to inaccuracies in determining trailer angular velocity and steering angle, especially when vehicle speed is zero, leading to large prediction errors and difficulty in avoiding collisions.
Innovation Solution
A method that combines image-based trailer tracking with steering angle changes to revise trailer trajectory predictions, using image analysis to determine trailer location and angle change rate, and switching to a kinematic model when vehicle speed is low, ensuring accurate trajectory updates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If image-based trailer tracking is used to determine trajectory, then trailer location and angle change rate can be determined during reversing maneuvers, but prediction accuracy deteriorates when vehicle speed is zero or near-zero
Solution Approach 1:
The system dynamically switches between two trajectory determination methods based on vehicle speed conditions. When vehicle speed is above a threshold, image-based tracking is used. When vehicle speed drops below the threshold, the system transitions to using steering angle changes to predict trajectory, ensuring continuous accuracy across all operating conditions including zero-speed scenarios.
Solution Approach 2:
The system changes the input parameters used for trajectory prediction based on vehicle speed. At higher speeds, it relies on image-derived parameters (trailer location, angle change rate). At near-zero speeds, it switches to using steering angle parameters from the vehicle's steering system, adapting the parameter set to the current operational regime.
2Speed
If steering angle is used to determine trailer trajectory, then trajectory can be predicted at zero vehicle speed, but accuracy deteriorates due to simplistic virtual steering angle assumptions
Solution Approach 1:
The system uses the vehicle's actual steering angle as an intermediary parameter to infer trailer trajectory when direct image tracking is unavailable. Rather than using simplistic virtual steering angles, it leverages the real steering input from the vehicle's steering system, combined with kinematic relationships, to accurately predict trailer position at zero or near-zero speeds.
3Measurement precision
If previous prediction model is used, then trailer trajectory can be predicted during reversing maneuvers, but accuracy deteriorates due to constant angular velocity assumption
Solution Approach 1:
The system replaces the static assumption of constant angular velocity with a dynamic model that uses actual measured angular velocity from image analysis. This allows the prediction model to adapt to changing trailer motion conditions, accurately capturing scenarios where angular velocity varies during the prediction horizon.
Data Source
AI summary
A method of determining a trailer trajectory for a trailer includes the steps while the trailer is moving: determining a trailer location based upon at least one captured image, determining a trailer angle change rate based upon the at least one captured image, determining a trailer trajectory based upon the trailer location and the trailer angle change rate, and displaying an overlay related to the trailer trajectory. While the trailer is below a threshold speed the method includes the steps of: determining a steering change, revising the trailer trajectory based upon the steering change, and displaying a modified overlay related to the trailer trajectory based upon the steering change.