Trailer Yaw Angle Estimation Using Multi-Image Angle Coefficients
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Solution Overview
Problem
Existing methods for calculating the yaw angle of a trailer relative to a towing vehicle are inaccurate, especially at large angles, and do not account for the location of the pivot point, leading to low robustness and accuracy.
Innovation Solution
A method involving the capture of multiple images from a vehicle camera, identification of trailer features, and application of angle coefficients based on geometric and dynamic adjustments to improve accuracy, using features and coefficients to enhance reliability and precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If basic angle estimation methods are used without considering pivot point location, then the calculation process is simple, but the accuracy of yaw angle determination is low especially at large angles
Solution Approach 1:
The patent introduces angle coefficients that scale the basic angle estimation to compensate for the discrepancy caused by ignoring the pivot point location. By dynamically adjusting the estimation through coefficients derived from geometric relationships, the system achieves high accuracy without complex pivot point calculations.
Solution Approach 2:
The patent replaces the need for complex mechanical/geometric pivot point calculations with an optical-based angle estimation method using camera images. The pivot point information is indirectly captured through angle coefficients derived from image-based feature tracking, substituting direct geometric measurement with optical observation.
2Reliability
If multiple images and angle coefficients are used to improve accuracy, then the yaw angle determination becomes more robust, but the calculation process becomes more complex
Solution Approach 1:
The patent performs preliminary capture of multiple images at different trailer orientations before calculating the final yaw angle. By pre-capturing the necessary visual data and pre-determining angle coefficients from geometric relationships, the system reduces the complexity of real-time calculations while maintaining high robustness.
Solution Approach 2:
The patent introduces angle coefficients as intermediary values that bridge the simple angle estimation and the accurate yaw angle determination. These coefficients act as mediators that incorporate pivot point information without requiring direct complex geometric calculations, simplifying the overall process while improving accuracy.
3Measurement precision
If angle coefficients are applied to scale angle estimations, then the accuracy is improved, but additional processing steps are required
Solution Approach 1:
The patent changes the scale of the angle estimation by applying angle coefficients that are pre-calculated from geometric relationships. This parameter transformation approach improves accuracy without requiring complex real-time computations, as the coefficients can be determined in advance or through simple geometric calculations.
Data Source
AI summary
The present disclosure relates to a method for determining the yaw angle of a trailer with respect to the longitudinal axis of a towing vehicle based on at least one feature included in multiple captured images by using correction information.