Trailer Yaw Angle Detection Using a Side-Mounted Camera
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Solution Overview
Problem
Existing methods for determining the yaw angle of a trailer relative to a towing vehicle are limited, as mechanical sensors are cumbersome and require complex installation, while camera-based solutions struggle to detect large yaw angles due to limited field of view.
Innovation Solution
A method using a camera mounted on the lateral side of the towing vehicle, which acquires images of the trailer's lateral parts, determines the yaw angle by analyzing the visible mark, visible length, and dimensions of the trailer, along with the camera's horizontal field of view and pixel array width.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a camera is mounted on the rear of the vehicle to detect yaw angle, then the installation is simple, but the field of view is limited and large yaw angles cannot be detected
Solution Approach 1:
The patent transitions from a rear-mounted camera (1D detection along the vehicle's longitudinal axis) to a lateral-mounted camera (2D detection combining longitudinal and lateral dimensions). This dimensional change allows the camera to maintain the marker within its field of view across a wider range of yaw angles, resolving the contradiction between installation simplicity and detection range.
2Measurement precision
If mechanical sensors are used to determine yaw angle, then measurement precision is high, but the sensors are heavy and installation is complicated
Solution Approach 1:
The patent replaces mechanical sensors (physical, heavy devices requiring complex installation and calibration) with an optical system using a camera and image processing. This substitution maintains measurement precision through geometric calculations while eliminating the mechanical components, thereby reducing device complexity and installation burden.
3Adaptability or versatility
If a camera is mounted on the lateral side of the vehicle, then the detection range is extended, but the installation position becomes more complex
Solution Approach 1:
The patent makes the lateral camera serve multiple functions: it captures images for yaw angle detection, provides lateral visibility of the trailer, and works with the geometric calculation method to achieve wide-angle detection. This multi-functionality justifies the additional installation complexity by delivering superior detection capabilities.
Data Source
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AI summary
A method for determining a yaw angle of a longitudinal axis of a trailer relative to a longitudinal axis of a towing vehicle to which the trailer is attached at an attachment point, the method comprising: - acquiring, by a camera mounted on a lateral side of the towing vehicle and oriented towards the trailer, an image of a lateral part of the trailer; - determining on the image a visible mark on the trailer; - determining on the image a visible length between the mark and a vertical edge of the image oriented towards the vehicle; - determining the yaw angle at least on the basis of a horizontal field of view of the camera, a width of a pixel matrix of the camera along a horizontal axis of the camera, coordinates of the attachment point, the visible length, and dimensions of a part of the trailer.