Vehicle Coupling Prepositioning Using 3D Marker-Based Path Planning
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Solution Overview
Problem
Current methods for autonomously or semi-autonomously coupling vehicles, such as trailers, face challenges in accurately determining the position of coupling components like the kingpin, leading to potential damage and misalignment due to unknown distances and angles during the coupling process.
Innovation Solution
A method involving a camera system on the towing vehicle that uses a stationary identification element with three-dimensional position information on the trailer, allowing for precise calculation of a target path to align with the coupling component without changing steering angles, and adjusting for different trailer types and angles of approach.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a detection unit (camera system) is used to detect a pattern on the front of the semi-trailer, then the approach of the vehicle to the trailer is simplified and can be performed autonomously, but the distance of the kingpin from the front of the semi-trailer remains unknown, leading to incorrect couplings particularly when the vehicle approaches at an angle
Solution Approach 1:
The patent transitions from two-dimensional pattern detection on the trailer front to three-dimensional spatial positioning by calculating the pre-positioning point in 3D space. The system determines not only the horizontal position but also the vertical distance and angular orientation of the kingpin relative to the towing vehicle, enabling precise autonomous coupling by incorporating the third dimension (depth/distance) into the navigation calculation.
2Power
If only a region of interest from the camera image is used for processing, then the processing load is reduced, but largely precise pre-positioning of the vehicle is required, which requires corresponding cooperation of the driver
Solution Approach 1:
The system performs preliminary calculation of the pre-positioning point before the actual coupling maneuver. By pre-calculating the exact position where the towing vehicle should be when the rear end is directly above the kingpin, the system provides the driver with clear advance guidance on where to position the vehicle, reducing the need for continuous driver adjustment and cooperation during the critical coupling phase.
3Extent of automation
If a plate with QR code is attached to the front of the semi-trailer for positioning, then the vehicle can be moved to the coupling position based on calculated path, but the plate would be driven over by the camera during coupling, making it unavailable for navigation
Solution Approach 1:
The patent introduces an intermediary calculation step that computes the pre-positioning point based on the detected trailer position and the known kingpin offset. This intermediary point serves as a virtual target that the vehicle approaches before the actual coupling occurs, allowing the system to maintain navigation capability through mathematical transformation rather than relying on a physical marker that would be obscured during coupling.
4Productivity
If the vehicle approaches the trailer at an angle without knowing the kingpin distance, then the coupling process can be initiated, but incorrect couplings occur due to unknown distance and angle
Solution Approach 1:
The system implements feedback by continuously monitoring the position of the towing vehicle relative to the calculated pre-positioning point and the detected trailer position. The camera system provides real-time position feedback, and the system adjusts the vehicle's approach path based on this feedback, ensuring that the vehicle reaches the correct position and orientation for accurate coupling even when approaching at angles.
Data Source
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AI summary
A method for moving a vehicle (10) to a component (21) of a spaced-apart object (20) is described, wherein the vehicle (10) has a navigation module (11) comprising a camera (12) and evaluation electronics (13), and an identification element (30) is attached to the object (20) at a predetermined position such that the identification element (30) is detected by the camera (12) at a distance (Dmax) from the vehicle (10) to the object (20), and the evaluation electronics (13) calculate a reverse driving line (40i, 40ii, 40iii, 40a) of the vehicle (10) from the perspective position of the camera (12) relative to the identification element (30). The invention was based on the objective of developing a method for improved approach of a vehicle (10) to a stationary object (20).The task is solved by defining a near area (Dmin) limited in the direction of the object (20) by a near area radius (Rmin) and calculating the reverse driving line (40i, 40ii, 40iii, 40a) up to a virtual prepositioning point (SVi, SVii, SViii) lying on the near area radius (Rmin).