The invention discloses a steering angle detection method, device and system. The method is applied to a processor in a steering angle detection system. The steering angle detection system comprises camera equipment arranged on a rear side surface of a tractor cab and a plane target arranged between the rear side surface of the tractor cab and a front side surface of a trailer and attached to a front side surface of the trailer. The plane target is provided with a plurality of identification points, and a view angle of the camera equipment can completely cover the identification points of theplane target. The method comprises the following steps: receiving an image shot and sent by the camera equipment in a steering process of a tractor; identifying the plurality of identification pointsin the image; determining current coordinates of the plurality of identification points in a camera equipment coordinate system; and calculating the steering angle between the tractor and the traileraccording to the original coordinates of the plurality of identification points in the camera equipment coordinate system and the current coordinates of the plurality of identification points in the camera equipment coordinate system. The method, the device and the system can adapt to various types of trucks, and accuracy of the obtained steering angle is high.
本申请一种转向角度检测方法、装置及系统,其中方法应用于转向角度检测系统中的处理器,转向角度检测系统还包括设置于牵引车驾驶舱后侧面的摄像设备,设置于牵引车驾驶舱后侧面与挂车前侧面之间且附着于挂车前侧面的平面靶标,平面靶标设置有多个标识点,且,摄像设备的视角能够完全覆盖平面靶标的多个标识点;方法包括:接收摄像设备于牵引车转向过程中拍摄并发送的图像;识别图像中的多个标识点;确定多个标识点于摄像设备坐标系中当前坐标;依据多个标识点于摄像设备坐标系中的原始坐标以及多个标识点于摄像设备坐标系中的当前坐标,计算牵引车与挂车之间的转向角度。本申请对于各种机型的卡车均可以能够适应且获得转向角度准确度较高。
Steering angle detection method, device and system
转向角度检测方法、装置及系统
2020-08-25
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
STEERING ANGLE DETECTION DEVICE AND STEERING ANGLE DETECTION METHOD
Europäisches Patentamt | 2017
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