The invention relates to a method for determining a spatial orientation of a trailer (10) in an autonomously traveling tractor-trailer combination (14). The method comprises the following steps: reading (18) image data of at least one camera (18) directed towards the rear; -assigning image points of the image data to the trailer (10) or a vehicle environment; -ascertaining at least one point of a rear trailer edge (26) or of a rear trailer contour from the image points associated with the trailer (10), and-determining the trailer bend angle (alpha) as a function of image coordinates of the trailer edge (26) or of the point, dimensions of the trailer (10), and a position of the camera (18) relative to a fulcrum (34) of the trailer (10). The invention also relates to a device for carrying out the method.
本发明涉及一种用于求取自主行驶的牵引车‑挂车组合(14)中的挂车(10)的空间定向的方法。所述方法包括以下步骤:‑读入(18)至少一个朝后方指向的摄像机(18)的图像数据;‑将所述图像数据的像点配属给所述挂车(10)或车辆环境;‑从配属给所述挂车(10)的像点中求取后部的挂车棱边(26)或后部挂车轮廓的至少一个点,以及‑根据所述挂车棱边(26)的或所述点的图像坐标、所述挂车(10)的尺寸和所述摄像机(18)相对于所述挂车(10)的支点(34)的位置来确定所述挂车折弯角(α)。本发明还涉及一种用于执行该方法的装置。
Method and device for determining spatial orientation of trailer
用于求取挂车的空间定向的方法和装置
02.09.2022
Patent
Elektronische Ressource
Chinesisch
IPC: | G06V / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06K Erkennen von Daten , RECOGNITION OF DATA |
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