A method of detecting and localizing a coupler of a trailer hitch associated with a trailer positioned behind a tow vehicle is provided. The method includes determining a region of interest within images from a rear camera. The region of interest includes a representation of the trailer hitch. The method includes determining a three-dimensional (3D) point cloud representing objects inside the region of interest. The method includes determining a camera plane based on the images. The method includes projecting the cloud points onto the camera plane and determining a coupler location based on the projected cloud points onto the camera plane. The method includes determining a path based on the coupler location. The path ending when the tow vehicle is attached to the trailer. The method also includes sending instructions to a drive system causing the tow vehicle to autonomously drive in a rearward direction along the path.


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    Titel :

    自動化されたトレーラヒッチングのための、群点を介したカプラおよび牽引バーの検出


    Erscheinungsdatum :

    2022-02-16


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / B60D Fahrzeugverbindungen , VEHICLE CONNECTIONS / B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL