Determining the yaw angle of a trailer with respect to the longitudinal axis of a towing vehicle is disclosed. This includes capturing first and second images of the trailer using a camera. Trailer orientation with respect to the vehicle is different on the two images. First and second trailer features are determined which are visible on the two images. The first and second features are at different positions of the trailer. A first angle estimation is calculated characterizing the pivot angle in a horizontal plane between the first feature on the first image and the first feature on the second image relative to a towing vehicle fix point. A second angle estimation is calculated characterizing the pivot angle in a horizontal plane between the second feature on the first image and the second feature on the second image relative to the fix point. The yaw angle is calculated based on the first and second angle estimations.
METHOD AND SYSTEM FOR CALCULATING VEHICLE TRAILER ANGLE
06.07.2023
Patent
Elektronische Ressource
Englisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60D Fahrzeugverbindungen , VEHICLE CONNECTIONS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06V |
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