A method for autonomously maneuvering a tow vehicle (100). The method includes receiving images (143) from one or more cameras (142) positioned on a back portion of the tow vehicle (100) and receivingsensor data from an inertial measurement unit (144) supported by the tow vehicle (100). The method also includes determining a pixel-wise intensity difference between a current received image and a previous received image. The method includes determining a camera pose and a trailer pose with respect to a world coordinate system. The camera pose and the trailer pose are based on the images (143),the sensor data (145), and the pixel-wise intensity difference. The method includes determining a tow vehicle path based on the camera pose and the trailer pose. The method also includes instructing adrive system (110) supported by the tow vehicle (100) to autonomously maneuver along the tow vehicle path in a reverse direction causing the tow vehicle (100) to hitch with the trailer (200).

    用于自主操纵牵引交通工具(100)的方法。方法包括:从一个或多个摄像头(142)接收图像(143),所述一个或多个摄像头(142)定位在牵引交通工具(100)的后部部分上;以及从惯性测量单元(144)接收传感器数据,所述惯性测量单元(144)由牵引交通工具(100)支撑。方法还包括确定当前接收图像与先前接收图像之间的像素方面强度差。方法包括确定相对于世界坐标系的摄像头方位和挂车方位。摄像头方位和挂车方位基于图像(143)、传感器数据(145)和像素方面强度差。方法包括基于摄像头方位和挂车方位而确定牵引交通工具路径。方法还包括指示由牵引交通工具(100)支撑的驾驶系统(110)沿着牵引交通工具路径在相反方向上自主操纵,导致了牵引交通工具(100)与挂车(200)栓接。


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    Title :

    TRAILER DETECTION AND AUTONOMOUS HITCHING


    Additional title:

    挂车检测和自主栓接


    Contributors:

    Publication date :

    2021-02-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60D Fahrzeugverbindungen , VEHICLE CONNECTIONS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06K Erkennen von Daten , RECOGNITION OF DATA / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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