The present disclosure provides a system and method for trailer hitch ball position positioning and hitch corners. The present disclosure generally relates to a system and method for trailer hitch ball location. The method includes: receiving a plurality of image frames from a camera directed forward of a trailer coupled to a vehicle at a coupling point; modeling the image frame in a convolutional neural network to form an initial estimated value of a pivot point position as a position; optimizing the model using a nonlinear equation to identify the pivot point position; and positioning the coupling point at an optimized pivot point position. The convolutional neural network includes a plurality of bounding boxes centered on a predetermined flag position in front of the trailer, via inverse pinhole projection of pixels onto a three-dimensional coordinate system projected on the plane of the trailer to enable the calculated flag positions to determine the relative dimensions of the trailer and locate the coupling points. The optimization includes solving a non-linear least square (NLLSQ) optimization formula for a plurality of indicia on the trailer. The method includes determining an articulation angle (hitch angle) between the trailer and the towed vehicle by tracking a plurality of bounding boxes centered on a predetermined marked position in front of the trailer as the vehicle and the trailer move in an arc relative to each other using a geometry.
本公开提供了“用于挂车挂接球位置定位和挂接角的系统和方法”。本公开总体上涉及用于挂车挂接球位置定位的系统和方法,所述方法包括:从指向在联接点处联接到车辆的挂车前方的相机接收多个图像帧;在卷积神经网络中对所述图像帧进行建模以形成枢轴点位置的初始估计值作为位置;使用非线性方程优化模型以识别所述枢轴点位置;以及将所述联接点定位为优化的枢轴点位置。卷积神经网络包括以挂车前方的预定标志位置为中心的多个边界框,所述建模是经由将像素反向针孔投影到投影在挂车平面上的三维坐标系上以使得所计算的标志位置能够确定挂车的相对尺寸并定位联接点。所述优化包括求解用于挂车上的多个标记的非线性最小二乘(NLLSQ)优化公式。所述方法包括使用几何方式以通过当车辆和挂车相对于彼此以圆弧移动时跟踪以挂车前方的预定标记位置为中心的多个边界框来确定挂车与拖挂车辆之间的铰接角(挂接角)。
System and method for trailer hitch ball position positioning and hitch angle
用于挂车挂接球位置定位和挂接角的系统和方法
2023-07-07
Patent
Electronic Resource
Chinese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60D Fahrzeugverbindungen , VEHICLE CONNECTIONS / B62D MOTOR VEHICLES , Motorfahrzeuge / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V |