A method for determining a yaw angle of a longitudinal axis of a trailer with respect to a longitudinal axis of a towing vehicle, the trailer hitched to the towing vehicle at a hitch point, the method comprising:-acquiring an image of at least one side portion of the trailer by means of a camera mounted on a side of the towing vehicle and oriented towards the trailer; -determining a reference on the trailer that is visible on the image; -determining a visible length on the image between the reference and a vertical edge of the image oriented towards the tractor; -determining the yaw angle based at least on the horizontal field of view of the camera, the width of the pixel matrix of the camera along the horizontal axis of the camera, the coordinates of the attachment point, the visible length and the dimensions of at least a portion of the trailer.
一种用于确定挂车的纵向轴线相对于牵引车的纵向轴线的横摆角的方法,该挂车在挂接点处挂接到该牵引车,该方法包括:‑借助于安装在该牵引车的侧面上并被定向成朝向该挂车的相机来获取该挂车的至少一个侧面部分的图像;‑确定该挂车上的在该图像上可见的参照物;‑确定该图像上的、该参照物与该图像的被定向成朝向该牵引车的垂直边缘之间的可见长度;‑至少基于该相机的水平视场、该相机的像素矩阵沿该相机的水平轴线的宽度、该挂接点的坐标、该可见长度和该挂车的至少一部分的尺寸来确定该横摆角。
Method for determining angular position of trailer in relation to towing vehicle
用于确定挂车相对于牵引车的角位置的方法
2025-05-30
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
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