US 11,941,834 B2
Trailer angle determination system for a vehicle
Denis Selensky, Frankfurt (DE); and Hauke Kuban, Frankfurt am Main (DE)
Assigned to Continental Autonomous Mobility Germany GmbH, Ingolstadt (DE)
Filed by CONTINENTAL AUTOMOTIVE GMBH, Hannover (DE)
Filed on Sep. 1, 2020, as Appl. No. 17/008,907.
Application 17/008,907 is a continuation of application No. PCT/DE2019/200019, filed on Feb. 26, 2019.
Claims priority of application No. 10 2018 203 152.5 (DE), filed on Mar. 2, 2018.
Prior Publication US 2021/0019904 A1, Jan. 21, 2021
Int. Cl. G06T 7/60 (2017.01); G01B 11/14 (2006.01); G01B 11/26 (2006.01); G06T 7/50 (2017.01); G06T 7/73 (2017.01); B62D 15/02 (2006.01)
CPC G06T 7/60 (2013.01) [G01B 11/14 (2013.01); G01B 11/26 (2013.01); G06T 7/50 (2017.01); G06T 7/73 (2017.01); B62D 15/027 (2013.01); G06T 2207/30252 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A trailer angle determination system for a vehicle, the system comprising:
a sensing unit comprising a camera, the sensing unit sensing a trailer connected to the vehicle; and
an evaluation unit having a first input connected to an output of the camera and a second input connected to a computer-readable medium on which a program is stored, the evaluation unit executing the program,
wherein the sensing unit is arranged outside of a center of the vehicle and toward the trailer, and wherein a distance between the sensing unit and the center of the vehicle is known,
wherein the trailer has symmetrical feature pairs with respect to a longitudinal axis of symmetry of the trailer,
wherein the sensing unit is designed to sense the symmetrical feature pairs of the trailer,
wherein the evaluation unit is configured by the program to determine the angle between the trailer and the vehicle on the basis of the sensed symmetrical feature pairs of the trailer and the known distance between the sensing unit and the center of the vehicle,
wherein the sensing unit senses image data of the trailer, and the evaluation unit is configured by the program to determine the distance between the trailer and the vehicle on the basis of the distance between the sensing unit and the center of the vehicle and the positions of the symmetrical feature pairs of the trailer in the image data.