US 12,272,149 B2
Tractor-based trailer clearance and positioning system and method
Stanley W DeLizo, Lynnwood, WA (US); Ian David O'Connor, Seattle, WA (US); August Avantaggio, Kent, WA (US); and Kyle Christopher Wynn Johnson, Vancouver, WA (US)
Assigned to PACCAR Inc., Bellevue, WA (US)
Filed by PACCAR Inc., Bellevue, WA (US)
Filed on Nov. 24, 2021, as Appl. No. 17/535,142.
Prior Publication US 2023/0162509 A1, May 25, 2023
Int. Cl. G06V 20/56 (2022.01); B60R 11/04 (2006.01); G01B 17/00 (2006.01); G01S 15/08 (2006.01); G06T 7/60 (2017.01); G06T 7/70 (2017.01); G06V 10/44 (2022.01); B60R 11/00 (2006.01)
CPC G06V 20/56 (2022.01) [B60R 11/04 (2013.01); G01B 17/00 (2013.01); G01S 15/08 (2013.01); G06T 7/60 (2013.01); G06T 7/70 (2017.01); G06V 10/44 (2022.01); B60R 2011/004 (2013.01); G06T 2207/30252 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A system for determining a length of a trailer hitched to a tractor in a tractor-trailer truck, the system comprising:
a camera positioned at a known distance from the longitudinal axis of the tractor and a known distance from a line perpendicular to the longitudinal axis of the tractor, the camera configured to acquire an image of at least a portion of the trailer including at least a rear portion of the trailer;
a sensor configured to acquire information relating to relative arrangement between the tractor and trailer at substantially the same time as the acquisition of the image;
a processor configured to:
receive from the camera the image;
receive from the sensor the information relating to relative arrangement between the tractor and trailer, wherein the information relating to relative arrangement between the tractor and trailer indicates an angle between the longitudinal axis of the tractor and a longitudinal axis of the trailer;
determine a position of the rear portion of the trailer in the image, based at least in part on the camera position from the longitudinal axis of the tractor and the line perpendicular to the longitudinal axis of the tractor; and
determine the length of the trailer based at least in part on the determined position of the rear portion of the trailer in the image and the information relating to the relative arrangement between the tractor and trailer; and
determine a wheelbase of the trailer based at least in part on the angle between the longitudinal axis of the tractor and the longitudinal axis of the trailer at an initial position and a total straight-line distance traveled by the tractor to align the longitudinal axis of the tractor with the longitudinal axis of the trailer.