US 12,405,364 B2
Fusion of short range radars and tailgate cameras for trailer angle estimation
Kyle Kolasinski, Howell, MI (US); Ryan Jones, Ann Arbor, MI (US); Eric Kratz, Auburn Hills, MI (US); and Carlos Armando Ortiz Lopes, Auburn Hills, MI (US)
Assigned to Continental Autonomous Mobility US, LLC, Auburn Hills, MI (US)
Appl. No. 18/007,398
Filed by Continental Autonomous Mobility US, LLC, Auburn Hills, MI (US)
PCT Filed Jul. 29, 2021, PCT No. PCT/US2021/071055
§ 371(c)(1), (2) Date Jan. 30, 2023,
PCT Pub. No. WO2022/027063, PCT Pub. Date Feb. 3, 2022.
Claims priority of provisional application 63/058,199, filed on Jul. 29, 2020.
Prior Publication US 2024/0255636 A1, Aug. 1, 2024
Int. Cl. G01S 13/86 (2006.01); G01S 13/87 (2006.01); G01S 13/931 (2020.01)
CPC G01S 13/867 (2013.01) [G01S 13/87 (2013.01); G01S 2013/93272 (2020.01)] 16 Claims
OG exemplary drawing
 
9. A system for determining at least one parameter of a trailer coupled to a vehicle, the system comprising:
data processing hardware; and
memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:
receiving camera data from a camera supported by a rear portion of the vehicle;
receiving radar data from at least one short-range radar supported by a rear portion of the vehicle;
estimating a trailer angle between a trailer and the vehicle coupled thereto based on the camera data and the right radar data using statistically weighted averaging of the left radar data the right radar data and the camera data; and
sending the estimated trailer angle to one or more vehicle systems associated with the vehicle.