公开(公告)号：US20230154197A1

公开(公告)日：2023-05-18

申请号：US17917390

申请日：2021-04-07

Applicant: Connaught Electronics Ltd.

Inventor： Henrik Marschner ,  Vera Stehr ,  Ana Robleda ,  Yerai Berenguer ,  Enrique Romay-Castineira ,  Daniel Garcia ,  Alan Murphy ,  Alan Hanniffy ,  Swaroop Shivamurthy

IPC: G06V20/58 ,  B60R1/00

CPC classification number: G06V20/58 ,  B60R1/003

Abstract: A method for providing a yaw angle (105a) between a first vehicle (110) coupled to a second vehicle (100), comprises: receiving an image of the first vehicle from a camera (101) mounted on the second vehicle; performing (210) a polar transformation on the image to form a polar image (400) in a polar space having an origin corresponding to a location of a pivot point (303) of the coupling (302) to the second vehicle in the received image coordinate space; estimating (230) an optical coupling angle by analysing the content of the polar image; receiving a signal from an odometer (102) mounted on the first or second vehicle; estimating a kinematic coupling angle from the signal and a kinematic model of the first vehicle and the coupled second vehicle; and combining the estimated optical coupling angle and the estimated kinematic coupling angle to provide the coupling angle.

公开(公告)号：US20220266749A1

公开(公告)日：2022-08-25

申请号：US17634830

申请日：2020-07-30

Applicant: Connaught Electronics Ltd.

Inventor： Naveen Kuruba ,  Alan Murphy ,  Alan Hanniffy

IPC: B60R1/00 ,  B60R1/26 ,  B60R11/04 ,  G06V20/56 ,  G06V10/50 ,  G06V10/82

Abstract: For driver assistance for a combination (8) with a motor vehicle (9) and a trailer (10), a first camera image (19) and a second camera image (20) are generated. A combined image (21) is generated by means of a computing unit (13) by superimposing the camera images (19, 20) such that the second camera image (20) covers a subsection of the first camera image (19), wherein a hitch angle (14) of the combination (8) is determined by means of the computing unit (13). State data of the combination (8) are determined by means of a sensor system (17) and it is determined whether the combination (8) moves forward or backward. The hitch angle (14) is determined based on the state data, if the combination (8) moves forward and based on a change of time-dependent image data, if the combination moves backward. A position of the subsection is determined depending on the hitch angle (14).

公开(公告)号：US11554718B2

公开(公告)日：2023-01-17

申请号：US17634830

申请日：2020-07-30

Applicant: Connaught Electronics Ltd.

Inventor： Naveen Kuruba ,  Alan Murphy ,  Alan Hanniffy

IPC: B60R1/00 ,  G06V10/82 ,  G06V10/50 ,  B60R1/26 ,  G06V20/56 ,  B60R11/04 ,  B60R11/00

Abstract: For driver assistance for a combination (8) with a motor vehicle (9) and a trailer (10), a first camera image (19) and a second camera image (20) are generated. A combined image (21) is generated by means of a computing unit (13) by superimposing the camera images (19, 20) such that the second camera image (20) covers a subsection of the first camera image (19), wherein a hitch angle (14) of the combination (8) is determined by means of the computing unit (13). State data of the combination (8) are determined by means of a sensor system (17) and it is determined whether the combination (8) moves forward or backward. The hitch angle (14) is determined based on the state data, if the combination (8) moves forward and based on a change of time-dependent image data, if the combination moves backward. A position of the subsection is determined depending on the hitch angle (14).