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.