Cabin and trailer body movement determination with camera at the back of the cabin
First Claim
Patent Images
1. A system that facilitates articulated vehicle articulation angle measurement, comprising:
- at least one camera coupled to a first portion of the articulated vehicle, wherein the camera monitors a second portion of the articulated vehicle, the second portion being articulably coupled to the first portion;
a processor configured to measure at least one parameter of the second portion of the articulated vehicle in an image captured by the at least one camera;
wherein the processor is further configured to execute a geometric model that converts the at least one parameter measurement into a corresponding angular value β
between the first and second portions of the articulated vehicle;
wherein the at least one parameter is an angle α
by which the second portion of the articulated vehicle appears to be offset from horizontal in the image.
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Accused Products
Abstract
When calculating an angle of articulation between two portions of an articulated vehicle such as a tractor-trailer combination, a camera-based articulation angle measuring system comprises camera(s) mounted on the tractor and/or trailer that observe their counterpart and/or features on the other portion of the vehicle. The angles or locations of the counterpart features are measured in the image(s) produced by the camera(s). A geometric model is employed to convert the location and/or angular measurements into a corresponding articulation and/or roll angle for the tractor-trailer combination.
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Citations
25 Claims
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1. A system that facilitates articulated vehicle articulation angle measurement, comprising:
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at least one camera coupled to a first portion of the articulated vehicle, wherein the camera monitors a second portion of the articulated vehicle, the second portion being articulably coupled to the first portion; a processor configured to measure at least one parameter of the second portion of the articulated vehicle in an image captured by the at least one camera; wherein the processor is further configured to execute a geometric model that converts the at least one parameter measurement into a corresponding angular value β
between the first and second portions of the articulated vehicle;wherein the at least one parameter is an angle α
by which the second portion of the articulated vehicle appears to be offset from horizontal in the image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of determining an articulation angle between a first portion and a second portion of an articulated vehicle, comprising:
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receiving at least one image from a camera coupled to the first portion of the articulated vehicle, wherein the camera monitors the second portion of the articulated vehicle, the second portion being articulably coupled to the first portion; measuring at least one parameter of the second portion of the articulated vehicle in the at least one image; inputting the at least one parameter into a geometric model thereby converting the at least one parameter measurement into a corresponding angular value β
between the first and second portions of the articulated vehicle; andoutputting the articulation angle to a user interface for display to a user or to other vehicle subsystems; wherein the at least one parameter is an angle α
by which the second portion of the articulated vehicle appears to be offset from horizontal in the at least one image. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A non-transitory computer-readable medium having stored thereon instructions for determining an articulation angle between a first portion and a second portion of an articulated vehicle, the instructions comprising:
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receiving at least one image from a camera coupled to the first portion of the articulated vehicle, wherein the camera monitors the second portion of the articulated vehicle, the second portion being articulably coupled to the first portion; measuring at least one parameter of the second portion of the articulated vehicle in the at least one image; inputting the at least one parameter into a geometric model thereby converting the at least one parameter measurement into a corresponding angular value β
between the first and second portions of the articulated vehicle; andoutputting the articulation angle to a user interface for display to a user or to other vehicle subsystems; wherein the at least one parameter is an angle α
by which the second portion of the articulated vehicle appears to be offset from horizontal in the at least one image.
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18. A processor configured to execute computer-executable instructions for measuring, the instructions comprising:
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receiving at least one image from a camera couple to the first portion of the articulated vehicle, wherein the camera monitors the second portion of the articulated vehicle, the second portion being articulably coupled to the first portion; measuring at least one parameter of the second portion of the articulated vehicle in the at least one image; inputting the at least one parameter into a geometric model thereby converting the at least one parameter measurement into a corresponding angular value β
between the first and second portions of the articulated vehicle;wherein the at least one parameter is an angle α
by which the second portion of the articulated vehicle appears to be offset from horizontal in the at least one image. - View Dependent Claims (19, 20, 21, 22, 23, 24)
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25. An apparatus that facilitates articulated vehicle articulation angle measurement, comprising:
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means for capturing images, coupled to a first portion of the articulated vehicle, wherein the means for capturing images monitors a second portion of the articulated vehicle, the second portion being articulably coupled to the first portion; means for measuring an offset angle α
of the second portion of the articulated vehicle in an image captured by the means for capturing images; andmeans for converting the measured offset angle into an articulation angle β
between the first and second portions of the articulated vehicle;wherein the offset angle α
is an angle by which the second portion of the articulated vehicle appears to be offset from horizontal in the image.
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Specification