Trailer angle detection using end-to-end learning
AssigneeFord Global Technologies, LLC
InventorsBruno Sielly Jales Costa, Vidya Nariyambut Murali, Saeid Nooshabadi, Vijay Nagasamy
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Abstract
A trailer angle identification system comprises an imaging device configured to capture an image. An angle sensor is configured to measure a first angle of the trailer relative to a vehicle. A controller is configured to process the image in a neural network and estimate a second angle of the trailer relative to the vehicle based on the image. The controller is further configured to train the neural network based on a difference between the first angle and the second angle.
Claims18
A trailer angle identification system comprising:
- an imaging device configured to capture a plurality of images;
- an angle sensor configured to measure a first angle of the trailer relative to a vehicle;
- and
- a controller configured to:
- process the plurality of images in a neural network;
- estimate a second angle of the trailer relative to the vehicle based on the plurality of images;
- identify an error in the second angle by comparing the first angle to the second angle for the plurality of images;
- train the neural network based on the first angle and the second angle for the plurality of images;
- and
- identify additional image data for training the neutral network that depicts a condition of the image data corresponding to the error.
A method identifying a trailer angle comprising:
- capturing a plurality of images in a field of view;
- detecting a first angle with an angle sensor in connection with a vehicle or a trailer;
- processing the images in a neural network;
- estimating a second angle of an interface between the vehicle and the trailer based on each of the images;
- and
- training the neural network based on the first angle and the second angle for each of the images, wherein the training comprises:
- identifying an error between the first angle and the second angle for each of the images;
- identifying at least one of the trailer angle, an environmental condition, and a lighting condition associated with the error for each of the images, and
- capturing additional images based on at least one of the trailer angle, the environmental condition, and the lighting condition associated with the error.
A trailer angle identification system comprising:
- an imaging device configured to capture image data;
- an angle sensor configured to measure a first angle of the trailer relative to a vehicle;
- and
- a controller configured to:
- crop the image data generating a cropped image data based on a location of an interface between the vehicle and the trailer in the image data;
- process the cropped image data in a neural network;
- estimate a second angle of the trailer relative to the vehicle based on the cropped image data;
- and
- train the neural network based the first angle and the second angle;
- identify an error in the second angle by comparing the first angle to the second angle for the plurality of images, and
- identify additional image data for training the neutral network that depicts a condition of the image data corresponding to the error.
Dependencies are inferred from the claim text.