Camera-based estimation of vehicle center of gravity for model-based vehicle control

A vehicle mechanically coupled to a trailer, the vehicle comprising:

• a hitch for mechanically coupling the vehicle to the trailer;
• a camera;
• and
• a processing system comprising:
• a memory comprising computer readable instructions;
• and
• a processing device for executing the computer readable instructions, the computer readable instructions controlling the processing system to perform operations comprising:
• receiving an image from the camera;
• determining, using the image, a relative position and pose of the vehicle and trailer relative to a lane marking of a lane of a road occupied by the vehicle and trailer and in which the vehicle and trailer are traveling;
• determining a relative center of gravity location of the vehicle and trailer based at least in part on the relative position and pose of the vehicle and trailer;
• and
• controlling the vehicle using an advanced driver assistance system based on a model of the vehicle and trailer, wherein the model utilizes the relative center of gravity location of the vehicle and trailer.

A computer program product comprising:

• a set of one or more computer-readable storage media;
• program instructions, collectively stored in the set of one or more storage media, for causing a processor set to perform computer operations comprising:
• receiving an image from a camera of a vehicle;
• determining, using the image, a relative position and pose of the vehicle relative to a lane marking of a lane of a road occupied by the vehicle and in which the vehicle is traveling;
• determining a relative center of gravity location of the vehicle based at least in part on the relative position and pose of the vehicle;
• and
• controlling the vehicle using an advanced driver assistance system based on a model of the vehicle, wherein the model utilizes the relative center of gravity location of the vehicle.