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US 9,852,346 B2Granted
Trailer track estimation system and method by image recognition
AssigneeHyundai Mobis Co., Ltd.
InventorJae Hong Min
Life of this patent
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Abstract
The present invention provides a trailer track estimation system by image recognition including: an image photographing unit which photographs a trailer which is connected to a rear side of a vehicle; a control unit which estimates a connection angle of the trailer using an image photographed by the image photographing unit; and a display unit which displays a value estimated by the control unit on a screen.
Claims18
A trailer track estimation system using image recognition, the system comprising:
- an image photographing unit which photographs a trailer which is connected to a rear side of a vehicle;
- a control unit which estimates a connection angle of the trailer using first and second images photographed by the image photographing unit;
- and
- a display unit which displays the connection angle estimated by the control unit on a screen,
- wherein the control unit is configured to estimate the connection angle of the trailer using a ratio between a first distance and a second distance, the first distance being a distance between two feature points on the first image when the trailer is aligned with the vehicle, the second distance being a distance between the two feature points on the second image when the trailer is misaligned with the vehicle, and
- wherein the connection angle of the trailer is estimated such that the first distance is defined as Δx1 and the second distance is defined as Δx1′ and the estimated connection angle θ of the trailer is calculated according to the following equation:
- cos θ=Δx1′/Δx1.
4 more elements
A method for estimating an angle between a vehicle and a trailer attached to the vehicle, the method comprising:
- capturing a first image of a front face of the trailer by a camera mounted on the vehicle when the trailer is aligned with the vehicle;
- capturing a second image of the front face of the trailer by the camera when the trailer is misaligned with the vehicle;
- transmitting the first and second images from the camera to a control unit coupled to the camera;
- determining, by the control unit, a ratio between a first distance between two feature points of the front face of the trailer in the first image to a second distance between the two feature points in the second image;
- estimating, by the control unit, the connection angle between the vehicle and the trailer based on the ratio;
- and
- displaying the estimated connection angle on a display screen,
- wherein the connection angle of the trailer is estimated such that the first distance is defined as Δx1 and the second distance is defined as Δx1′ and the estimated connection angle θ of the trailer is calculated according to the following equation:
- cos θ=Δx1′/Δx1.
6 more elements
Dependencies are inferred from the claim text.