The invention relates to a method for determining a yaw angle (YA) of a trailer (2) relative to a longitudinal axis (LAV) of a towing vehicle (1), said method comprising the following steps: detecting at least a first and a second image of the trailer (2) using a camera device (3), said trailer (2) being different in at least two images (S10) relative to the direction of the vehicle (1); -determining at least first and second features (F1, F2) of the trailer (2) visible on the first and second images, the first and second features (F1, F2) being arranged at different positions (S11) of the trailer (2); -calculating a first angle estimate (alpha1), said first angle estimate (alpha1) characterizing a pivot angle (S12) relative to a fixed point of the tractor (1) between the first feature (F1) on the first image and the first feature (F1) on the second image on a horizontal plane; -calculating a second angle estimate (alpha2), said second angle estimate (alpha2) characterizing a pivot angle (S13) relative to said fixed point of the tractor (1) between a second feature (F2) on the first image and a second feature (F2) on the second image on a horizontal plane; -calculating (S14) a yaw angle (YA) based on said first and second angle estimates (alpha1, alpha2).
本发明涉及一种用于确定拖车(2)相对于牵引车(1)纵轴(LAV)的偏航角(YA)的方法,其中,所述方法包括以下步骤:‑使用摄像装置(3)检测拖车(2)至少第一和第二图像,其中,拖车(2)相对于车辆(1)方向在至少两幅图像(S10)上是不同的;‑确定拖车(2)的在第一和第二图像上可见的至少第一和第二特征(F1、F2),其中,所述第一和第二特征(F1、F2)设置在拖车(2)的不同位置(S11);‑计算第一角度估计(α1),其中,所述第一角度估计(α1)表征在水平面上第一图像上的第一特征(F1)与第二图像上的第一特征(F1)之间相对于牵引车(1)一固定点的摆角(S12);‑计算第二角度估计(α2),其中,所述第二角度估计(α2)表征在水平面上第一图像上的第二特征(F2)与第二图像上的第二特征(F2)之间相对于牵引车(1)所述固定点的摆角(S13);‑基于所述第一和第二角度估计(α1、α2)计算偏航角(YA)(S14)。
Method and system for calculating vehicle trailer angle
计算车辆拖车角度的方法和系统
2022-11-11
Patent
Electronic Resource
Chinese