Berührungslose Winkelbestimmung zwischen Zugfahrzeug und Anhänger

IEEE Trans. Veh. Technol.

2021

Articulation angle sensing is an essential component of manoeuvrability and stability control systems for articulated heavy goods vehicles, particularly long combination vehicles. Existing solutions to this sensing task are limited by reliance on trailer modifications or information or by measurement accuracy, or both, restricting commercial adoption. In this paper we present a purely tractor-based sensor concept comprising a rear-facing camera and the parallel tracking and mapping (PTAM) image processing algorithm. The system requires no prior knowledge of or modifications to the trailer, is compatible with planar and non-planar trailer shapes, and with multiply-articulated vehicle combinations. The system is validated in full-scale vehicle tests on both a tractor semi-trailer combination and a truck and full-trailer combination, demonstrating robust performance in a number of conditions, including trailers with non-planar geometry and with minimal visual features. Average RMS measurement errors of 1.19, 1.03 and 1.53 degrees were demonstrated for the semi-trailer and full-trailer (drawbar and semi-trailer) respectively. This compares favourably with the state-of-the-art in the published literature. A number of improvements are proposed for future development based on the observations in this research.

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Section: A Related Workmentioning

confidence: 99%

Section: Performance Comparisonmentioning

confidence: 99%

Camera-Based Articulation Angle Sensing for Heavy Goods Vehicles

IEEE Trans. Veh. Technol.

2021

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“…The use of cameras for non-contact articulation angle measurement has been proposed by Schikora et al, 16 Caup et al, 17 Harris 18 and Fuchs et al 19,20 For tractor semi-trailers, Schikora et al 16 proposed using an encoder plate attached to the underside of the semi-trailer, viewed from a camera beneath. For draw-bar trailers, they proposed placing infrared diodes on the front of the trailer, detected using an infrared camera on the back of the towing vehicle.…”

Section: Related Workmentioning

confidence: 99%

“…(RMS errors would make a more insightful comparison, but these were not available in all the literature.) Results from Schikora et al 16 have been omitted: the encoder system requires substantial trailer modifications, and accuracy information for the diode system is not available. It is clear that the TM + UKF algorithm exhibits improved accuracy compared to the literature.…”

Section: Full-scale Vehicle Experimentsmentioning

confidence: 99%

Measurement of articulation angle by image template matching

Proceedings of the Institution of Mechanical Engineers, Part D:

2019

Articulated heavy goods vehicles and long combination vehicles offer improved efficiency and emissions but reduced low-speed manoeuvrability and high-speed stability compared to rigid lorries. Active control systems can help to address these issues but require additional instrumentation, particularly articulation angle sensing. Existing commercial and research solutions for articulation sensing are limited either in terms of measurement accuracy or practicality. In this paper, a camera-based articulation angle sensing concept using template-matching and an Unscented Kalman Filter is investigated, including detailed simulation and full-scale vehicle experiments. The effects of aliasing and trailer pitch angle are studied, and a correction model for trailer pitch is proposed. The sensing system demonstrates superior measurement accuracy compared to the published literature, with root mean square errors of 0.8°–1.8° for articulation angles up to 37° in full-scale experiments. The sensor solution proposed in this work addresses more of the practical criteria for this problem than the comparable solutions in the literature. It does so through the novel camera and image processing system which is unique to this application. The proposed sensor offers acceptable measurement accuracy in real-time, is non-contact, requires minimal knowledge of trailer parameters and is compatible with semi-trailers and rigid draw-bar trailers.

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A Visual Template-Matching Method for Articulation Angle Measurement

2015 IEEE 18th International Conference on Intelligent Transportation Systems

2015