PL3180769T3 - Określanie ruchu kabiny i nadwozia przyczepy z wykorzystaniem kamery na tylnej części kabiny - Google Patents
Określanie ruchu kabiny i nadwozia przyczepy z wykorzystaniem kamery na tylnej części kabinyInfo
- Publication number
- PL3180769T3 PL3180769T3 PL15747659T PL15747659T PL3180769T3 PL 3180769 T3 PL3180769 T3 PL 3180769T3 PL 15747659 T PL15747659 T PL 15747659T PL 15747659 T PL15747659 T PL 15747659T PL 3180769 T3 PL3180769 T3 PL 3180769T3
- Authority
- PL
- Poland
- Prior art keywords
- cabin
- camera
- body movement
- movement determination
- trailer body
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0808—Diagnosing performance data
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/002—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0816—Indicating performance data, e.g. occurrence of a malfunction
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US14/458,290 US9437055B2 (en) | 2014-08-13 | 2014-08-13 | Cabin and trailer body movement determination with camera at the back of the cabin |
| EP15747659.9A EP3180769B1 (en) | 2014-08-13 | 2015-07-17 | Cabin and trailer body movement determination with camera at the back of the cabin |
| PCT/US2015/040825 WO2016025120A1 (en) | 2014-08-13 | 2015-07-17 | Cabin and trailer body movement determination with camera at the back of the cabin |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| PL3180769T3 true PL3180769T3 (pl) | 2020-06-01 |
Family
ID=53783962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PL15747659T PL3180769T3 (pl) | 2014-08-13 | 2015-07-17 | Określanie ruchu kabiny i nadwozia przyczepy z wykorzystaniem kamery na tylnej części kabiny |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US9437055B2 (pl) |
| EP (1) | EP3180769B1 (pl) |
| CN (1) | CN106796729B (pl) |
| HU (1) | HUE048650T2 (pl) |
| PL (1) | PL3180769T3 (pl) |
| WO (1) | WO2016025120A1 (pl) |
Families Citing this family (62)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9085261B2 (en) | 2011-01-26 | 2015-07-21 | Magna Electronics Inc. | Rear vision system with trailer angle detection |
| US9937953B2 (en) * | 2011-04-19 | 2018-04-10 | Ford Global Technologies, Llc | Trailer backup offset determination |
| US9919640B2 (en) | 2015-01-13 | 2018-03-20 | Mark Allen BUCKINGHAM | System and method for controlling dollies |
| DE102015214611A1 (de) * | 2015-07-31 | 2017-02-02 | Conti Temic Microelectronic Gmbh | Verfahren und Vorrichtung zum Anzeigen einer Umgebungsszene eines Fahrzeuggespanns |
| US9796228B2 (en) * | 2015-12-17 | 2017-10-24 | Ford Global Technologies, Llc | Hitch angle detection for trailer backup assist system |
| US10011299B2 (en) | 2016-04-21 | 2018-07-03 | Robert Bosch Gmbh | Trailer angle detection using rear camera |
| US10909721B2 (en) | 2016-06-29 | 2021-02-02 | Seeing Machines Limited | Systems and methods for identifying pose of cameras in a scene |
| CN106225723B (zh) * | 2016-07-25 | 2019-03-29 | 浙江零跑科技有限公司 | 一种基于后视双目相机的多列车铰接角测量方法 |
| US10073451B2 (en) * | 2016-08-02 | 2018-09-11 | Denso International America, Inc. | Safety verifying system and method for verifying tractor-trailer combination |
| US10046800B2 (en) | 2016-08-10 | 2018-08-14 | Ford Global Technologies, Llc | Trailer wheel targetless trailer angle detection |
| US10721397B2 (en) * | 2016-09-01 | 2020-07-21 | Caterpillar Inc. | Image processing system using predefined stitching configurations |
| SE540160C2 (en) | 2016-09-13 | 2018-04-17 | Stoneridge Electronics Ab | Automatic panning system |
| US10126755B1 (en) * | 2017-07-20 | 2018-11-13 | GM Global Technology Operations LLC | Method, apparatus and system for wireless automotive trailer assist in various maneuvers |
| CN117890910A (zh) * | 2017-12-01 | 2024-04-16 | 安波福制造管理服务有限责任公司 | 检测系统 |
| DE102017011177A1 (de) | 2017-12-05 | 2019-06-06 | Wabco Gmbh | Verfahren zum Ermitteln eines Knickwinkels eines Fahrzeug-Gespanns, Ermittlungseinrichtung sowie Fahrzeug-Gespann |
| US11364885B2 (en) * | 2018-01-18 | 2022-06-21 | Vieletech Inc. | Smart trailer controller |
| US11420695B2 (en) | 2018-01-31 | 2022-08-23 | Vieletech Inc. | Semi-autonomous trailer hauler |
| CN108437884A (zh) * | 2018-02-08 | 2018-08-24 | 江苏大学 | 一种拖挂式房车铰接处角度测量装置 |
| GB201806279D0 (en) * | 2018-04-17 | 2018-05-30 | Cambridge Entpr Ltd | Method and system of articulation angle measurement |
| US10926759B2 (en) * | 2018-06-07 | 2021-02-23 | GM Global Technology Operations LLC | Controlling a vehicle based on trailer position |
| DE102018114852A1 (de) * | 2018-06-20 | 2019-12-24 | Wabco Gmbh | Verfahren für ein eine Anhängerkupplung aufweisendes Nutzfahrzeug sowie Vorrichtung und Nutzfahrzeug dafür und Computerprogrammprodukt dazu |
| CN110335305A (zh) * | 2018-11-01 | 2019-10-15 | 驭势科技（北京）有限公司 | 一种拖车位姿的确定方法、装置、车载设备及存储介质 |
| US11077795B2 (en) | 2018-11-26 | 2021-08-03 | Ford Global Technologies, Llc | Trailer angle detection using end-to-end learning |
| US10803620B2 (en) | 2018-12-12 | 2020-10-13 | Zebra Technologies Corporation | Method and apparatus for calibrating trailer monitoring units |
| US10829046B2 (en) | 2019-03-06 | 2020-11-10 | Ford Global Technologies, Llc | Trailer angle detection using end-to-end learning |
| DE102019106275A1 (de) | 2019-03-12 | 2020-09-17 | Wabco Gmbh | Erfassungssystem und Verfahren zum Ermitteln eines Knickwinkels zwischen zwei Teilfahrzeugen eines Fahrzeug-Gespanns sowie Fahrzeug- Gespann |
| CN113348127A (zh) * | 2019-03-25 | 2021-09-03 | 沃尔沃卡车集团 | 包括拖车角度确定系统的车辆 |
| US11417116B2 (en) | 2019-04-19 | 2022-08-16 | Magna Electronics Inc. | Vehicular trailer angle detection system |
| WO2020227080A1 (en) | 2019-05-03 | 2020-11-12 | Stoneridge Electronics, AB | Vehicle recording system utilizing event detection |
| US11662196B2 (en) | 2019-05-08 | 2023-05-30 | Magna Electronics Inc. | Trailer angle detection system using rear camera of vehicle |
| GB2584824B (en) | 2019-05-23 | 2021-06-16 | Jaguar Land Rover Ltd | Vehicle control system and method |
| EP3754450B1 (en) * | 2019-06-17 | 2022-04-27 | Sandvik Mining and Construction Oy | Autonomous vehicle monitoring |
| US12214822B2 (en) | 2019-06-28 | 2025-02-04 | Magna Electronics Inc. | Trailer assist system with enhanced beam length estimation |
| US11613210B2 (en) | 2019-07-22 | 2023-03-28 | Magna Electronics Inc. | Trailering assist system with hitch ball position detection |
| US11613208B2 (en) | 2019-07-30 | 2023-03-28 | Magna Electronics Inc. | Trailer hitching assist system with trailer coupler detection |
| US11787339B2 (en) | 2019-07-30 | 2023-10-17 | Magna Electronics Inc. | Trailer hitching assist system with trailer coupler detection |
| DE102019124263B4 (de) * | 2019-09-10 | 2022-08-18 | Saf-Holland Gmbh | Kupplungssystem |
| US12552456B2 (en) | 2019-09-13 | 2026-02-17 | Magna Electronics Inc. | Vehicular trailering assist system |
| US11661006B2 (en) | 2019-09-27 | 2023-05-30 | Magna Electronics Inc. | Vehicular trailering assist system |
| US11505123B2 (en) | 2019-12-02 | 2022-11-22 | Magna Electronics Inc. | Vehicular camera monitoring system with stereographic display |
| US11679635B2 (en) | 2019-12-09 | 2023-06-20 | Magna Electronics Inc. | Vehicular trailer hitching assist system with coupler height and location estimation |
| WO2021127693A1 (en) | 2019-12-16 | 2021-06-24 | Magna Electronics Inc. | Vehicular trailering guidance system |
| DE102020107789B4 (de) * | 2020-03-20 | 2025-04-03 | Mekra Lang Gmbh & Co. Kg | Sichtsystem für ein Fahrzeug und Verfahren zum Umschalten zwischen von dem Sichtsystem dargestellten Bildbereichen |
| DE102020108416A1 (de) | 2020-03-26 | 2021-09-30 | Zf Cv Systems Global Gmbh | Verfahren zum Ermitteln einer Pose eines Objektes, Verfahren zum Steuern eines Fahrzeuges, Steuereinheit und Fahrzeug |
| EP3889904B1 (en) * | 2020-03-31 | 2023-01-11 | Continental Autonomous Mobility Germany GmbH | Method and system for calculating vehicle trailer angle |
| EP3889903B1 (en) | 2020-03-31 | 2024-10-23 | Continental Autonomous Mobility Germany GmbH | Method and system for calculating vehicle trailer angle |
| EP4012330B1 (en) * | 2020-12-10 | 2024-07-03 | Volvo Truck Corporation | A system and method for estimating an articulation angle of an articulated vehicle combination |
| CN112572420B (zh) * | 2020-12-21 | 2022-05-17 | 深兰人工智能(深圳)有限公司 | 铰接式车辆泊车控制方法、装置及铰接式车辆 |
| CN112767495B (zh) * | 2021-01-21 | 2024-02-27 | 易视智瞳科技（深圳）有限公司 | 一种相机与阀角度标定方法、系统、电子设备及存储介质 |
| DE102021201525A1 (de) | 2021-02-17 | 2022-08-18 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zur Ermittlung einer räumlichen Ausrichtung eines Anhängers |
| DE102021208819A1 (de) | 2021-08-12 | 2023-02-16 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Bestimmen eines Knickwinkels |
| DE102021126814A1 (de) | 2021-10-15 | 2023-04-20 | Zf Cv Systems Global Gmbh | Verfahren zum Lokalisieren eines Anhängers, Verarbeitungseinheit und Fahrzeug |
| DE102021126816A1 (de) | 2021-10-15 | 2023-04-20 | Zf Cv Systems Global Gmbh | Verfahren zum Ermitteln eines Knickwinkels, Verarbeitungseinheit und Fahrzeug |
| US11897469B2 (en) * | 2021-10-20 | 2024-02-13 | Continental Autonomous Mobility US, LLC | System and method for adjusting trailer reverse assist parameters based upon estimated trailer position |
| EP4435378A4 (en) | 2021-11-17 | 2026-01-21 | Ihi Corp | LINK ANGLE DETECTION DEVICE FOR COMBINED VEHICLES, COMBINED VEHICLES AND METHOD FOR DETECTING LINK ANGLE OF COMBINED VEHICLES |
| KR20230090061A (ko) * | 2021-12-14 | 2023-06-21 | 현대자동차주식회사 | 차량 제어 장치 및 방법 |
| JP2023144981A (ja) * | 2022-03-28 | 2023-10-11 | キヤノン株式会社 | 画像処理装置、画像処理方法、及びコンピュータプログラム |
| EP4299418A1 (en) * | 2022-06-29 | 2024-01-03 | KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH | Sensor system and method for determining an articulation angle of a vehicle with a trailer |
| US12501003B2 (en) | 2022-09-20 | 2025-12-16 | Waymo Llc | Multi-sensor assembly with improved backward view of a vehicle |
| US12412295B2 (en) * | 2023-02-22 | 2025-09-09 | GM Global Technology Operations LLC | Methods and systems for estimating hitch articulation angle |
| US12464247B2 (en) * | 2023-09-15 | 2025-11-04 | Robert Bosch Gmbh | Device and method for surround view camera system |
| US12466323B2 (en) * | 2024-01-11 | 2025-11-11 | Stoneridge Electronics Ab | Method and apparatus for determining trailer angle |
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| DE10035223A1 (de) | 2000-07-20 | 2002-01-31 | Daimler Chrysler Ag | Vorrichtung und Verfahren zur Überwachung der Umgebung eines Objekts |
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| WO2006042665A1 (de) | 2004-10-15 | 2006-04-27 | Daimlerchrysler Ag | Verfahren zur bestimmung von deichsel- und trailerwinkel |
| SE530628C3 (sv) * | 2006-12-12 | 2008-08-19 | Scania Cv Ab | Ledstyrsystem |
| EP2168079B1 (en) | 2007-01-23 | 2015-01-14 | Valeo Schalter und Sensoren GmbH | Method and system for universal lane boundary detection |
| DE102007011180A1 (de) | 2007-03-06 | 2008-09-11 | Daimler Ag | Rangierhilfe und Verfahren für Fahrer von Fahrzeugen bzw. Fahrzeuggespannen, welche aus gegeneinander knickbare Fahrzeugelementen bestehen |
| GB2447672B (en) | 2007-03-21 | 2011-12-14 | Ford Global Tech Llc | Vehicle manoeuvring aids |
| US7904222B2 (en) | 2007-06-27 | 2011-03-08 | GM Global Technology Operations LLC | Trailer articulation angle estimation |
| JP2009060499A (ja) | 2007-09-03 | 2009-03-19 | Sanyo Electric Co Ltd | 運転支援システム及び連結車両 |
| DE102007044395B4 (de) * | 2007-09-18 | 2020-07-23 | Continental Automotive Gmbh | Verfahren und Vorrichtung zur Zuordnung eines ersten Fahrzeugs zu einem zweiten Fahrzeug |
| US8010252B2 (en) * | 2007-10-05 | 2011-08-30 | Ford Global Technologies | Trailer oscillation detection and compensation method for a vehicle and trailer combination |
| EP2135782B1 (en) * | 2008-06-18 | 2011-10-05 | GM Global Technology Operations LLC | Motor vehicle driver assisting method near the stability limit |
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| CN201402131Y (zh) | 2009-03-30 | 2010-02-10 | 德尔福技术有限公司 | 分体式车辆的操控辅助设备 |
| US8326504B2 (en) * | 2009-07-30 | 2012-12-04 | Robert Bosch Gmbh | Holistic control for stabilizing vehicle-trailer swaying |
| EP2485203B1 (en) * | 2009-09-30 | 2020-02-19 | Panasonic Intellectual Property Management Co., Ltd. | Vehicle-surroundings monitoring device |
| GB2475528A (en) * | 2009-11-23 | 2011-05-25 | Haldex Brake Products Ltd | Trailer braking system having independently operable brakes on either side of the trailer |
| AT11552U3 (de) * | 2010-07-12 | 2011-05-15 | Avl List Gmbh | Verfahren und eine testplattform zur entwicklung eines fahrzeuges mit mehreren angetriebenen achsen |
| US8571777B2 (en) * | 2010-08-13 | 2013-10-29 | Robert Bosch Gmbh | Independent trailer sway controller |
| CN101934819B (zh) * | 2010-08-25 | 2012-06-20 | 江苏大学 | 用于城市快速公交系统的客车底盘铰接系统及工作方法 |
| US8311693B2 (en) * | 2010-11-19 | 2012-11-13 | Robert Bosch Gmbh | Energy management for hybrid electric vehicle during trailer sway |
| US8755984B2 (en) * | 2011-04-19 | 2014-06-17 | Ford Global Technologies | Managing jackknife enabling conditions during backing of a trailer by reducing speed of a vehicle backing the trailer |
| WO2012145818A1 (en) | 2011-04-25 | 2012-11-01 | Magna International Inc. | Method and system for dynamically calibrating vehicular cameras |
| WO2012157379A1 (ja) * | 2011-05-13 | 2012-11-22 | 日立建機株式会社 | 作業機械の周囲監視装置 |
| US8744169B2 (en) * | 2011-05-31 | 2014-06-03 | Toyota Motor Europe Nv/Sa | Voting strategy for visual ego-motion from stereo |
| TWI491524B (zh) * | 2012-03-08 | 2015-07-11 | Ind Tech Res Inst | 全周鳥瞰影像產生方法、訓練方法及應用其之車體端裝置及訓練裝置 |
| US9227563B2 (en) | 2012-09-14 | 2016-01-05 | Bendix Commercial Vehicle Systems Llc | Backward movement indicator apparatus for a vehicle |
| US9446713B2 (en) | 2012-09-26 | 2016-09-20 | Magna Electronics Inc. | Trailer angle detection system |
-
2014
- 2014-08-13 US US14/458,290 patent/US9437055B2/en active Active
-
2015
- 2015-07-17 WO PCT/US2015/040825 patent/WO2016025120A1/en not_active Ceased
- 2015-07-17 CN CN201580055521.XA patent/CN106796729B/zh active Active
- 2015-07-17 PL PL15747659T patent/PL3180769T3/pl unknown
- 2015-07-17 HU HUE15747659A patent/HUE048650T2/hu unknown
- 2015-07-17 EP EP15747659.9A patent/EP3180769B1/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| WO2016025120A1 (en) | 2016-02-18 |
| CN106796729B (zh) | 2020-07-07 |
| CN106796729A (zh) | 2017-05-31 |
| US9437055B2 (en) | 2016-09-06 |
| EP3180769A1 (en) | 2017-06-21 |
| US20160049020A1 (en) | 2016-02-18 |
| HUE048650T2 (hu) | 2020-08-28 |
| EP3180769B1 (en) | 2019-12-04 |
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