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Camera-Based Articulation Angle Sensing for Heavy Goods Vehicles.

Authors :
Saxe, Christopher de
Cebon, David
Source :
IEEE Transactions on Vehicular Technology. Aug2021, Vol. 70 Issue 8, p7522-7535. 14p.
Publication Year :
2021

Abstract

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. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
00189545
Volume :
70
Issue :
8
Database :
Academic Search Index
Journal :
IEEE Transactions on Vehicular Technology
Publication Type :
Academic Journal
Accession number :
153154790
Full Text :
https://doi.org/10.1109/TVT.2021.3091759