CN113033421A - Method for automatically hitching trailer - Google Patents
Method for automatically hitching trailer Download PDFInfo
- Publication number
- CN113033421A CN113033421A CN202110331530.4A CN202110331530A CN113033421A CN 113033421 A CN113033421 A CN 113033421A CN 202110331530 A CN202110331530 A CN 202110331530A CN 113033421 A CN113033421 A CN 113033421A
- Authority
- CN
- China
- Prior art keywords
- hook
- trailer
- main
- outline
- automatically
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/26—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for remote control, e.g. for releasing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/07—Target detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/08—Detecting or categorising vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Image Analysis (AREA)
Abstract
The invention discloses a method for automatically hitching a trailer, which comprises the following steps: step S1, identifying and positioning the trailer; step S2, identifying and positioning the trailer hook; step S3, calibrating a hook reversing auxiliary line; step S4, aligning the main hook with the trailer hook; step S5, automatically hooking a main truck hook and a trailer hook; and step S6, ending. The method for automatically hooking the trailer has the advantages of automatic hooking and the like.
Description
Technical Field
The invention relates to the technical field of trailers, in particular to a method for automatically hooking a trailer.
Background
In actual life, a trailer needs to be hung behind a vehicle, a driver needs to slowly back the vehicle to the position close to the trailer, the operation needs to be repeatedly carried out for many times, the trailer and the trailer hook can be connected, and time is wasted, and safety is not guaranteed; with the improvement of the living standard of people, the quantity of the household vehicles is increased, the purposes of the vehicles can be changed, the trailers can be hung outside under the limitation of the capacity of the vehicles, the capacity of the vehicles is increased, but the operation of manually hanging the trailers behind the vehicles is very troublesome.
Aiming at the problems, the invention designs and develops a method for automatically hitching the trailer, namely a method for automatically hitching the trailer, which assists a driver to automatically hitching the trailer and solves the problem that the driver hitches the trailer back and forth.
Disclosure of Invention
The invention provides a method for automatically hitching a trailer, and aims to solve the problems of the existing trailer.
According to an embodiment of the present application, there is provided a method for automatically hitching a trailer, including the steps of:
step S1, identifying and positioning the trailer;
step S2, identifying and positioning the trailer hook;
step S3, calibrating a hook reversing auxiliary line;
step S4, aligning the main hook with the trailer hook;
step S5, automatically hooking a main truck hook and a trailer hook;
and step S6, ending.
Preferably, the step S3 includes: based on the wheel auxiliary line, the wheel auxiliary line is converted into the hook auxiliary line by combining the spatial relationship between the wheel and the hook, and the conversion relationship is as follows:
wherein M is the spatial transformation between the top point of the hook and the outer edge point of the wheel, the
Are respectively a hookTrack points and rear wheel track points.
Preferably, the step S4 includes:
step S41: identifying a trailer in the rear view scene based on visual semantics, positioning the specific position of the trailer, and if the trailer is not found, exiting the system;
step S42: based on prior knowledge, framing an interested region R of a trailer hook;
step S43: detecting a central point P _ center of the trailer hook based on the CenterNet in the region R of interest;
step S44: moving the vehicle and tracking the center point P _ center of the trailer, the self-motion relation of the key point motion vector and the vehicle volume lens, and calculating the position (Xc, Yc, Zc) of the P _ center in a space coordinate system;
step S45: and (Xc, Yc, Zc) are fused with the track lines of the main vehicle hook, and the moving vehicle enables the main vehicle hook and the trailer hook to be close to an ideal pre-hanging position.
Preferably, the step S5 includes:
step S51: extracting an interested area R _ CC containing a main vehicle hook and a trailer hook in a visual field;
step S52: amplifying the region of interest R _ CC based on the image amplification of the edge protection;
step S53: extracting the outline of the main vehicle hook from the amplified image, extracting the outline based on the main direction of the outline, and returning the hanging direction Dir _ m of the main vehicle hook;
step S54: extracting the outline of the trailer hook from the amplified image, extracting the outline based on the main direction of the outline, and returning the hanging direction Dir _ v of the trailer hook;
step S55: based on an automatic actuating mechanism for driving the hook Dir _ m and Dir _ v, adjusting the hanging direction and gradually hanging the hook;
step S56: repeating the steps S52 to S55 until the hooking is finished;
in step S56, it is determined whether the hitch is completed according to the center overlapping ratio and the latest outward overlapping ratio of the contour of the main hitch and the contour of the trailer hitch.
The technical scheme provided by the embodiment of the application can have the following beneficial effects: compared with the traditional scheme, the method for automatically hooking the trailer has the advantages that the vehicle hook is guided to be aligned to the butt joint center of the trailer hook based on stereoscopic vision perception, then automatic hooking is completed based on the automatic executing mechanism with the hook out, the driver can be assisted to automatically hook the trailer, the problem that the driver hooks the trailer back and forth is solved, compared with the existing method for hooking the trailer, the driver slowly backs the vehicle to be close to the position of the trailer, the action needs to be repeatedly operated for many times, the trailer and the trailer hook can be connected, time can be saved, safety is guaranteed, and artificial control is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow diagram of a method for automatically hitching a trailer according to the present invention;
fig. 2 is a schematic flow chart illustrating step S4 of the method for automatically hitching a trailer according to the present invention;
fig. 3 is a schematic flow chart illustrating step S5 of the method for automatically hitching a trailer according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1, the present invention discloses a method 10 for automatically hitching a trailer, comprising the steps of:
step S1, identifying and positioning the trailer;
step S2, identifying and positioning the trailer hook;
step S3, calibrating a hook reversing auxiliary line;
step S4, aligning the main hook with the trailer hook;
step S5, automatically hooking a main truck hook and a trailer hook;
and step S6, ending.
Compared with the traditional scheme, the method 10 for automatically hitching the trailer can guide the vehicle hook to align at the butt joint center of the trailer hook based on stereoscopic vision perception, and then automatically hitching is completed based on the automatic executing mechanism which is hooked out, so that a driver can be assisted to automatically hitch the trailer, the problem that the driver hitches the trailer back and forth is solved, compared with the existing method for hitching the trailer, the driver slowly backs the vehicle to be close to the position of the trailer, the action needs to be repeatedly operated for many times to possibly connect the trailer and the trailer hook, time can be saved, safety is guaranteed, and artificial control is reduced.
Wherein the step S3 includes: based on the wheel auxiliary line, the wheel auxiliary line is converted into the hook auxiliary line by combining the spatial relationship between the wheel and the hook, and the conversion relationship is as follows:
wherein M is the spatial transformation between the top point of the hook and the outer edge point of the wheel, the
Respectively a hook track point and a rear wheel track point.
In this embodiment, the trailer identification is mainly composed of 1 rear-view camera in combination with an angle sensor on the trailer coupler shaft. In the prior art, most backing auxiliary lines mark the motion trail of rear wheels, and the guidance performance is not intuitive in automatically hitching a trailer. Therefore, the reversing auxiliary line of the main hook needs to be intuitively calibrated, and the calibration is generally finished off-line. In the technical scheme of the invention, the method for automatically hooking the trailer is similar to the calibration of the wheel auxiliary line, namely the wheel auxiliary line is converted to the hook auxiliary line on the basis of the wheel auxiliary line by combining the space relation between the wheels and the hook.
Referring to fig. 2, the step S4 includes:
step S41: identifying a trailer in the rear view scene based on visual semantics, positioning the specific position of the trailer, and if the trailer is not found, exiting the system;
step S42: based on prior knowledge, framing an interested region R of a trailer hook;
step S43: detecting a central point P _ center of the trailer hook based on the CenterNet in the region R of interest;
step S44: moving the vehicle and tracking the center point P _ center of the trailer, the self-motion relation of the key point motion vector and the vehicle volume lens, and calculating the position (Xc, Yc, Zc) of the P _ center in a space coordinate system;
step S45: and (Xc, Yc, Zc) are fused with the track lines of the main vehicle hook, and the moving vehicle enables the main vehicle hook and the trailer hook to be close to an ideal pre-hanging position.
In step S41, the target detection based on deep learning of visual semantics is a mature technology, which is not an innovative point of the present invention, and is not described herein again.
Referring to fig. 3, the step S5 includes:
step S51: extracting an interested area R _ CC containing a main vehicle hook and a trailer hook in a visual field;
step S52: amplifying the region of interest R _ CC based on the image amplification of the edge protection;
step S53: extracting the outline of the main vehicle hook from the amplified image, extracting the outline based on the main direction of the outline, and returning the hanging direction Dir _ m of the main vehicle hook;
step S54: extracting the outline of the trailer hook from the amplified image, extracting the outline based on the main direction of the outline, and returning the hanging direction Dir _ v of the trailer hook;
step S55: based on an automatic actuating mechanism for driving the hook Dir _ m and Dir _ v, adjusting the hanging direction and gradually hanging the hook;
step S56: repeating the steps S52 to S55 until the hooking is finished;
in step S56, it is determined whether the hitch is completed according to the center overlapping ratio and the latest outward overlapping ratio of the contour of the main hitch and the contour of the trailer hitch. In step S52, the magnification of the present invention is 4 times.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A method of automatically hitching a trailer, comprising the steps of:
step S1, identifying and positioning the trailer;
step S2, identifying and positioning the trailer hook;
step S3, calibrating a hook reversing auxiliary line;
step S4, aligning the main hook with the trailer hook;
step S5, automatically hooking a main truck hook and a trailer hook;
and step S6, ending.
2. A method of automatically hitching a trailer according to claim 1, wherein:the step S3 includes: based on the wheel auxiliary line, the wheel auxiliary line is converted into the hook auxiliary line by combining the spatial relationship between the wheel and the hook, and the conversion relationship is as follows:
wherein M is the spatial transformation between the top point of the hook and the outer edge point of the wheel, the
Respectively a hook track point and a rear wheel track point.
3. A method of automatically hitching a trailer according to claim 2, wherein: the step S4 includes:
step S41: identifying a trailer in the rear view scene based on visual semantics, positioning the specific position of the trailer, and if the trailer is not found, exiting the system;
step S42: based on prior knowledge, framing an interested region R of a trailer hook;
step S43: detecting a central point P _ center of the trailer hook based on the CenterNet in the region R of interest;
step S44: moving the vehicle and tracking the center point P _ center of the trailer, the self-motion relation of the key point motion vector and the vehicle volume lens, and calculating the position (Xc, Yc, Zc) of the P _ center in a space coordinate system;
step S45: and (Xc, Yc, Zc) are fused with the track lines of the main vehicle hook, and the moving vehicle enables the main vehicle hook and the trailer hook to be close to an ideal pre-hanging position.
4. A method of automatically hitching a trailer according to claim 2, wherein: the step S5 includes:
step S51: extracting an interested area R _ CC containing a main vehicle hook and a trailer hook in a visual field;
step S52: amplifying the region of interest R _ CC based on the image amplification of the edge protection;
step S53: extracting the outline of the main vehicle hook from the amplified image, extracting the outline based on the main direction of the outline, and returning the hanging direction Dir _ m of the main vehicle hook;
step S54: extracting the outline of the trailer hook from the amplified image, extracting the outline based on the main direction of the outline, and returning the hanging direction Dir _ v of the trailer hook;
step S55: based on an automatic actuating mechanism for driving the hook Dir _ m and Dir _ v, adjusting the hanging direction and gradually hanging the hook;
step S56: repeating the steps S52 to S55 until the hooking is finished;
in step S56, it is determined whether the hitch is completed according to the center overlapping ratio and the latest outward overlapping ratio of the contour of the main hitch and the contour of the trailer hitch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110331530.4A CN113033421A (en) | 2021-03-29 | 2021-03-29 | Method for automatically hitching trailer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110331530.4A CN113033421A (en) | 2021-03-29 | 2021-03-29 | Method for automatically hitching trailer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113033421A true CN113033421A (en) | 2021-06-25 |
Family
ID=76473339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110331530.4A Pending CN113033421A (en) | 2021-03-29 | 2021-03-29 | Method for automatically hitching trailer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113033421A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117416356A (en) * | 2023-12-18 | 2024-01-19 | 自行科技(武汉)有限公司 | Method and system for hanging auxiliary trailer of electronic rearview mirror |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101628594A (en) * | 2008-07-16 | 2010-01-20 | 福特全球技术公司 | Trailer connection assist system |
| CN108801288A (en) * | 2017-04-28 | 2018-11-13 | 通用汽车环球科技运作有限责任公司 | System and method for determining the starting point that trailer is attached to the guide line on the hook attachment for trailer in the cargo bed of vehicle |
| WO2018210990A1 (en) * | 2017-05-18 | 2018-11-22 | Cnh Industrial Italia S.P.A. | System and method for automatic connection between a tractor and an implement |
| US20190258874A1 (en) * | 2018-02-22 | 2019-08-22 | Ford Global Technologies, Llc | Hitch assist system with trailer height estimation and hitch coupler identification |
| CN111976697A (en) * | 2019-05-21 | 2020-11-24 | 福特全球技术公司 | Acceptable zone for automatic hitches considering system performance |
| US20210086785A1 (en) * | 2019-09-25 | 2021-03-25 | Ford Global Technologies, Llc | Differentiating between near trailer and connected trailer |
-
2021
- 2021-03-29 CN CN202110331530.4A patent/CN113033421A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101628594A (en) * | 2008-07-16 | 2010-01-20 | 福特全球技术公司 | Trailer connection assist system |
| CN108801288A (en) * | 2017-04-28 | 2018-11-13 | 通用汽车环球科技运作有限责任公司 | System and method for determining the starting point that trailer is attached to the guide line on the hook attachment for trailer in the cargo bed of vehicle |
| WO2018210990A1 (en) * | 2017-05-18 | 2018-11-22 | Cnh Industrial Italia S.P.A. | System and method for automatic connection between a tractor and an implement |
| US20190258874A1 (en) * | 2018-02-22 | 2019-08-22 | Ford Global Technologies, Llc | Hitch assist system with trailer height estimation and hitch coupler identification |
| CN111976697A (en) * | 2019-05-21 | 2020-11-24 | 福特全球技术公司 | Acceptable zone for automatic hitches considering system performance |
| US20210086785A1 (en) * | 2019-09-25 | 2021-03-25 | Ford Global Technologies, Llc | Differentiating between near trailer and connected trailer |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117416356A (en) * | 2023-12-18 | 2024-01-19 | 自行科技(武汉)有限公司 | Method and system for hanging auxiliary trailer of electronic rearview mirror |
| CN117416356B (en) * | 2023-12-18 | 2024-03-08 | 自行科技(武汉)有限公司 | Method and system for hanging auxiliary trailer of electronic rearview mirror |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11820181B2 (en) | Methods for assisting automatic uncoupling/coupling of a trailer | |
| US11673605B2 (en) | Vehicular driving assist system | |
| EP3787909B1 (en) | Coupler and tow-bar detection for automated trailer hitching via cloud points | |
| US11148667B2 (en) | Automated reversing by choice of target location | |
| CN108778784B (en) | Reversing system for vehicle and trailer assembly and method for controlling the same | |
| US9731568B2 (en) | Guided tow hitch control system and method | |
| EP2819858B1 (en) | Hitch alignment assistance | |
| EP3684633B1 (en) | Trailer length detection system | |
| EP2988958B1 (en) | Vehicle hitch assistance system | |
| US9120425B2 (en) | Park assist system | |
| EP3787912B1 (en) | Tow vehicle and trailer alignment | |
| CN110636753B (en) | System and method for automatic connection between tractor and implement | |
| US20210291832A1 (en) | System and method for remote automated vehicle alignment with a trailer for hitching | |
| US10953711B2 (en) | Hitch assist system | |
| US11403767B2 (en) | Method and apparatus for detecting a trailer, tow-ball, and coupler for trailer hitch assistance and jackknife prevention | |
| US10632803B2 (en) | Hitch assist system | |
| US11285768B2 (en) | Vehicle system and method for detecting trailer connection | |
| US10744943B1 (en) | System and method for trailer alignment | |
| US20210339588A1 (en) | Vehicle Hitching Assist Apparatus, Vehicle Hitching Assist Method, And Vehicle Hitching Assist System | |
| CN110850864A (en) | System and method for trailer height adjustment | |
| CN113033421A (en) | Method for automatically hitching trailer | |
| US20210347410A1 (en) | Trailer gps location storage and recall for hitch assist operation | |
| US20240034113A1 (en) | Methods for assisting automatic uncoupling/coupling of a trailer | |
| US20190161120A1 (en) | Method for operating an operating device for a transportation vehicle to assist a driver when coupling the transportation vehicle to a trailer, operating device, and transportation vehicle | |
| CN115534599A (en) | Trailer hitch assist system including trailer type identification and adaptive interface |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210625 |
|
| RJ01 | Rejection of invention patent application after publication |