Active control systems for heavy goods vehicles (HGVs) are becoming more sophisticated, necessitating more extensive and sophisticated instrumentation. For articulated HGVs, articulation angle sensing is crucial for most such systems and existing and proposed sensing methods are limited either in terms of commercial feasibility or measurement accuracy. This paper investigates a vision-based system consisting of a single tractor-mounted camera, a template-matching image processing algorithm and an Unscented Kalman Filter. The method is applicable to trailers with planar fronts and requires minimal geometric knowledge of the trailer. A series of tests was performed on a tractor semitrailer combination. The vision system was able to measure articulation angle with RMS errors of 0.64°–0.79° and maximum errors of 1.91°–2.76°
Reference:
De Saxe, C and Cebon, D. 2015. A visual template-matching method for articulation angle measurement. In: IEEE 18th International Conference on Intelligent Transportation Systems, 15-18 September 2015, Las Palmas, Gran Canaria, Spain
De Saxe, C., & Cebon, D. (2015). A visual template-matching method for articulation angle measurement. IEEE. http://hdl.handle.net/10204/8691
De Saxe, C, and D Cebon. "A visual template-matching method for articulation angle measurement." (2015): http://hdl.handle.net/10204/8691
De Saxe C, Cebon D, A visual template-matching method for articulation angle measurement; IEEE; 2015. http://hdl.handle.net/10204/8691 .
IEEE 18th International Conference on Intelligent Transportation Systems, 15-18 September 2015, Las Palmas, Gran Canaria, Spain. Due to copyright restrictions, the attached PDF file only contains the abstract of the full text item. For access to the full text item, please consult the publisher's website.
