Method for ascertaining an articulation angle, processing unit, and vehicle
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United States of America
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Feb 11, 2025
Grant Date -
Oct 3, 2024
app pub date -
Sep 23, 2022
filing date -
Sep 23, 2022
priority date (Note) -
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Abstract
A method for determining an articulation angle between a towing vehicle and a trailer, wherein the trailer can be imaged in single images with single-image pixels using a camera system. The method includes determining a point cloud from at least one single image and forming at least one planar reference surface from adjacent object points of the point cloud that lie in a same plane. The method further includes reading in at least one single image, in which the trailer coupled to the towing vehicle is imaged, and determining at least one partial surface and fitting the at least one previously formed planar reference surface to the at least one determined partial surface by applying a geometric transformation. The method further includes determining the articulation angle between the towing vehicle and the trailer as a function of a rotational component of the applied geometric transformation.
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