Granted Patent B2

US 12,656,108 · App. 17/605,516 · Granted Jun 16, 2026

Inventors: Uwe Maehnert (Bietigheim-Bissingen, DE); Jerg Pfeil (Cleebronn, DE); Martin Goth (Leonberg, DE)

Assignee: ROBERT BOSCH GMBH

G01B11/26B60D1/62G06T7/11G06T7/73G06T2207/30252

Abstract

Claims (23)

1 . A method for ascertaining an operating angle between a tractor and a trailer of the tractor, the method comprising the following steps:

a) obtaining camera images simultaneously ascertained by a plurality of rear-facing cameras situated on the tractor;

b) estimating a disparity between image data in different ones of the simultaneously ascertained camera images;

c) based on the estimated disparity, detecting structures of the trailer in the camera images; and

d) ascertaining the operating angle by evaluating the detected structures in the camera images.

2 . The method as recited in claim 1 , wherein the detecting of the structures includes detecting a rear edge of the trailer in the simultaneously ascertained camera images.

3 . The method as recited in claim 1 , wherein in the detection of structures of the trailer in the camera images, a classification of the detected structures and/or a neural network is used.

4 . The method as recited in claim 1 , wherein a mean value calculation is carried out when ascertaining the operating angle by evaluating the detected structures in the camera images.

5 . The method as recited in claim 1 , wherein at least one of the following parameters of a vehicle is used for ascertaining the operating angle: a trailer length, a trailer height, a height of a cargo area of the trailer, a speed of the tractor, a yaw rate of the tractor.

6 . The method as recited in claim 1 , wherein at least one of the following operating angles is ascertained: an angle of roll, an angle of traction, a pitch angle, an articulation angle.

7 . The method as recited in claim 1 , wherein the ascertained operating angle is used for setting up an ego movement model of a vehicle including the tractor and the trailer.

8 . A device for ascertaining an operating angle between a tractor and a trailer of the tractor, comprising:

a plurality of rear-facing cameras situated on the tractor; and

a processor, wherein the processor is configured to:

obtain camera images simultaneously generated by the plurality of rear-facing cameras;

estimate a disparity between image data in different ones of the simultaneously ascertained camera images;

based on the estimated disparity, detect structures of the trailer in the camera images; and

ascertain the operating angle by evaluating the detected structures in the camera images.

9 . A non-transitory computer-readable memory medium on which is stored a computer program including program code for ascertaining an operating angle between a tractor and a trailer of the tractor, the program code, when executed by a computer, causing the computer to perform the following steps:

a) obtaining camera images simultaneously ascertained by a plurality of rear-facing cameras situated on the tractor;

b) estimating a disparity between image data in different ones of the simultaneously ascertained camera images:

c) based on the estimated disparity, detecting structures of the trailer in the camera images; and

d) ascertaining the operating angle by evaluating the detected structures in the camera images.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (19)