Granted Patent B2

US 12,735,104 · App. 19/071,040 · Granted Sep 15, 2026

Inventors: Nicolai Wengert (Burgstetten, DE); Florian Kuehnle (Stuttgart, DE); Malte Ricklefs (Kernen, DE)

Assignee: TORC ROBOTICS, INC.

B62D15/024G06T7/74G06T2207/30268

Abstract

Claims (65)

1 . A steering angle detection assembly for measuring a steering angle of a vehicle, the steering angle detection assembly comprising:

a camera configured to capture one or more images of an angle marker positioned on a tie rod of a vehicle, the camera configured to be mounted on the vehicle at a location stationary relative to an axel of the vehicle;

at least one memory device; and

at least one processor in communication with the at least one memory device, the at least one processor programmed to:

receive a first image of the angle marker;

compare the first image with a reference image of the angle marker;

determine a position of the angle marker based on comparison of the first image with the reference image;

determine a steering angle based at least in part on the position of the angle marker; and

output the steering angle.

2 . The steering angle detection assembly of claim 1 , further comprising a reference marker positioned at a location of the vehicle stationary relative to the camera and in a field of view of the camera.

3 . The steering angle detection assembly of claim 2 , wherein:

the one or more images further include the reference marker in at least one image of the one or more images; and

the at least one processor is further programmed to:

determine positions of the reference marker in the one or more images;

determine vibration of the camera based on the positions of the reference marker; and

determine the steering angle by removing the vibration from the steering angle.

4 . The steering angle detection assembly of claim 1 , wherein the at least one processor is further programmed to:

reduce vibration in positions of the angle marker by filtering signals of the steering angle.

5 . The steering angle detection assembly of claim 1 , wherein:

the camera is removably attached at a mounting location on the vehicle.

6 . The steering angle detection assembly of claim 5 , further comprising a mounting assembly, wherein the mounting assembly comprises:

a fixed portion fixedly coupled with the vehicle; and

a removable portion removably coupled with the fixed portion and configured to be coupled with the camera.

7 . The steering angle detection assembly of claim 1 , further comprising a cleaning system configured to remove obstructions from a field of view of the camera.

8 . The steering angle detection assembly of claim 1 , wherein the at least one processor is further programmed to:

determine a change in position of the angle marker based on comparison of the one or more images with the reference image;

determine a change in steering angle based at least in part on the change in position of the angle marker; and

output the change in steering angle.

9 . The steering angle detection assembly of claim 1 , further comprising a light source configured to illuminate a field of view of the camera.

10 . A method of measuring a steering angle of a vehicle, the method comprising:

receiving one or more images of an angle marker positioned on a tie rod of a vehicle, the one or more images captured by a camera, the camera configured to be mounted on a vehicle at a location stationary relative to an axle of the vehicle;

comparing a first image of the one or more images with a reference image of the angle marker;

determining a position of the angle marker based on the comparison of the first image with the reference image; and

determining a steering angle based at least in part on the change in position of the angle marker.

11 . The method of claim 10 ,

wherein the one or more images further include a reference marker, the method further comprising:

determining a position of the reference marker;

determining vibration of the camera based on the position of the reference marker; and

determining the steering angle by removing the vibration from the steering angle.

12 . The method of claim 10 , wherein the method further comprises:

determining a change in position of the angle marker based on comparison of the one or more images with the reference image; and

determining a change in steering angle based at least in part on the change in position of the angle marker.

13 . The method of claim 10 , wherein the method further comprises

reducing vibration in positions of the angle marker by filtering signals of the steering angle.

14 . The method of claim 10 , further comprising:

removing, via a cleaning system, obstructions from a field of view of the camera.

15 . The method of claim 10 , further comprising:

illuminating, via a light source, a field of view of the camera.

16 . One or more non-transitory machine-readable storage media for measuring a steering angle of a vehicle, the one or more non-transitory machine-readable storage media comprising a plurality of instructions stored thereon that, in response to being executed, cause a system to:

receive one or more images of an angle marker;

compare a first image of the one or more images with a reference image of the angle marker;

determine a position of the angle marker based on the comparison of the first image with the reference image; and

determine a steering angle based at least in part on the position of the angle marker.

17 . The one or more non-transitory machine-readable storage media of claim 16 ,

wherein the one or more images further comprises a reference marker, the plurality of instructions further causing the system to:

determine a position of the reference marker;

determine vibration of a camera based on the positions of the reference marker; and

determine the steering angle by removing the vibration from the steering angle.

18 . The one or more non-transitory machine-readable storage media of claim 16 , wherein the plurality of instructions further cause the system to:

determine a change in position of the angle marker based on comparison of the one or more images; and

determine a change in steering angle based at least in part on the change in position of the angle marker.

19 . The one or more non-transitory machine-readable storage media of claim 16 , wherein the plurality of instructions further cause the system to:

cause a cleaning system to remove obstructions from a field of view of the camera.

20 . The one or more non-transitory machine-readable storage media of claim 16 , wherein the plurality of instructions further cause the system to:

cause a light source to illuminate a field of view of the camera.

Assignments (1)

Continuity (1)

References Cited (10)