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1. (WO2018202762) METHOD FOR DETERMINING THE ARTICULATION ANGLE OF A COMBINATION

Pub. No.:    WO/2018/202762    International Application No.:    PCT/EP2018/061321
Publication Date: Fri Nov 09 00:59:59 CET 2018 International Filing Date: Fri May 04 01:59:59 CEST 2018
IPC: B60D 1/62
B60D 1/24
B62D 13/06
B60R 1/00
Applicants: VOLKSWAGEN AKTIENGESELLSCHAFT
Inventors: JÄHNISCH, Marco
BERGER, Oliver
ERFURTH, Christoph
Title: METHOD FOR DETERMINING THE ARTICULATION ANGLE OF A COMBINATION
Abstract:
The invention relates to a method and to a device for determining the articulation angle of a combination, consisting of a towing vehicle and a trailer attached by means of a tongue, by identifying the hitch tongue by means of a digital back-up camera with variable exposure times, the following steps being carried out: a) recording a first color image of the rear environment of the towing vehicle, the color image being based on the HSV color space, b) examining the hue values (H), saturation values (S) and brightness values (V) of adjacent surfaces of a vehicle-environment region that is to be evaluated, c) determining the tongue from the first color image by means of an edge detection method in order to determine the articulation angle if the hue values (H), saturation values (S) and brightness values (V) of adjacent surfaces in the region that is to be evaluated are substantially equal, "substantially equal" meaning that the values of hue, saturation and brightness of adjacent surfaces differ by at most a first threshold in percent, d) recording a second color image in the HSV color space if in the first color image the hue values (H) and saturation values (S) of adjacent surfaces in the region that is to be evaluated are substantially equal while the brightness values (V) of the adjacent surfaces deviate greatly from each other, "deviate greatly from each other" meaning that the brightness values (V) of adjacent surfaces differ from each other by more than a second threshold in percent, the exposure time of the second color image being selected in such a way that the brightness values (V) of the adjacent surfaces within the vehicle-environment region that is to be evaluated are substantially equal, e) determining the tongue from the second color image by means of an edge detection method in order to determine the articulation angle.