Abstract:
We propose a technique for trailer angle detection (TAD) for use in advanced trailer backup assistance systems (TBAS) for semi-autonomous or fully autonomous backup maneu...Show MoreMetadata
Abstract:
We propose a technique for trailer angle detection (TAD) for use in advanced trailer backup assistance systems (TBAS) for semi-autonomous or fully autonomous backup maneuvers. TBAS incorporates a combined trailer-tow-vehicle kinematic model, which requires an estimate of the hitch-angle. The proposed radar-based TAD model processes reflections acquired from the mmWave radars situated at the rear side of the vehicle to detect the trailer and track its orientation to the tow-vehicle. This technique is based on the tracking of individual points in the merged radars point-cloud. Each tracked point is considered as a hitch-angle estimator. Using the current and past position information of a point, the model estimates the current hitch-angle. To offer an accurate and reliable estimation for the hitch-angle, the model fuses the estimated hitch-angle by all estimators and the yaw rate of the vehicle. The model employs a Kalman filter to track each radar point, which is robust to the noisy radar measurements. In the presence of strong and persistent reflections from the trailer, the model can track the trailer successfully and return the hitch-angle with a reliability measure equal to 90%. For a less common flat trailer with inconsistent radar reflective points, the measured reliability drops to 72%. The model is implemented in real-time with an expected processing time of 4 ms per epoch.
Published in: IEEE Transactions on Intelligent Vehicles ( Volume: 8, Issue: 2, February 2023)
Department of Electrical and Computer Engineering and the Department of Applied Computing, Michigan Technological University, Houghton, MI, USA
Mojtaba Bahramgiri (Member, IEEE) received the B.Sc. degree in electrical engineering from the Iran University of Science and Technology, Tehran, Iran, in 2013, the M.Sc. degree from the Amirkabir University of Technology, Tehran, Iran, in 2016, and the Ph.D. degree from the Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA, in 2021. He is currently doing postdoctoral ...Show More
Mojtaba Bahramgiri (Member, IEEE) received the B.Sc. degree in electrical engineering from the Iran University of Science and Technology, Tehran, Iran, in 2013, the M.Sc. degree from the Amirkabir University of Technology, Tehran, Iran, in 2016, and the Ph.D. degree from the Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA, in 2021. He is currently doing postdoctoral ...View more
Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA
Ford Greenfield Labs, Palo Alto, Santa Clara, CA, USA
Saeid Nooshabadi (Senior Member, IEEE) received the M.Tech. and Ph.D. degrees in electrical engineering from the Indian Institute of Technology Delhi, New Delhi, India, in 1986 and 1992, respectively. He is currently with Ford Greenfield Research Lab, Palo Alto, CA, USA. Before that, he was a Professor of computer systems engineering, having a joint appointment with the Departments of Electrical and Computer Engineering, ...Show More
Saeid Nooshabadi (Senior Member, IEEE) received the M.Tech. and Ph.D. degrees in electrical engineering from the Indian Institute of Technology Delhi, New Delhi, India, in 1986 and 1992, respectively. He is currently with Ford Greenfield Research Lab, Palo Alto, CA, USA. Before that, he was a Professor of computer systems engineering, having a joint appointment with the Departments of Electrical and Computer Engineering, ...View more
Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA
Ford Greenfield Labs, Palo Alto, Santa Clara, CA, USA
Kunle T. Olutomilayo (Member, IEEE) received the B.Eng. degree (Hons.) in computer engineering from the University of Uyo, Uyo, Nigeria, in 2013, and the M.S. and Ph.D. degrees in electrical engineering from Michigan Technological University, Houghton, MI, USA, in 2018 and 2020, respectively. He is currently with Ford Greenfield Labs, Palo Alto, CA, USA. His research interests include statistical signal processing and mac...Show More
Kunle T. Olutomilayo (Member, IEEE) received the B.Eng. degree (Hons.) in computer engineering from the University of Uyo, Uyo, Nigeria, in 2013, and the M.S. and Ph.D. degrees in electrical engineering from Michigan Technological University, Houghton, MI, USA, in 2018 and 2020, respectively. He is currently with Ford Greenfield Labs, Palo Alto, CA, USA. His research interests include statistical signal processing and mac...View more
Department of Electrical and Computer Engineering and the Department of Applied Computing, Michigan Technological University, Houghton, MI, USA
Daniel R. Fuhrmann (Fellow, IEEE) received the B.S.E.E. degree (cum laude) from Washington University, St. Louis, MO, USA, in 1979, and the M.A., M.S.E., and Ph.D. degrees from Princeton University, Princeton, NJ, USA, in 1982 and 1984, respectively. From 1984 to 2008, he was on the faculty of the Department of Electrical Engineering, and is currently with the Department of Electrical and Systems Engineering, Washington U...Show More
Daniel R. Fuhrmann (Fellow, IEEE) received the B.S.E.E. degree (cum laude) from Washington University, St. Louis, MO, USA, in 1979, and the M.A., M.S.E., and Ph.D. degrees from Princeton University, Princeton, NJ, USA, in 1982 and 1984, respectively. From 1984 to 2008, he was on the faculty of the Department of Electrical Engineering, and is currently with the Department of Electrical and Systems Engineering, Washington U...View more
Contents Department of Electrical and Computer Engineering and the Department of Applied Computing, Michigan Technological University, Houghton, MI, USA
Mojtaba Bahramgiri (Member, IEEE) received the B.Sc. degree in electrical engineering from the Iran University of Science and Technology, Tehran, Iran, in 2013, the M.Sc. degree from the Amirkabir University of Technology, Tehran, Iran, in 2016, and the Ph.D. degree from the Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA, in 2021. He is currently doing postdoctoral research with Michigan Technological University, Houghton, MI, USA. His research interests include machine learning, computer vision, sensor fusion, wireless sensor network, and massive sensor networks.
Mojtaba Bahramgiri (Member, IEEE) received the B.Sc. degree in electrical engineering from the Iran University of Science and Technology, Tehran, Iran, in 2013, the M.Sc. degree from the Amirkabir University of Technology, Tehran, Iran, in 2016, and the Ph.D. degree from the Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA, in 2021. He is currently doing postdoctoral research with Michigan Technological University, Houghton, MI, USA. His research interests include machine learning, computer vision, sensor fusion, wireless sensor network, and massive sensor networks.View more
Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA
Ford Greenfield Labs, Palo Alto, Santa Clara, CA, USA
Saeid Nooshabadi (Senior Member, IEEE) received the M.Tech. and Ph.D. degrees in electrical engineering from the Indian Institute of Technology Delhi, New Delhi, India, in 1986 and 1992, respectively. He is currently with Ford Greenfield Research Lab, Palo Alto, CA, USA. Before that, he was a Professor of computer systems engineering, having a joint appointment with the Departments of Electrical and Computer Engineering, and Computer Science, Michigan Technological University, Houghton, MI, USA. Prior that, he held multiple academic and research positions. His last two appointments were with the Gwangju Institute of Science and Technology, Gwangju, South Korea, from 2007 to 2010, and with the University of New South Wales, Sydney, NSW, Australia, from 2000 to 2007. His research interests include VLSI information processing and low-power embedded processors for wireless network and biomedical applications.
Saeid Nooshabadi (Senior Member, IEEE) received the M.Tech. and Ph.D. degrees in electrical engineering from the Indian Institute of Technology Delhi, New Delhi, India, in 1986 and 1992, respectively. He is currently with Ford Greenfield Research Lab, Palo Alto, CA, USA. Before that, he was a Professor of computer systems engineering, having a joint appointment with the Departments of Electrical and Computer Engineering, and Computer Science, Michigan Technological University, Houghton, MI, USA. Prior that, he held multiple academic and research positions. His last two appointments were with the Gwangju Institute of Science and Technology, Gwangju, South Korea, from 2007 to 2010, and with the University of New South Wales, Sydney, NSW, Australia, from 2000 to 2007. His research interests include VLSI information processing and low-power embedded processors for wireless network and biomedical applications.View more
Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA
Ford Greenfield Labs, Palo Alto, Santa Clara, CA, USA
Kunle T. Olutomilayo (Member, IEEE) received the B.Eng. degree (Hons.) in computer engineering from the University of Uyo, Uyo, Nigeria, in 2013, and the M.S. and Ph.D. degrees in electrical engineering from Michigan Technological University, Houghton, MI, USA, in 2018 and 2020, respectively. He is currently with Ford Greenfield Labs, Palo Alto, CA, USA. His research interests include statistical signal processing and machine learning. He was awarded the Early Careers Academic Grant by the Association of Commonwealth Universities, London, U.K., in 2015.
Kunle T. Olutomilayo (Member, IEEE) received the B.Eng. degree (Hons.) in computer engineering from the University of Uyo, Uyo, Nigeria, in 2013, and the M.S. and Ph.D. degrees in electrical engineering from Michigan Technological University, Houghton, MI, USA, in 2018 and 2020, respectively. He is currently with Ford Greenfield Labs, Palo Alto, CA, USA. His research interests include statistical signal processing and machine learning. He was awarded the Early Careers Academic Grant by the Association of Commonwealth Universities, London, U.K., in 2015.View more
Department of Electrical and Computer Engineering and the Department of Applied Computing, Michigan Technological University, Houghton, MI, USA
Daniel R. Fuhrmann (Fellow, IEEE) received the B.S.E.E. degree (cum laude) from Washington University, St. Louis, MO, USA, in 1979, and the M.A., M.S.E., and Ph.D. degrees from Princeton University, Princeton, NJ, USA, in 1982 and 1984, respectively. From 1984 to 2008, he was on the faculty of the Department of Electrical Engineering, and is currently with the Department of Electrical and Systems Engineering, Washington University. From 2008 to 2019, he was the Chair of the Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA, where he is the Chair of the Department of Applied Computing. He is an ASEE Summer Faculty Research Fellow with the Naval Underwater Systems Center, New London, CT, USA, a Consultant with MIT Lincoln Laboratory, Lexington, MA, USA, and an ASEE Summer Faculty Fellow with the Air Force Research Laboratory, Dayton, OH, USA. His research interests include statistical signal and image processing, including sensor array signal processing, radar systems, and adaptive sensing. He is a Former Associate Editor for the IEEE Transactions on Signal Processing. He was the Technical Program Chairman of the 1998 IEEE Signal Processing Workshop on Statistical Signal and Array Processing, and the General Chairman of the 2003 IEEE Workshop on Statistical Signal Processing. During 2000–2001 academic year, he was a Visiting Fulbright Scholar with the Universidad Nacional de La Plata, Buenos Aires, Argentina.
Daniel R. Fuhrmann (Fellow, IEEE) received the B.S.E.E. degree (cum laude) from Washington University, St. Louis, MO, USA, in 1979, and the M.A., M.S.E., and Ph.D. degrees from Princeton University, Princeton, NJ, USA, in 1982 and 1984, respectively. From 1984 to 2008, he was on the faculty of the Department of Electrical Engineering, and is currently with the Department of Electrical and Systems Engineering, Washington University. From 2008 to 2019, he was the Chair of the Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA, where he is the Chair of the Department of Applied Computing. He is an ASEE Summer Faculty Research Fellow with the Naval Underwater Systems Center, New London, CT, USA, a Consultant with MIT Lincoln Laboratory, Lexington, MA, USA, and an ASEE Summer Faculty Fellow with the Air Force Research Laboratory, Dayton, OH, USA. His research interests include statistical signal and image processing, including sensor array signal processing, radar systems, and adaptive sensing. He is a Former Associate Editor for the IEEE Transactions on Signal Processing. He was the Technical Program Chairman of the 1998 IEEE Signal Processing Workshop on Statistical Signal and Array Processing, and the General Chairman of the 2003 IEEE Workshop on Statistical Signal Processing. During 2000–2001 academic year, he was a Visiting Fulbright Scholar with the Universidad Nacional de La Plata, Buenos Aires, Argentina.View more
