Registro de imagens aplicado à estimação do ângulo de acoplamento entre veículos tratores e semirreboques
Resumo
A estimativa precisa do ângulo de engate entre um veículo trator e um semirreboque é crucial para o controle de veículos articulados autônomos e semiautônomos. Em cenários de transporte de cargas, é particularmente importante estimar esse ângulo sem instrumentar o semirreboque. Os métodos existentes na literatura frequentemente apresentam limitações, como dependência da geometria do reboque, necessidade de recalibração a cada engate, sensibilidade às condições climáticas ou restrições de propriedade. Este artigo propõe um método baseado em registro de imagens para a estimativa do ângulo de engate que aborda essas questões e pode ser estendido para auxiliar manobras de aproximação de reboques.
Referências
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C. d. Saxe and D. Cebon, “Camera-based articulation angle sensing for heavy goods vehicles,” IEEE Transactions on Vehicular Technology, vol. 70, no. 8, pp. 7522–7535, 2021.
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C. Fuchs, F. Neuhaus, and D. Paulus, “Advanced 3-d trailer pose estimation for articulated vehicles,” in 2015 IEEE Intelligent Vehicles Symposium (IV), 2015, pp. 211–216.
O. Ljungqvist, D. Axehill, H. Pettersson, and J. Löfberg, “Estimation-aware model predictive path-following control for a general 2-trailer with a car-like tractor,” 2020. [Online]. Available: [link]
O. Ljungqvist, N. Evestedt, D. Axehill, M. Cirillo, and H. Pettersson, “A path planning and path-following control framework for a general 2-trailer with a car-like tractor,” Journal of Field Robotics, vol. 36, no. 8, p. 1345–1377, Oct. 2019. [Online]. DOI: 10.1002/rob.21908
P. Nyberg, “Stabilization, sensor fusion and path following for autonomous reversing of a full-scale truck and trailer system,” Master’s thesis, Linköping University, 2016.
K. Olutomilayo and D. R. Fuhrmann, “Estimation of trailer-vehicle articulation angle using 2d point-cloud data,” in 2019 IEEE Radar Conference (RadarConf), 2019, pp. 1–6.
D. Cebon and C. De Saxe, “Method and system of articulation angle measurement,” WIPO Patent WO 2019/202317 A1, Oct. 2019.
G. Klein and D. Murray, “Parallel tracking and mapping for small ar workspaces,” in 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, 2007, pp. 225–234.
A. Habibnejad Korayem, A. Khajepour, and B. Fidan, “A review on vehicle-trailer state and parameter estimation,” IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 7, pp. 5993–6010, 2022.
M. Kumar, A. Haas, P. Strauss, S. Kraus, Taş, and C. Stiller, “Conception and experimental validation of a model predictive control (mpc) for lateral control of a truck-trailer,” in 2022 IEEE Intelligent Vehicles Symposium (IV), 2022, pp. 1550–1557.
G. Xu, M. Chen, X. He, Y. Liu, J. Wu, and P. Diao, “Research on state-parameter estimation of unmanned tractor—a hybrid method of dekf and arbfnn,” Engineering Applications of Artificial Intelligence, vol. 127, p. 107402, 2024. [Online]. Available: [link]
M. A. Fischler and R. C. Bolles, “Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography,” Commun. ACM, vol. 24, no. 6, p. 381–395, Jun. 1981. [Online]. DOI: 10.1145/358669.358692
D. Arnström, “State estimation for truck and trailer systems using deep learning,” Master’s thesis, Linköping University, 2018.
C.-Z. Sun, B. Zhang, J.-K. Wang, and C.-S. Zhang, “A review of visual slam based on unmanned systems,” in 2nd International Conference on Artificial Intelligence and Education (ICAIE), 2021, pp. 226–234.
D. Xie, W. Zhu, F. Rong, X. Xia, and H. Shang, “Registration of point clouds: A survey,” in 2021 International Conference on Networking Systems of AI (INSAI), 2021, pp. 136–142.
Y. Zhang, S. Sun, J. Shang, and M. Yang, “Research on three-dimensional point cloud registration algorithm,” in 7th International Conf. Signal and Image Processing (ICSIP), 2022, pp. 645–649.
B. Reddy and B. Chatterji, “An fft-based technique for translation, rotation, and scale-invariant image registration,” IEEE Transactions on Image Processing, vol. 5, no. 8, pp. 1266–1271, 1996.
C. Kuglin and D. Hines, “The phase correlation image aligment method,” in IEEE Intl. Conf. Cybernetics and Society., 1975.
D. Persson and H. Deragården, “Method and system for determining an articulation angle of a vehicle combination,” Patent US 2023/0194699 A1, June 2023.
J. Traa and P. Smaragdis, “A wrapped kalman filter for azimuthal speaker tracking,” IEEE Signal Processing Letters, vol. 20, no. 12, pp. 1257–1260, 2013.
C. d. Saxe and D. Cebon, “Camera-based articulation angle sensing for heavy goods vehicles,” IEEE Transactions on Vehicular Technology, vol. 70, no. 8, pp. 7522–7535, 2021.
L. Caup, J. Salmen, I. Muharemovic, and S. Houben, “Video-based trailer detection and articulation estimation,” in 2013 IEEE Intelligent Vehicles Symposium (IV), 2013, pp. 1179–1184.
C. Fuchs, F. Neuhaus, and D. Paulus, “Advanced 3-d trailer pose estimation for articulated vehicles,” in 2015 IEEE Intelligent Vehicles Symposium (IV), 2015, pp. 211–216.
O. Ljungqvist, D. Axehill, H. Pettersson, and J. Löfberg, “Estimation-aware model predictive path-following control for a general 2-trailer with a car-like tractor,” 2020. [Online]. Available: [link]
O. Ljungqvist, N. Evestedt, D. Axehill, M. Cirillo, and H. Pettersson, “A path planning and path-following control framework for a general 2-trailer with a car-like tractor,” Journal of Field Robotics, vol. 36, no. 8, p. 1345–1377, Oct. 2019. [Online]. DOI: 10.1002/rob.21908
P. Nyberg, “Stabilization, sensor fusion and path following for autonomous reversing of a full-scale truck and trailer system,” Master’s thesis, Linköping University, 2016.
K. Olutomilayo and D. R. Fuhrmann, “Estimation of trailer-vehicle articulation angle using 2d point-cloud data,” in 2019 IEEE Radar Conference (RadarConf), 2019, pp. 1–6.
D. Cebon and C. De Saxe, “Method and system of articulation angle measurement,” WIPO Patent WO 2019/202317 A1, Oct. 2019.
G. Klein and D. Murray, “Parallel tracking and mapping for small ar workspaces,” in 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, 2007, pp. 225–234.
A. Habibnejad Korayem, A. Khajepour, and B. Fidan, “A review on vehicle-trailer state and parameter estimation,” IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 7, pp. 5993–6010, 2022.
M. Kumar, A. Haas, P. Strauss, S. Kraus, Taş, and C. Stiller, “Conception and experimental validation of a model predictive control (mpc) for lateral control of a truck-trailer,” in 2022 IEEE Intelligent Vehicles Symposium (IV), 2022, pp. 1550–1557.
G. Xu, M. Chen, X. He, Y. Liu, J. Wu, and P. Diao, “Research on state-parameter estimation of unmanned tractor—a hybrid method of dekf and arbfnn,” Engineering Applications of Artificial Intelligence, vol. 127, p. 107402, 2024. [Online]. Available: [link]
M. A. Fischler and R. C. Bolles, “Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography,” Commun. ACM, vol. 24, no. 6, p. 381–395, Jun. 1981. [Online]. DOI: 10.1145/358669.358692
D. Arnström, “State estimation for truck and trailer systems using deep learning,” Master’s thesis, Linköping University, 2018.
C.-Z. Sun, B. Zhang, J.-K. Wang, and C.-S. Zhang, “A review of visual slam based on unmanned systems,” in 2nd International Conference on Artificial Intelligence and Education (ICAIE), 2021, pp. 226–234.
D. Xie, W. Zhu, F. Rong, X. Xia, and H. Shang, “Registration of point clouds: A survey,” in 2021 International Conference on Networking Systems of AI (INSAI), 2021, pp. 136–142.
Y. Zhang, S. Sun, J. Shang, and M. Yang, “Research on three-dimensional point cloud registration algorithm,” in 7th International Conf. Signal and Image Processing (ICSIP), 2022, pp. 645–649.
B. Reddy and B. Chatterji, “An fft-based technique for translation, rotation, and scale-invariant image registration,” IEEE Transactions on Image Processing, vol. 5, no. 8, pp. 1266–1271, 1996.
C. Kuglin and D. Hines, “The phase correlation image aligment method,” in IEEE Intl. Conf. Cybernetics and Society., 1975.
D. Persson and H. Deragården, “Method and system for determining an articulation angle of a vehicle combination,” Patent US 2023/0194699 A1, June 2023.
J. Traa and P. Smaragdis, “A wrapped kalman filter for azimuthal speaker tracking,” IEEE Signal Processing Letters, vol. 20, no. 12, pp. 1257–1260, 2013.
Publicado
30/09/2025
Como Citar
MUSSOI, Bruno; ZOTTIS, Jonatas Lemuel Bispo; PASTRE, Guilherme Garbossa; MOLON, Maicon; DALLALBA, Gabriela Machado; COSTA, Guilherme Holsbach.
Registro de imagens aplicado à estimação do ângulo de acoplamento entre veículos tratores e semirreboques. In: WORKSHOP DE TRABALHOS EM ANDAMENTO - CONFERENCE ON GRAPHICS, PATTERNS AND IMAGES (SIBGRAPI), 38. , 2025, Salvador/BA.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2025
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p. 61-66.
