METHOD AND APPARATUS FOR DETERMINING A TRAILER HITCH ARTICULATION ANGLE IN A MOTOR VEHICLE

Methods and apparatus are provided for determining a hitch articulation angle including a camera for capturing a first image and a second image, a steering sensor configured to detect a steering angle, a velocity sensor configured to detect a vehicle velocity, a processor configured to for generating a bird's eye view of the first image and the second image through a perspective transform, generating a trailer hitch model from the first image in response to the steering angle and the vehicle velocity indicating a vehicle is traveling in a straight forward direction, generating a current hitch model from the second image, determining a hitch articulation angle in response to an angular difference between the trailer hitch model and the current hitch model, and a vehicle controller controlling the vehicle in response to the hitch articulation angle. 提供了用于确定机动车辆中的拖车挂钩铰接角度的方法和设备，包括：用于捕获第一图像和第二图像的相机；配置为检测转向角度的转向传感器；配置为检测车辆速度的速度传感器；处理器，其配置为用于：通过透视变换生成第一图像和第二图像的鸟瞰图，响应于转向角度和指示车辆沿直线向前方向行驶的车辆速度而从第一图像生成拖车挂钩模型，从第二图像生成当前挂