Abstract: Upon initiation of trailer-hitching, an image is obtained of an area behind and in a horizontal plane with respect to a vehicle, the area including a rearwardly extending trailer hitch, with a hitch ball mounted thereto, mounted to the vehicle. The hitch ball is located in the image. An overshoot zone, having a length extending from a vehicle rear bumper to a nearest point on the vehicle hitch ball and having a width that is a sum of a diameter of the hitch and two times a lateral offset, is defined within the area, as is a misaligned zone having a border extending from the vehicle rear bumper to a line tangent to a rearmost point of the hitch ball. A vehicle action is caused upon determining that the trailer coupling is detected in the overshoot zone or the misaligned zone.

Abstract: A computing device is programmed to generate a plurality of raw 3D point clouds from respective sensors having non-overlapping fields of view, scale each of the raw point clouds including scaling real-world dimensions of one or more features included in the respective raw 3D point cloud, determine a first transformation matrix that transforms a first coordinate system of a first scaled 3D point cloud of a first sensor to a second coordinate system of a second scaled 3D point cloud of a second sensor, and determine a second transformation matrix that transforms a third coordinate system of a third scaled 3D point cloud of a third sensor to the second coordinate system of the second scaled 3D point cloud of the second sensor.

Abstract: A computing device is programmed to generate a plurality of raw 3D point clouds from respective sensors having non-overlapping fields of view, scale each of the raw point clouds including scaling real-world dimensions of one or more features included in the respective raw 3D point cloud, determine a first transformation matrix that transforms a first coordinate system of a first scaled 3D point cloud of a first sensor to a second coordinate system of a second scaled 3D point cloud of a second sensor, and determine a second transformation matrix that transforms a third coordinate system of a third scaled 3D point cloud of a third sensor to the second coordinate system of the second scaled 3D point cloud of the second sensor.

Abstract: Upon initiation of trailer-hitching, an image is obtained of an area behind and in a horizontal plane with respect to a vehicle, the area including a rearwardly extending trailer hitch, with a hitch ball mounted thereto, mounted to the vehicle. The hitch ball is located in the image. An overshoot zone, having a length extending from a vehicle rear bumper to a nearest point on the vehicle hitch ball and having a width that is a sum of a diameter of the hitch and two times a lateral offset, is defined within the area, as is a misaligned zone having a border extending from the vehicle rear bumper to a line tangent to a rearmost point of the hitch ball. A vehicle action is caused upon determining that the trailer coupling is detected in the overshoot zone or the misaligned zone.

Abstract: According to one embodiment, a method for estimating a speed and yaw rate of a vehicle based on images received from a monocular camera is disclosed. The method includes receiving sequential images comprising a first image and a second image from a camera of a vehicle. The method includes extracting one or more ground features from each of the sequential images and computing coordinates for a ground feature of the first image and the second image. The method includes estimating speed and yaw rate of the vehicle based on a change in the coordinates for the ground feature from the first image to the second image.