Electrical and Computer Engineering Commons^™

Estimation Of Vehicle Trailer Rotation Using Calibrated Radars With Multiple Viewpoints, Kunle Olutomilayo

Dissertations, Master's Theses and Master's Reports

Multiple sensors are increasingly being deployed on systems for perception applications. In particular, vehicles are becoming equipped with a suite of sensors for advanced driver assistance features and autonomous driving. This dissertation considers automotive radar sensors mounted at the rear of a vehicle with the main objective of using their point cloud detections to estimate the rotation of a trailer which is attached to the vehicle's hitch ball. A simulation-based study of the problem is presented first. Thereafter, the problem is considered with respect to experimental radar data collected in both indoor and outdoor environments; the environmental difference is in …