Estimation of Trailer-Vehicle Articulation Angle Using 2D Point-Cloud Data

Estimation of Vehicle Trailer Rotation Using Calibrated Radars With Multiple Viewpoints

“…Four parameters φ 1 , φ 2 , w 1 , and v will be estimated. 1 The distance between the radars, w is known. The rotation angle parameters φ 1 , φ 2 are defined with respect to the line connecting the radars.…”