Olutomilayo Kunle T, Bahramgiri Mojtaba, Nooshabadi Saeid, Oh JinHyoung, Lakehal-Ayat Mohsen, Rogan Douglas, Fuhrmann Daniel R
Ford Greenfield Labs, Palo Alto, CA 94304, United States.
Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI 49931, United States.
Data Brief. 2021 Aug 21;38:107305. doi: 10.1016/j.dib.2021.107305. eCollection 2021 Oct.
The automotive industry is interested in the estimation of vehicle trailer rotation (trailer angle or hitch angle) due to its use in trailer control algorithms. We present an experimental dataset collected in a study of the estimation problem [1] and a MATLAB code implementation of the study. The data collection apparatus is a truck mock-up that is attached to a flatbed trailer at the hitch ball. Two radars are installed in the taillight fixtures of the truck and a camera is installed in the truck's tailgate like a typical backup camera installation. A rotary motion sensor is also installed at the hitch ball to provide ground truth measurement of the trailer angle. To aid analysis of the dataset, both radar detections are transformed onto a vehicle coordinate system (VCS) having its origin at the hitch ball i.e. the different radar viewpoints are combined into one with respect to the hitch ball. The MATLAB code presented with this article has two major functionalities. The first functionality is the visualization of both radar detections, the combined radar detections in the VCS, the camera images, and the ground truth angles, as the trailer rotates. The second functionality of the code is the replication of the estimation results in [1], which used only the radar detections from the dataset.
汽车行业对车辆挂车旋转（挂车角度或牵引钩角度）的估计很感兴趣，因为它用于挂车控制算法。我们展示了在一项关于估计问题的研究中收集的实验数据集[1]以及该研究的MATLAB代码实现。数据收集设备是一个安装在牵引球上与平板挂车相连的卡车模型。在卡车的尾灯装置中安装了两个雷达，并且像典型的倒车摄像头安装一样，在卡车的后挡板上安装了一个摄像头。在牵引球处还安装了一个旋转运动传感器，以提供挂车角度的真实测量值。为了辅助对数据集的分析，两个雷达检测结果都被转换到一个以牵引球为原点的车辆坐标系（VCS）中，即相对于牵引球将不同的雷达视角合并为一个。本文给出的MATLAB代码有两个主要功能。第一个功能是在挂车旋转时可视化两个雷达检测结果、VCS中的合并雷达检测结果、摄像头图像以及真实角度。该代码的第二个功能是复制[1]中的估计结果，[1]中仅使用了数据集中的雷达检测结果。
