Semi-Trailer Vehicle Reversing Assistance System Based on Subjective Marker Detection and Multi-Sensor Fusion

To address the issues of low precision and complex path planning during semi-trailer vehicle reversing, this study proposes a reversing assistance system based on subjective marker detection and multi-sensor fusion. The system employs a camera to identify parking space markings in real time, combined with multi-sensor data such as laser rangefinders and angle encoders, to acquire vehicle posture and position information. The detected data is then utilized for reversing path planning. Experimental results based on real vehicle tests demonstrate that the system can reduce reversing time by approximately 2 minutes, indicating its effectiveness in improving the speed and reliability of semi-trailer reversing maneuvers.