| 摘要 |
PROBLEM TO BE SOLVED: To provide a trailer connecting angle detecting device having a simple structure, reducing an angle error and requiring no large-scale remodeling for a trailer. SOLUTION: Telecameras 4 are arranged in a tractor 1, a front position detecting marker 5F is arranged on a front panel 2a of the trailer 2 so as to relatively become a prescribed position to the telecameras 4, and a connecting angleθof the trailer 2 is determined by detecting an image position of the front position detecting marker 5F in output images of the telecameras 4. Even when the front position detecting marker 5F cannot be detected, side surface position detecting markers 5L and 5R are respectively arranged in front of both side surfaces 2b of the trailer 2, and when detecting these side surface position detecting markers 5L and 5R, image positions of the markers are similarly detected. The telecameras are arranged one by one in left and right end parts of the tractor 1, the bending direction of the trailer is detected from the output images of both cameras, and the connecting angle is detected by selectively using the output images of the cameras according to the bending direction.
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