KINEMATIC MODEL FOR CAMERA MONITORING SYSTEM

Abstract

A camera monitor system includes a rear facing camera that provides a captured image of a field of view that includes at least a portion of a trailer, a display that is in communication with the camera that depicts a displayed image that includes at least a portion of the captured image that includes the portion of the trailer, and a controller that is in communication with the camera and the display. The controller includes a kinematics module that includes a model that has a trailer rotational radius and a tractor rotational radius that are different than one another. A trailer detection module is configured to determine a trailer boundary at a current trailer position, and a collision alert module is configured to provide an overlay on the displayed image that corresponds to a region encompassing a predicted trailer path relative to the current trailer position based upon the model.

Description

1 / 25 “Kinematic Model for Camera Monitoring System” PRIORITY CLAIM

[001] The present application claims priority over the Application of United States Patent No. 18 / 116,627, filed March 2, 2023, entitled “Trailer Striking Prediction Using Camera Monitoring System”. TECHNICAL FIELD

[002] The present invention relates to a camera monitoring system (CMS) for use on a tractor pulling a trailer and, in particular, to a system for increasing driver awareness during a turning operation. BACKGROUND

[003] Mirror replacement systems and camera systems to supplement mirror vision are used in commercial vehicles to increase the operator's ability to view the surrounding environment. Camera monitoring systems (CMS) use one or more cameras arranged around the vehicle to provide an enhanced field of view to the operator on one or more monitors located in the vehicle cab. In some examples, mirror replacement systems within the CMS may cover a wider field of view than a conventional mirror or may include views that are not fully obtained through a conventional mirror.

[004] Forward turning maneuvers in commercial tractor configurations require a wider turn than other vehicles in order to prevent the side of the trailer from inadvertently striking objects on the inside of the turning arc. Even when the inside of the turn is visible via mirrors and / or camera monitoring systems, it can be difficult for less experienced operators. Petition 870250077913, dated 01 / 09 / 2025, page 57 / 88 2 / 25 experienced individuals assess trailer side movement using only conventional visualizations.

[005] Typically, vehicle operators compensate for the difficulty by making unnecessarily wide turns to ensure that objects on the inside of the turn are not hit by the trailer. SUMMARY

[006] In an exemplary embodiment, a camera monitoring system (CMS) for a vehicle includes a rear camera configured to provide a captured image of a field of view that includes at least part of a trailer, a display that communicates with the camera and is configured to display an image that includes at least part of the captured image that includes part of the trailer, and a controller that communicates with the camera and the display. The controller includes a kinematic module that includes a model that has a trailer turning radius and a tractor turning radius that are different from each other. A trailer detection module is configured to determine the trailer boundary at a current trailer position, and a collision warning module is configured to provide an overlay on the displayed image that corresponds to a region encompassing a predicted trailer trajectory relative to the current trailer position based on the model.

[007] In an additional embodiment, according to any of the above items, the model is provided by a first bicycle model with Ackerman steering, which indicates a predicted trajectory of the tractor, and a second bicycle model is connected to the first bicycle model by a hitch point. The second bicycle model indicates a predicted trajectory of the trailer.

[008] In an additional embodiment, according to any of the above items, the overlap includes a first overlap in Petition 870250077913, dated 01 / 09 / 2025, pages 58 / 88 3 / 25 image displayed corresponds to a first region encompassing a predicted trajectory of the trailer relative to the trailer's current position. The first overlay includes a first boundary provided by a first curved line indicating an internal trajectory of the trailer and a trailer impact area from the first boundary to the trailer.

[009] In an additional embodiment, according to any of the above items, the overlay includes a second overlay on the displayed image that corresponds to a second region encompassing a predicted tractor trajectory relative to the tractor's current position. The first overlay includes a second boundary, provided by a second curved line indicating an inner tractor trajectory and a tractor impact area from the second boundary to the tractor.

[0010] In an additional embodiment, according to any of the above items, the first and second overlays are provided as an aerial view.

[0011] In an additional embodiment, according to any of the above items, the displayed image corresponds to at least one Class II view and one Class IV view.

[0012] In an additional embodiment, according to any of the above items, the kinematic module is configured to receive the current angle of the trailer, the steering angle and the speed of the vehicle to provide the predicted path of the trailer.

[0013] In an additional embodiment, in accordance with any of the above items, the controller includes a lane detection module that is configured to determine a lane boundary for the vehicle, and the collision warning module is configured to determine an imminent intersection between the trailer boundary and the lane boundary and provide a warning in response thereto.

[0014] In an additional modality, according to anyone Petition 870250077913, dated 01 / 09 / 2025, page 59 / 88 4 / 25 of the above items, the controller includes an object detection module that is configured to detect an object, and the collision warning module is configured to determine an imminent intersection between the trailer boundary and the object and provide an alert in response.

[0015] In an exemplary additional embodiment, a method of communicating the trailer's position to a driver includes capturing an image of a field of view that includes at least part of a trailer, displaying at least part of the captured image that includes the trailer part, modeling the trailer's kinematics, the trailer having a trailer turning radius and a tractor to which the trailer is coupled having a tractor turning radius different from the trailer's turning radius, providing the trailer's current angle, steering angle, and vehicle speed to the kinematic model, identifying a current trailer position, determining a predicted path for the trailer with the kinematic model based on the trailer's current position, and issuing an alert related to the predicted path for the trailer.

[0016] In an additional embodiment, according to any of the above items, the kinematic model is provided by a first bicycle model with Ackerman steering, which indicates a predicted trajectory of the tractor, and a second bicycle model is connected to the first bicycle model by a hitch point. The second bicycle model indicates the predicted trajectory of the trailer.

[0017] In an additional embodiment, in accordance with any of the above items, the output step includes generating an overlay on the displayed image, the indicated overlay of the intended towing path.

[0018] In an additional embodiment, according to any of the above items, the displayed image corresponds to at least one Class II view and one Class IV view. Petition 870250077913, dated 01 / 09 / 2025, pages 60 / 88 5 / 25

[0019] In an additional embodiment, according to any of the above items, the method includes a lane detection step and a lane boundary for the vehicle, and the exit step includes providing an alert that is indicative of an imminent intersection between the intended path of the trailer and the lane boundary.

[0020] In an additional embodiment, according to any of the above items, the method includes an object detection step, and the output step includes providing an indicative alert of an imminent intersection between the intended path of the trailer and the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The disclosure can be better understood by reference to the following detailed description when considered in connection with the accompanying drawings, in which:

[0022] Figure 1A is a schematic front view of a commercial truck with a camera monitoring system (CMS) used to provide at least Class II and Class IV views.

[0023] Figure 1B is a schematic top-elevation view of a commercial truck with a camera mirror system providing Class II, Class IV, Class V, Class VI and Class VIII views.

[0024] Figure 2 is a schematic illustration of the interior of a vehicle cabin and the CMS system.

[0025] Figure 3 depicts a kinematic model for each tractor and trailer.

[0026] Figure 4 shows an aerial view of the collision areas of tractors and trailers based on the kinematic model of Figure 3.

[0027] Figures 5A-5C schematically illustrate a commercial truck turning maneuver at the beginning (Figure 3A), in the middle (Figure 3B), and at the end (Figure 3C) of a turning maneuver. Petition 870250077913, dated 01 / 09 / 2025, page 61 / 88 6 / 25 moving forward.

[0028] Figure 6 illustrates a method for providing trailer impact area collision warnings using CMS.

[0029] Figure 7 schematically illustrates a predicted impact area for a trailer.

[0030] Figure 8 illustrates a detailed method for generating the trailer impact area of ​​Figure 6 and using it to generate an overlay.

[0031] Figure 9 is a flowchart of the various functionalities performed in the CMS.

[0032] Figure 10 is an aerial view of the vehicle traveling along a curved highway in traffic.

[0033] Figures 11A-11B are, respectively, the driver's and passenger's fields of view provided on the CMS displays for the vehicle position shown in Figure 10.

[0034] Figures 12A-12B show, respectively, the driver's and passenger's fields of view provided on the CMS displays for the vehicle position shown in Figure 3B.

[0035] Figures 13A-13C are alternative overlays to the overlay shown in Figure 12B.

[0036] The embodiments, examples and alternatives of the preceding paragraphs, of the claims or of the description and drawings that follow, including any of their various aspects or respective individual features, may be considered independently or in any combination. The features described in connection with one embodiment are applicable to all embodiments unless such features are incompatible. DETAILED DESCRIPTION

[0037] A schematic view of a commercial vehicle 10 is illustrated in Figures 1A and 1B. Figure 2 is a schematic view in Petition 870250077913, dated 01 / 09 / 2025, page 62 / 88 7 / 25 Top view of the vehicle cab 10, including internal displays and cameras. The vehicle 10 includes a cab or tractor 12 for pulling a trailer 14. It should be understood that the cab 12 and / or the trailer 14 can have any configuration. Although a commercial truck is contemplated in this disclosure, the invention can also be applied to other types of vehicles. The vehicle 10 incorporates a camera monitoring system (CMS) 15 (Figure 2) having camera arms 16a and 16b on the driver and passenger sides (generally, camera arm 16 or wing) mounted on the outside of the cab 12. If desired, the camera arms 16a and 16b may also include integrated conventional mirrors, although the CMS 15 can be used to completely replace the mirrors. In further examples, each side may include multiple camera arms, each arm housing one or more cameras and / or mirrors.

[0038] Each of the camera arms 16a and 16b includes a base fixed, for example, to the cab 12. An articulated arm is supported by the base and can articulate relative to it. Fixed wings can also be used. At least one rear-facing camera 20a and 20b is arranged, respectively, within the camera arms. The external cameras 20a and 20b each have an image capture unit that captures an external field of view (FOVEX1 and FOVEX2), each including at least one of the Class II and Class IV views (Figure 1B), which are views prescribed by law in the commercial road transport sector. It is desirable to capture at least a part of the trailer 14 in the field of view, for example, the side and / or the end of the trailer, throughout the operation of the vehicle. Multiple cameras can also be used in each camera arm 16a and 16b to provide these views, if desired.Class II and Class IV views are defined in European legislation R46, for example, and the United States and other countries have visibility requirements. Petition 870250077913, dated 01 / 09 / 2025, pages 63 / 88 8 / 25 Similar driving capabilities for commercial trucks. Any reference to a Class view is not intended to be limiting, but rather illustrative of the type of view provided to a viewer by a specific camera. Each arm 16a and 16b may also provide a compartment housing electronic components configured to provide various CMS 15 features.

[0039] The first and second video monitors 18a, 18b are arranged on each of the driver and passenger sides inside the vehicle cab 12, on or near the A-pillars 19a, 19b, to display Class II (narrow-angle view) and Class IV (wide-angle view) views (e.g., Class II represented above Class IV in a portrait-style configuration) on their respective side of the vehicle 10, which provide rear-facing side views along the vehicle 10 (e.g., trailer parts) that are captured by the external cameras 20a, 20b.

[0040] If you would also like video views of Class V and / or Class VI, a camera housing 16c and a camera 20c can be arranged at or near the front of the vehicle 10 to provide these views (Figure 1B). A third display 18c, arranged inside the cab 12, near the upper center of the windshield, can be used to display the Class V and Class VI views, which are directed towards the front of the vehicle 10, to the driver. Displays 18a, 18b, and 18c are directed towards a driver region 24 inside the cab 22, where an operator is seated in a seat 26. The location, size, and field(s) of view transmitted to any specific display may vary from the configurations described in this disclosure and still incorporate the disclosed invention.

[0041] If you wish to record videos of the Classroom VIII, camera housings may be arranged on the sides and rear of the vehicle 10 to provide fields of view that include some or Petition 870250077913, dated 01 / 09 / 2025, p. 64 / 88 9 / 25 all Class VIII zones of the vehicle 10. As illustrated, the Class VIII view includes views immediately surrounding the trailer and in the rear proximity of the vehicle, including the rear of the trailer. In one example, a view of the rear proximity of the vehicle is generated by a rear-facing camera positioned at the rear of the vehicle and may include both the immediate rear proximity and a traditional rear view (e.g., a view extending rearward to the horizon, such as may be generated by a rearview mirror on vehicles without a trailer). In such examples, the third display 18c may include one or more frames displaying the Class VIII views. Alternatively, additional displays may be added next to the first, second, and third displays 18a, 18b, 18c (usually display 18) and provide a dedicated display to provide a Class VIII view.

[0042] In some cases, the Class VIII view is generated using a camera 30 mounted on the trailer.The trailer-mounted camera 20d is a rear-facing camera that provides a field of view behind the trailer. This rear view can be provided to one of the displays 18a, 18b and / or another display 18c inside the vehicle cab 22 as a replacement for the rearview mirror or as a supplement to the rearview mirror. This view is particularly beneficial as the trailer 14 may block some or all of the views provided by a conventional rearview mirror.

[0043] The CMS 15 is also configured to use images from cameras 20a, 20b, 20c, 20d (generally, “camera 20”), as well as images from other cameras that may be located in the vehicle or in communication with the vehicle, to determine vehicle characteristics, identify objects, and facilitate driver assistance features such as display overlays and semi-automated driver assistance systems.

[0044] These CMS 15 features and functions are used to im Petition 870250077913, dated 01 / 09 / 2025, pages 65 / 88 10 / 25 Complement multiple CMS 15 systems that assist in vehicle operation. It should be noted that a controller 30 (Figure 2) for the CMS 15 can be used to implement the various functionalities disclosed in this application. The controller 30, which communicates with the displays 18 and the cameras 20, can include one or more discrete units. For example, a centralized architecture may have a common controller located in the vehicle 10, while a decentralized architecture may use a controller provided in each of the displays 18, for example. Furthermore, part of the controller 30 may be provided in the vehicle 10, while another part of the controller 30 may be located elsewhere, for example, on the arms of the camera 16. In another example, a master-slave display configuration can be used, in which one display includes the controller 30 while the other receives commands from the controller 30.

[0045] In terms of hardware architecture, such a controller may include a processor, memory (e.g., memory 31, Figure 2), and one or more input / output (I / O) device interfaces coupled communicatively via a local interface. The local interface may include, for example, but not limited to, one or more buses and / or other wired or wireless connections. The local interface may have additional elements, which are omitted for simplicity, such as controllers, buffers (caches), drivers, repeaters, and receivers to enable communication. Furthermore, the local interface may include address, control, and / or data connections to allow proper communication between the aforementioned components.

[0046] Controller 30 can be a hardware device for executing software, particularly software stored in memory (e.g., memory 31, Figure 2). Controller 30 can be a custom or commercially available processor, a central processing unit (CPU), an auxiliary processor, or a Petition 870250077913, dated 01 / 09 / 2025, page 66 / 88 11 / 25 three multiple processors associated with the controller, a semiconductor-based microprocessor (in the form of a microchip or chip set) or, more generally, any device for executing software instructions.

[0047] Memory 31 may include any one or a combination of volatile memory elements (e.g., random access memory (RAM, such as DRAM, SRAM, SDRAM, VRAM, etc.)) and / or non-volatile memory elements (e.g., ROM, hard disk, tape, CD-ROM, etc.). Furthermore, memory 31 may incorporate electronic, magnetic, optical, and / or other types of storage media. Memory 31 may also have a distributed architecture, in which multiple components are located remotely from each other but can be accessed by the processor.

[0048] The software in memory 31 may include one or more separate programs, each of which includes an ordered list of executable instructions to implement logical functions. A system component embedded as software may also be interpreted as a source program, an executable program (object code), a script, or any other entity containing a set of instructions to be executed. When constructed as a source program, the program is translated by means of a compiler, assembler, interpreter, or similar, which may or may not be included in memory 31.

[0049] The disclosed input and output devices that can be coupled to the system's I / O interfaces may include input devices, for example, but not limited to, a keyboard, mouse, scanner, microphone, camera, mobile device, proximity device, etc. In addition, output devices, for example, but not limited to, a printer, monitor, etc. Finally, input and output devices may also include devices that communicate Petition 870250077913, dated 01 / 09 / 2025, pp. 67 / 88 12 / 25 as inputs and outputs, for example, but not limited to, a modulator / demodulator (modem; to access another device, system or network), a radio frequency (RF) or other transceiver, a telephone interface, a bridge, a router, etc.

[0050] When controller 30 is in operation, the processor can be configured to execute software stored in memory 31, communicate data to and from memory 31, and generally control the operations of the computing device according to the software. The software in memory 31, in whole or in part, is read by the processor, possibly buffered in the processor, and then executed.

[0051] In several examples, the controller 30 includes one or more modules with algorithm(s), equation(s), and / or decision manager(s) that receive input(s) from sensors and / or stored values. Example modules include Lane Detection Module 100, Object Detection Module 101, Trailer End Detection Module 102, Kinematic Module 104, Trailer Collision Area Prediction Module 106, Tractor Collision Area Prediction Module 108, and Collision Alert Module 110. Example inputs include a steering angle sensor 32, a vehicle speed sensor 34, and other sensor data. The vehicle configuration information 36, which relates to vehicle characteristics (e.g., trailer length, axle position, trailer type / wheelbase, tractor configuration / wheelbase, hitch point location, etc.), is provided by the manufacturer, operator, and / or determined by one or more modules.During vehicle operation, controller 30 can communicate information to the driver, fleet operator, or others using an output 39 (e.g., displays 18, loudspeaker, etc.).

[0052] Object detection module 101 includes one or more Petition 870250077913, dated 01 / 09 / 2025, pages 68 / 88 13 / 25 image processing algorithms configured to identify objects in captured images. The algorithms can be used to identify VRUs (e.g., pedestrians or cyclists), tractor 12 and / or trailer 14 attributes, other vehicles, signs, curbs, trees, buildings, and / or other inanimate objects.

[0053] The lane detection module 100 also utilizes the processing of captured images to identify lane markings, such as lane markers that visually divide adjacent lanes. An example algorithm is described in U.S. Publication No. US2023 / 117,719, entitled “CAMERA MONITOR SYSTEM FOR COMMERCIAL VEHICLES INCLUDING WHEEL POSITION ESTIMATION”, which is incorporated by reference in its entirety. In that publication, a lane detection module is described in which an object detection algorithm identifies a lane marking on a roadway by filtering a color of the lane marking from a surrounding part of the captured image. Other techniques based on deep learning technology or other computer vision methods may be used, if desired.

[0054] The trailer end detection module 102 is another image processing module that extracts one or more trailer features from captured images to determine the trailer end location in three-dimensional space. These extracted attributes can be used to detect objects such as tractor wheels, trailer edges, and other features. Exemplary wheel detection algorithm techniques are disclosed in U.S. Publication No. US2023 / 202.394, entitled “CAMERA MONITOR SYSTEM FOR COMMERCIAL VEHICLES INCLUDING WHEEL POSITION ESTIMATION,” which is incorporated herein by reference in its entirety. Examples of trailer edge detection algorithm techniques are disclosed in the Publication of Petition 870250077913, dated 01 / 09 / 2025, pp. 69 / 88 14 / 25 United States No. US2023 / 125.045 entitled “TRAILER END "TRACKING IN CAMERA MONITORING SYSTEM", which is incorporated herein by reference in its entirety. Other techniques may be used if desired.

[0055] Many of the functions described utilize a kinematic model (provided by the kinematic module 104) to determine where one or more elements of the tractor 12 and / or trailer 14 are currently located or predicted to be located. The kinematic model, schematically illustrated in Figure 3, models a tractor rotation radius R1 and a trailer rotation radius R2 as distinct and separate radii. The tractor 12 has front wheels 42 and rear wheels 43. The kinematic model models the front wheels 42 in a way that takes into account their Ackerman steering characteristics, which is a common steering geometry approach that allows the outer and inner wheels to travel in different radial paths to reduce tire friction. The trailer 14, which is connected to the tractor 12 at a hitch point (i.e., fifth wheel), has rear wheels 44.VT is the tractor speed (corresponding to the speed of vehicle N, at 34 in Figure 2) and Vn is the trailer speed in its longitudinal direction. Vy is the speed of the trailer end in the same direction as the tractor's direction of travel, and Vx is the component of the trailer end speed in a direction transverse to Vy. The trailer angle θ, which is the angle between trailer 14 and tractor 12, can be determined using several suitable approaches. The trailer angle is calculated with a kinematic model during forward driving and estimated with an image processing method during reverse driving. Another method can use the LiDAR point cloud to calculate the angle and dimensions of the trailer. Another method can be a relative / absolute angular position sensor mounted at the hitch location. Petition 870250077913, dated 01 / 09 / 2025, pp. 70 / 88 15 / 25

[0056] The kinematic model of vehicle 10 is simplified by using two bicycle, or half-track, models. That is, not all wheels need to be represented in the model. In other words, the bicycle model, used as the kinematic model in Kinematic Module 104, is a simplified representation of a four-wheeled vehicle. Only the inner wheels of a turning maneuver can be modeled, as this is the side of vehicle 10 that presents the greatest risk of collision. It is used to predict the position of vehicle 10 using the instantaneous position, angles, velocities, and accelerations acting on the system. Furthermore, it is assumed in this kinematic model that all slip angles are zero. As a result, the speed and future displacement of a vehicle component (e.g., the location of the wheels and / or the end of the trailer) can be propagated by the mathematical algorithm very quickly.Furthermore, only the trailer angle, vehicle speed, and steering angle are required as input data, providing a simple, accurate, and fast approach to trajectory prediction.

[0057] The disclosed kinematic model is provided by a first bicycle model with Ackerman steering, indicating a predicted trajectory of the tractor (112 in Figure 4). A second bicycle model is connected to the first bicycle model by the hitch point 48, where the second bicycle model indicates a predicted trajectory of the trailer (114 in Figure 4). The trajectories of the inner wheels of the tractor and trailer are shown respectively at 112' and 114', at the inner limit of their respective tractor and trailer trajectories 112 and 114.

[0058] The kinematic module 104 receives the current angle of the trailer, the steering angle and the speed of the vehicle to calculate the predicted trajectories of the tractor and trailer 112 and 114. If desired, one or both of the predicted trajectories of the tractor and trailer 112 and Petition 870250077913, dated 01 / 09 / 2025, pp. 71 / 88 16 / 25 114 can be illustrated in one or more of the displays 18 as overlays (e.g., in at least one of the Class II and Class IV views) to assist the driver in maneuvering the vehicle 10 (e.g., Figures 12A to 13C and / or aerial view, as in Figure 4). In one example, the kinematic algorithm is executed (i.e., calculated) continuously during driving. In another example, the impact area is displayed when the trailer angle is greater than a certain limit (e.g., 5 degrees or 10 degrees). This limit can be adjusted by the driver if desired.

[0059] In an example of operation, the CMS 15 uses the kinematic module 104 to predict a trailer impact zone 14 during a turning operation and generates a two-dimensional overlay to digitally overlay at least one of the displayed Class II / IV images, showing the vehicle operator an expected trailer impact zone 14 and allowing the operator to adjust vehicle operations accordingly. The CMS 15 uses captured images received from cameras 20a and 20b, as well as any other cameras and vehicle operation data received from a vehicle master controller via a data connection such as a CAN or LIN bus, to estimate a predicted tractor and / or trailer side position at each of multiple lateral positions and at multiple points in time. These positions are converted into a geometric area encompassing all positions.Therefore, the shape and size of the geometric area are not fixed, but reflect a realistic predicted impact area of ​​the trailer.

[0060] With continued reference to Figures 1A-2, Figures 5A, Figures 5B and 5C provide a scene 200 illustrating an example of a forward turn operation of a tractor 12 towing a trailer 14, with Figure 5A illustrating the beginning of the turn, Figure 5B illustrating the middle of the turn, and Figure 5C illustrating the end of the turn. The tractor 12 and the trailer Petition 870250077913, dated 01 / 09 / 2025, pp. 72 / 88 17 / 25 schematics are schematic representations of the tractor 12 and trailer 14 illustrated in Figures 1A and 1B. However, the system and process for estimating the trailer impact area described herein can be incorporated into any similar tractor-trailer configuration, including a CMS 15, and the disclosure is not limited to the specific environment of the example. The disclosed system and method determine and display a tractor impact area as well as a trailer impact area, although only a tractor impact area is described below for simplicity and because the trailer 14 is typically the part of the vehicle 10 most at risk of collision with an object.

[0061] In the illustrated curve sequence, tractor 12 pulls the trailer on a right-hand curve on a road 202. The curve occurs along a curve trajectory 210, with the trajectory 210 being directly controlled by the steering angle of tractor 12. As vehicle 10 (including tractor 12 and trailer 14) travels along the curve trajectory 210, trailer 14, and particularly an inner side 14' of trailer 14, cuts towards the inside of the curve, with trailer 14 crossing parts of the road and adjacent terrain 220 that tractor 12 did not pass. The portions of the area within the curve where trailer 14 passes are called the "impact area," because objects positioned in the impact area will be struck by the side 14' of trailer 14 if they are tall enough and likely to be struck by the tires, or will pass under trailer 14 if they are not tall enough to be struck by the side 14'.

[0062] To avoid accidental impacts, the impact area prediction system uses vehicle data (e.g., steering angle, steering rate, trailer angle, vehicle speed, trailer wheelbase, tractor wheelbase, hitch point location, yaw rate, and similar) to generate a Petition 870250077913, dated 01 / 09 / 2025, pp. 73 / 88 18 / 25 predicted impact zone over time using a 300 process illustrated in Figure 6. The predicted impact zone is a prediction of the path the trailer will take along the curve and is continuously recalculated as the curve progresses.

[0063] The process initially identifies that a turning operation is occurring in a 310 “Identify Turning Operation” step. The turning operation can be automatically identified by detecting a change in steering angle, a change in the direction of the vehicle's route detected geospatially, a combination of both, or a manual turn start input from the vehicle operator.

[0064] Once the curve is identified, the trailer collision area prediction system 40 determines an expected collision area in the Trailer Collision Area Prediction step 320. The predicted collision area is the zone extending away from the side of trailer 14, through which trailer 14 will pass as vehicle 10 completes the curve. In some examples, the prediction is based on a snapshot of the current steering angle and other vehicle parameters. In other examples, a change in steering angle over time is used instead of an instantaneous steering angle. Similarly, in other examples, one or more additional vehicle parameters may be values ​​over time, rather than snapshots. In another example, known, knowable, or detectable external factors (e.g., road conditions, road gradient, weather conditions, and the like) are incorporated into the prediction process.

[0065] In addition to predicting the impact area, process 300 identifies objects (e.g., sign 222, tree 224, and curb 226) within the received images or other system within the CMS 15 in communication with the trailer impact area prediction system 40 for Petition 870250077913, dated 01 / 09 / 2025, pp. 74 / 88 19 / 25 requires object identifications to the trailer impact area prediction system 40. An overlay may be displayed on the visor 18 over the curb to improve visibility for the driver (Figure 12B). After receiving the object identifications, process 300 compares the location of the identified objects 222, 224, and 226 with the impact area estimated in step 330 of Compare Impact Area with Object Detection. When object 222, 224, and 226 crosses the estimated impact area, process 300 issues a warning to the vehicle operator in step 340 of Issue Warning When Detected Object Is in the Impact Area. The warning may be an audio output and / or a visual output that alerts the vehicle operator to a possible collision. Since the process is predictive in nature, the alert allows the vehicle operator to adjust the turning operation to avoid the expected collision, and the system automatically updates the predicted impact zone to compensate for the correction.

[0066] With continued reference to the general process in Figure 6, the Figures 7 and 8 illustrate the detailed process for generating the estimated impact zone 410. As described above, initially the prediction system 40 receives the trailer angle and trailer end detection in a “Receive trailer angle and trailer end detection” step 510. The trailer angle and end detection can be performed using any conventional detection, including image-based detections, sensor-based detections, and / or any other existing detection system.

[0067] The information about the angle and end of the trailer is then used by the CMS controller to identify multiple detection points or positions along the inner edge of the trailer in a 520 step of Setting Detection Points Along the Trailer in 3D. As used herein, 3D refers to the position. Petition 870250077913, dated 01 / 09 / 2025, pages 75 / 88 20 / 25 3D refers to a position in a real three-dimensional space relative to the trailer, and 2D refers to a position in an image frame along a two-dimensional axis (EG, XY). Existing systems, and particularly vehicle camera monitoring systems, may utilize various established processes or methodologies to convert a 3D position into a 2D position from a given camera view.

[0068] Multiple detection points 430-438 are distributed along the 14' side of the trailer 14, within the curve. In the illustrated example, detection points 430-438 are evenly distributed along the 14' side. In alternative examples, a uniform distribution may not be necessary, and detection points 430-438 may be concentrated near the end point (end point of trailer 430), with detection points near the end of the tractor being more spaced out. In one example, a fixed number (e.g., five) of detection points is used, and the points are distributed along the 14' side. In another example, the number of detection points 430-438 is determined based on the trailer length and a desired distribution of detection points.

[0069] After defining the initial detection points 430-438 along the side of the trailer 14, the impact area prediction system 40 applies the steering angle, trailer angle, trailer angle change rate, vehicle speed, yaw rate and / or any similar parameters known to the CMS 15 to a kinematic model to predict a three-dimensional position of each detection point at a future time (t1) with a predetermined duration in the future (e.g., 1 second) in a 3D Detection Point Future Position Prediction step 530. Each predicted point at t1 is stored, and step 520 is reiterated 522 using the t1 position of the detection point 430'-438' as the starting point, generating Petition 870250077913, dated 01 / 09 / 2025, pages 76 / 88 21 / 25 a new predicted position of the detection point 430'-438' at t2. In the example illustrated in Figures 7 and 8, the prediction is iterated twice, generating two predicted future positions (t1, t2). It is recognized that, in alternative examples, the number of iterations can be increased when a longer duration prediction is required. Similarly, the number of iterations can be increased with a shorter duration between prediction points (e.g., t0 to t1, t1 to t2, etc.), resulting in a larger number of prediction points, generating the geometry of the predicted impact area.

[0070] After iteration 522, the process aggregates detection points 430-438 and converts the 3D positions of the prediction points into two-dimensional positions within an image plane of a Class II / IV image to which the overlay is being applied, in step 540 of Aggregate Detection Points and Convert 3D Position to 2D Image Point. After converting the image points into two-dimensional image points, the aggregated image points are converted into an impact area 410, defining a boundary in 2D space, including all predicted positions 430-438 from t0 to tn, in step 550 of Convert 2D Detection Points to Impact Area in Class II / IV Images. The limit is defined as the minimum space required to include all predicted positions 430438. The impact area 410 is then aligned with the side of the truck in the Class II / IV images and shaded as an overlay.

[0071] The collision area with the trailer is also useful in a potential corner-cutting scenario when vehicle 10 is traveling on a curved road in traffic (Figure 10) with other vehicles 700 and 702. On a winding road, it becomes more likely that the end of the trailer will cross the lane markers 706 that indicate the limits of adjacent lanes 704, creating a potentially dangerous situation. Petition 870250077913, dated 01 / 09 / 2025, pages 77 / 88 22 / 25 gosa. To resolve this, CMS 15 uses lane detection module 100 to determine the lane boundary for vehicle 10, trailer end detection module 102 to determine the trailer boundary, and collision warning module 110 to determine an imminent intersection between the trailer boundary and the lane boundary. Trailer collision area prediction module 106 can be used to predict the future trailer collision area and anticipate the imminent intersection. If the collision area is used to determine the trailer curve cut, the kinematic model used may be different from that used to calculate the trailer angle. The trailer collision kinematic model uses the trailer angle as input, along with the other signals mentioned.However, if only the final wheel / trailer end location needs to be instantly checked against the lane marking, the kinematic model used to calculate the trailer angle may be sufficient. The alert can be based on time to cross and / or time to collision. The alert is issued at different levels depending on the severity level.

[0072] The driver and passenger displays 18a and 18b are shown in Figures 11A and 11B. Vehicle 10 and its trailer 14 (and the end of the trailer) are moving in the direction of vehicle 702, which is in an inner lane 704, where the lane boundary (markers 706) will be cut. A warning 708 is superimposed on display 18b, indicating that the turn cut is about to occur. Warning 708, which may be accompanied by an audible warning, is given in a highlight color (perhaps flashing) and does not obstruct lanes 704. Warning 708 encourages the driver to pay attention to the location and timing of the trailer.

[0073] The overlay is updated continuously as the process is iterated, thus allowing the area overlay to Petition 870250077913, dated 01 / 09 / 2025, pages 78 / 88 23 / 25 impact is precise along the vehicle's curve. In one example, the overlay includes a first overlay in the displayed image corresponding to a first region encompassing a predicted trajectory of the trailer relative to the trailer's current position, the first overlay including a first boundary provided by a first curved line indicating an internal trajectory of the trailer and a trailer impact area from the first boundary to the trailer. In another example, the overlay includes a second overlay in the displayed image corresponding to a second region encompassing a predicted trajectory of the tractor relative to the tractor's current position, the first overlay including a second boundary provided by a second curved line indicating an internal trajectory of the tractor and a tractor impact area from the second boundary to the tractor.

[0074] Examples of overlaps are illustrated in the Figures 12A-13C. Figures 12A (outer turning radius) and 12B (inner turning radius) represent, respectively, the driver's and passenger's side displays 18a and 18b during a turning maneuver similar to that shown in Figure 5C. The overlay representing the trailer impact area includes a first boundary 804, provided by a curved line indicating an inner trailer trajectory. The trailer impact area 806 extends from the first boundary 804 to the trailer 14, particularly to a second boundary 808, for example, a straight line projected from the side of the trailer 14 to the ground. In the example shown in Figure 12B, the trailer impact area 806 is hatched to provide better visibility of the impact area for the driver and to allow the captured image to still be visible. An overlay 802 may be provided on the curb 800, if desired, in a color contrasting with the trailer impact overlay.

[0075] Additional examples of overlapping impact areas Petition 870250077913, dated 01 / 09 / 2025, pp. 79 / 88 24 / 25 are shown in Figures 13A-13C, which may be available to the driver in a display customization menu. In the example in Figure 13A, the first boundary 804' is outlined with a colored line and the trailer impact area 806' shows only the captured image, without overlap. In the example in Figure 13B, the first boundary 804'' is outlined with a line of a different color and the trailer impact area 806'', and the trailer impact area 806'' is shaded with a prominent shaded region and bounded by the first boundary 806'' and the second boundary 808''. In the example in Figure 13C, the first boundary 804''' is outlined with a darker colored line and the trailer impact area 806''', and the trailer impact area 806'' is lightly shaded and delimited by the first boundary 806''' and the second boundary 808'''. Other display schemes may be used in addition to those shown.

[0076] The CMS 15 includes a Decision Manager or Collision Alert Module 110, shown in Figure 9, which communicates with modules 101 to 108 to assess the proximity between the predicted trajectories of the tractor and / or trailer 112 and 114 (i.e., the collision areas of the tractor and trailer) and one or more objects (e.g., predicting an imminent collision with the curb, corner cut, object collision, etc.). The decision manager considers the estimated time to the event, the severity (which object it is), the rate of approach between the objects, etc. The decision manager issues a soft alert 602 or a sharp alert 604 via one or more output devices 39. In the example of a displayed alert (e.g., an overlay signal), the severity can be communicated to the driver based on the signal's flash frequency or the signal's color change. In the example of an audible alert, the sound level or pattern can be altered based on the severity.

[0077] Although described above in relation to a commercial tractor Petition 870250077913, dated 01 / 09 / 2025, pages 80 / 88 25 / 25 pulling a trailer, it is understood that the wide turning requirement is present in any similar vehicle. Thus, the features, systems and devices of the invention described herein are applicable to any configurations of similar vehicles and are not limited to configurations of commercial tractors with trailers.

[0078] Although an example of embodiment has been disclosed, a professional with common knowledge in this area would recognize that certain modifications would fall within the scope of the claims. For this reason, the following claims should be studied to determine their true scope and content. Petition 870250077913, dated 01 / 09 / 2025, pages 81 / 88

Claims

1 / 4 CLAIMS 1. A camera monitoring system (CMS) for a vehicle, characterized in that: a rear-facing camera configured to provide a captured image of a field of view including at least a portion of a trailer including a trailer wheel; a display in communication with the camera and configured to represent a displayed image comprising at least a portion of the captured image, including the trailer portion; and a controller in communication with the camera and the display, the controller comprising: a trailer detection module configured to determine a trailer boundary at a current trailer position, wherein the trailer detection module includes an object detection module configured to detect the trailer wheel, a kinematic module including a model with a trailer turning radius and a tractor turning radius different from each other,wherein the model is provided by a first bicycle model with Ackerman steering indicating a predicted trajectory of the tractor, and a second bicycle model connected to the first bicycle model by a hitch point, the second bicycle model indicating a predicted trajectory of the trailer based on the trailer's turning radius of the detected trailer wheel around the hitch point, and a collision warning module configured to provide an overlay on the displayed image corresponding to a region encompassing a predicted path of the trailer relative to the trailer's current position based on the model.

2. CMS, according to claim 1, characterized in that the overlay includes a first overlay in Petition 870250077913, dated 09 / 01 / 2025, page 82 / 88 2 / 4, the displayed image corresponding to a first region encompassing a predicted towing path relative to a current position of the trailer, the first overlay including a first boundary provided by a first curved line indicative of an inner towing path and a trailer impact area from the first boundary to the trailer.

3. CMS, according to claim 2, characterized in that the overlay includes a second overlay in the displayed image corresponding to a second region encompassing a predicted tractor path relative to a current tractor position, the first overlay including a second boundary provided by a second curved line indicative of an internal tractor path and a tractor impact area from the second boundary to the tractor.

4. CMS, according to claim 3, characterized in that the first and second overlays are provided as an aerial view.

5. CMS, according to claim 2, characterized in that the displayed image corresponds to at least one of the Class II and Class IV views.

6. CMS, according to claim 1, characterized in that the kinematic module is configured to receive the current angle of the trailer, the steering angle and the speed of the vehicle to provide the predicted path of the trailer.

7. CMS, according to claim 1, characterized in that the controller includes a lane detection module configured to determine a lane boundary for the vehicle, and a collision warning module configured to determine an imminent intersection between the trailer boundary and the lane boundary and provide a warning in response thereto.

8. CMS, according to claim 1, characterized in that the object detection module is configured to detect an object, and the collision warning module is configured to determine an imminent intersection between the trailer boundary and the object and provide a warning in response thereto.

9. Method of communicating the trailer's position to a driver, characterized in that it comprises: capturing an image of a field of view including at least part of a trailer; displaying at least part of the captured image, including the part of the trailer; detecting a trailer wheel in the captured image; kinematic modeling of the trailer, the model having a trailer with a trailer rotation radius and a tractor to which the trailer is coupled having a tractor rotation radius that is different from the trailer rotation radius, wherein the model is provided by a first bicycle model with Ackerman steering indicating a predicted path of the tractor, and a second bicycle model connected to the first bicycle model by a hitch point, the second bicycle model indicating a predicted path of the trailer based on the trailer rotation radius of the trailer wheel detected around the hitch point;To provide the current trailer angle, steering angle, and vehicle speed to the kinematic model; to identify the trailer's current position; to determine a predicted path for the trailer using the kinematic model based on the trailer's current position; and to issue an alert related to the trailer's predicted path.

10. Method, according to claim 9, characterized in that the output step includes generating an overlay on the displayed image, the indicated overlay of the towing path seen in Petition 870250077913, dated 01 / 09 / 2025, page 84 / 88 4 / 4.

11. Method according to claim 10, characterized in that the displayed image corresponds to at least one of the Class II and Class IV views.

12. Method, according to claim 9, characterized in that it comprises a lane detection step and a lane boundary for the vehicle, and the exit step includes providing an indicative warning of an imminent intersection between the intended path of the trailer and the lane boundary.

13. Method, according to claim 9, characterized in that it comprises an object detection step, and the output step includes providing an indicative warning of an imminent intersection between the intended path of the trailer and the object. Petition 870250077913, dated 01 / 09 / 2025, pp. 85 / 88

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