Environmental monitoring system and method for towed recreational vehicle

Abstract

The invention provides an environment monitoring system and method for a towed recreational vehicle. The environment of the towing vehicle may be monitored by displaying at least one image on a display remote from the towing vehicle based on data provided by a camera supported by the towing vehicle. The tractor may be positioned on the trailer. The display may be supported by a towing vehicle that tows the towing vehicle. In some cases, the recreational vehicle includes a plurality of cameras such that a subset of cameras for presentation to an operator of the recreational vehicle may be automatically determined to present relevant information to the operator for use in maneuvering the vehicle.

Description

[0001] This application is a divisional application of a Chinese patent application with a filing date of February 25, 2021, an invention name of “Environmental Monitoring System and Method for a Towed Recreational Vehicle” and application number of 202110215029.1. Technical Field

[0002] The present disclosure relates to systems and methods that provide information of the surroundings of a towed recreational vehicle, and in particular, provide at least visual information of the surroundings of a towed recreational vehicle. Background Art

[0003] Recreational vehicles (such as side-by-side off-road vehicles, snowmobiles, ATVs, utility vehicles, and boats) are widely used for recreational purposes. These recreational vehicles are usually supported by trailers to achieve transportation from one place to another. Summary of the invention

[0004] The present application discloses systems and methods for providing information about the surroundings of a towed recreational vehicle. In an embodiment, the information about the surroundings of the towed recreational vehicle includes visual information. In an embodiment, one or more cameras supported by the towed vehicle provide visual information to a remote display positioned within an operating area of ​​the towing vehicle (such as a truck). In an embodiment, the remote display is part of an operator interface of the trailer. In an embodiment, the remote display is a removable display unit of the towed vehicle, which can be positioned within an operator area of ​​the towing vehicle. In an embodiment, the remote display is part of a personal computing device (such as a mobile phone), which can be positioned within an operator area of ​​the towing vehicle.

[0005] In an exemplary embodiment of the present disclosure, a recreational vehicle is provided, the recreational vehicle being used to communicate with a remote device and being sized and shaped to be placed on a trailer. The recreational vehicle has a plurality of ground engaging members supporting at least one recreational vehicle support member. The recreational vehicle includes: a frame; a propulsion system supported by the frame to propel the recreational vehicle toward the trailer; a steering system coupled to the frame to establish a direction of travel for the recreational vehicle; a control system operably coupled to the propulsion system and the steering system, the control system controlling the direction and speed of the recreational vehicle; and a plurality of cameras supported by the frame. The propulsion system has a first powered configuration that provides power for movement of the recreational vehicle and a second non-powered configuration in which the propulsion system is unable to provide power for movement of the recreational vehicle. The plurality of cameras are operably coupled to the control system to monitor at least a portion of the surrounding environment of the recreational vehicle. The plurality of cameras include a rear-view camera positioned to monitor the rear of the recreational vehicle. The control system provides data captured by the rearview camera to the remote device when the recreational vehicle is supported on the at least one recreational vehicle support member of the trailer and the propulsion system of the recreational vehicle is in the second non-powered configuration.

[0006] In an example thereof, the recreational vehicle further comprises a display supported by the frame of the recreational vehicle and removably coupled to the recreational vehicle, the display becoming the remote device when removed from the recreational vehicle. In a further example thereof, the remote device comprises a display. In a variation thereof, the remote device is a personal computing device.

[0007] In another example thereof, the remote device is part of an operator interface of a tractor that tows the trailer. In yet another example thereof, in the non-powered configuration of the recreational vehicle, a prime mover of the propulsion system is de-energized. In yet another example thereof, in the non-powered configuration of the recreational vehicle, a transmission of the propulsion system is in a park setting.

[0008] In another exemplary embodiment of the present disclosure, a method for visualizing a portion of a surrounding environment of a recreational vehicle towing a tractor is provided. The method includes: receiving data from a camera supported by the recreational vehicle using an electronic controller when the recreational vehicle is in a towed state being pulled by the tractor; and displaying an image on a display remote from the recreational vehicle using the electronic controller based on the data received from the camera.

[0009] In an example thereof, the method further comprises providing a propulsion system for the recreational vehicle to push the recreational vehicle toward the trailer, the propulsion system having a first powered configuration for powering movement of the recreational vehicle and a second non-powered configuration in which the propulsion system is not capable of powering movement of the recreational vehicle. In a variation thereof, the receiving step occurs when the propulsion system of the recreational vehicle is in the non-powered configuration.

[0010] In another example thereof, the camera is a visible light camera. In a further example thereof, the recreational vehicle is supported by a trailer coupled to the tractor. In yet another example thereof, the recreational vehicle is supported by the tractor. In yet another example thereof, the recreational vehicle is supported by the ground and coupled to the tractor by a connecting member.

[0011] In another exemplary embodiment, a recreational vehicle is provided that communicates with a remote device supported by a towing vehicle while the recreational vehicle is towed by the towing vehicle. The recreational vehicle includes: a frame; a propulsion system supported by the frame to propel the recreational vehicle; a steering system coupled to the frame to establish a direction of travel for the recreational vehicle; a control system operably coupled to the propulsion system and the steering system, the control system controlling the direction and speed of the recreational vehicle; and a plurality of cameras supported by the frame. The propulsion system has a first powered configuration that provides power for movement of the recreational vehicle and a second non-powered configuration in which the propulsion system is unable to provide power for movement of the recreational vehicle. The plurality of cameras are operably coupled to the control system to monitor at least a portion of an environment surrounding the recreational vehicle. When the propulsion system of the recreational vehicle is in the second non-powered configuration, the control system provides data captured by at least one of the plurality of cameras to a remote device supported by the towing vehicle.

[0012] In an example thereof, the recreational vehicle further includes a display supported by the frame of the recreational vehicle and removably coupled to the recreational vehicle, the display becoming the remote device when removed from the recreational vehicle.

[0013] In another example thereof, the remote device includes a display. In a variation thereof, the remote device is a personal computing device. In a further example thereof, the remote device is part of an operator interface of a tractor that tows the trailer. In yet another example thereof, in the non-powered configuration of the recreational vehicle, a prime mover of the propulsion system is de-energized. In a further example thereof, in the non-powered configuration of the recreational vehicle, a transmission of the propulsion system is in a neutral setting.

[0014] In yet another exemplary embodiment of the present disclosure, a method for visualizing a portion of a surrounding environment of a recreational vehicle is provided, the recreational vehicle having a prime mover to power movement of the recreational vehicle, the recreational vehicle towing a tractor. The method includes: receiving data from a recreational vehicle camera supported by the recreational vehicle using an electronic controller when the recreational vehicle is in a towed state pulled by the tractor; receiving data from a tractor camera supported by the tractor using the electronic controller; and displaying at least one image on a display remote from the recreational vehicle using the electronic controller based on the data received from the recreational vehicle camera and the tractor camera.

[0015] In an example thereof, the towed state of the recreational vehicle includes: when a prime mover of the recreational vehicle is powered off. In another example thereof, the towed state of the recreational vehicle includes: when a transmission of the recreational vehicle is in a park setting. In a further example thereof, the method further includes generating the at least one image by stitching together data from the recreational vehicle camera and data from the towing vehicle camera. In yet another example thereof, the towing vehicle includes the electronic controller; and the electronic controller receives the data from the recreational vehicle camera via a wireless network.

[0016] In yet another exemplary embodiment of the present disclosure, a method of visualizing a portion of a surrounding environment of a recreational vehicle is provided, the recreational vehicle having a prime mover to power movement of the recreational vehicle. The recreational vehicle tows a tractor and is positioned on a trailer supporting the recreational vehicle. The method includes: receiving data from a recreational vehicle camera supported by the recreational vehicle using an electronic controller when the recreational vehicle is in a towed state being pulled by the tractor; receiving data from a trailer camera supported by the trailer using the electronic controller; and displaying at least one image on a display remote from the recreational vehicle using the electronic controller based on the data received from the recreational vehicle camera and the trailer camera.

[0017] In an example thereof, the towed state of the recreational vehicle includes: when a prime mover of the recreational vehicle is powered off. In another example thereof, the towed state of the recreational vehicle includes: when a transmission of the recreational vehicle is in a park setting. In yet another example thereof, the method further includes generating the at least one image by stitching together data from the recreational vehicle camera and data from the trailer camera. In yet another example, the towing vehicle includes the electronic controller; and the electronic controller receives the data from the recreational vehicle camera via a wireless network.

[0018] In another exemplary embodiment of the present disclosure, a method for automatically presenting images from a subset of cameras to an operator of a recreational vehicle includes determining a direction of travel of the recreational vehicle; generating the subset of cameras from a set of cameras supported by the recreational vehicle based on the determined direction of travel, wherein the set of cameras includes a first camera positioned to monitor a first portion of an environment associated with a rear of the recreational vehicle; and a second camera positioned to monitor a second portion of the environment different from the first portion of the environment; receiving data from the generated subset of cameras supported by the recreational vehicle using an electronic controller; and providing images for presentation on a display based on the data received from the cameras by the electronic controller.

[0019] In an example thereof, the direction of travel of the recreational vehicle is determined based on data from a steering controller of the recreational vehicle. In another example thereof, the direction of travel of the recreational vehicle is determined using GPS data associated with the recreational vehicle. In a further example thereof, generating the camera subset includes: selecting the second camera based on a mapping between the direction of travel and the second camera. In yet another example thereof, the generated camera subset includes the first camera and the second camera, and the method further includes: stitching together the first data output of the first camera and the second data output of the second camera to generate the image; determining the center of the generated image based on the determined direction of travel; and providing the generated image for presentation on the display according to the determined center. In a further example thereof, the method further includes: determining a change in the direction of travel of the recreational vehicle; and in response to determining the change in the direction of travel, generating an updated camera subset based on the changed direction of travel.

[0020] In yet another exemplary embodiment of the present disclosure, a recreational vehicle is provided. The recreational vehicle includes: a frame; a propulsion system supported by the frame to propel the recreational vehicle; a steering system coupled to the frame to establish a direction of travel for the recreational vehicle; a control system operably coupled to the propulsion system and the steering system, the control system controlling the direction and speed of the recreational vehicle; and a plurality of cameras supported by the frame, the plurality of cameras operably coupled to the control system to monitor at least a portion of the surrounding environment of the recreational vehicle, wherein the control system: automatically selects a camera from the plurality of cameras based on data from at least one of the propulsion system and the steering system; and provides data captured by the selected camera for display.

[0021] Additional features of the present disclosure will become more apparent to those skilled in the art by considering the following detailed description of exemplary embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Advantages and features of the embodiments of the present disclosure will become more apparent from the following detailed description of exemplary embodiments in conjunction with the accompanying drawings, in which:

[0023] Figure 1 is a top view of a tractor towing a trailer supporting a representative towed vehicle;

[0024] Figure 2 yes Figure 1 Side view of the tractor, trailer and towed vehicle;

[0025] Figure 3 is a top view of a tractor pulling a trailer supporting a representative side-by-side recreational vehicle;

[0026] Figure 4 yes Figure 3 side view of the tractor, trailer, and towed side-by-side recreational vehicle;

[0027] Figure 5 is a top view of a tractor pulling a trailer supporting a representative boat;

[0028] Figure 6 yes Figure 5 side view of the tractor, trailer and towed boat;

[0029] Figure 7 yes Figure 3 and Figure 4 A representative view of exemplary components of a recreational vehicle;

[0030] Figure 8 yes Figure 3 and Figure 4 A representative view of exemplary components of a recreational vehicle of the type shown in FIG. 1 wherein an image from a camera system of the recreational vehicle is provided to a display in a remote vehicle, such as a towing vehicle;

[0031] Fig. 9 yes Figure 3 and Figure 4 A representative view of exemplary components of a recreational vehicle of wherein an image from a camera system of the recreational vehicle is provided to a display on a personal computing device, such as a smart phone;

[0032] Fig.10 yes Figure 3 and Figure 4 Representative views of exemplary components of a recreational vehicle having a removable display and providing images from a camera system of the recreational vehicle to a removable display in a remote vehicle, such as a towing vehicle;

[0033] Fig.11 is a representative view of the combined camera system of the towing vehicle and the towed vehicle; and

[0034] Fig.12 is a representative view of the combined camera system of the tractor, trailer and towed vehicle;

[0035] Fig.13 is a top view of a representative vessel including a camera system according to aspects of the present disclosure;

[0036] Fig.14 yes Fig.13 Side view of the ship. DETAILED DESCRIPTION

[0037] Various embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, wherein like reference numerals represent like parts and assemblies throughout the several views. Reference to various embodiments does not limit the scope of the present disclosure, which is limited only by the scope of the appended claims. In addition, any examples set forth in this specification are not intended to be limiting, but merely set forth some of the many possible embodiments of the claimed invention.

[0038] refer to Figure 1 and Figure 2 , a representative recreational vehicle 10 is shown positioned on a trailer 12. A support 14 of the trailer 12 supports the recreational vehicle 10. The trailer 12 includes a plurality of ground engaging members 16 that support the support 14 and the recreational vehicle 12 above a ground 18.

[0039] The trailer 12 is towed by a vehicle, shown as a truck 20. The truck 20 includes a hitch 22 coupled to a tongue 24 of the trailer 12. The truck 20 includes a plurality of ground engaging members 26 that support the truck 20 relative to the ground 18. The truck 20 includes an operator area 30 in which are arranged conventional steering controls (not shown) that can be actuated by the driver to steer the truck 20, a brake input (not shown) that can be actuated by the driver to brake the truck 20, and a driveline control (not shown) that can be actuated by the driver to accelerate the truck 20 and shift a transmission (not shown) of the truck 20. In addition, the truck 20 includes a plurality of output devices 32 in the operator area 30 that provide feedback to the operator of the truck 20 regarding the operation of the truck 20. Exemplary output devices include lights, gauges, and displays. Figure 1 An exemplary display 34 is shown in . As explained in greater detail herein, in embodiments, information generated by one or more systems of the recreational vehicle 10 may be displayed on the display 34 .

[0040] like Figure 1 to Figure 2As shown in FIG. 1 , the recreational vehicle 10 includes a plurality of cameras 40, schematically, a rear camera 40A positioned at the rear of the recreational vehicle 10, a front camera 40B positioned at the front of the recreational vehicle 10, a right camera 40C positioned along the right side of the vehicle 10, and a left camera 40D positioned along the left side of the vehicle 10. Each of the cameras 40 may be a visible light camera, an infrared camera, a stereo camera, and other types of cameras. In addition, a proximity sensor may be included to provide a warning of close proximity to surrounding objects to the operator of the towed vehicle 10 or the tractor 20. Exemplary proximity sensors include radar systems, LIDAR systems, and ultrasonic systems may be used. Each of the cameras 40 provides an image of a portion of the surrounding environment of the recreational vehicle 10 when enabled. Although each of the cameras 40A-D is shown as being positioned high on the tractor 10, one or more of the cameras 40A-D may be positioned lower. Although only one camera 40 is shown on each side of the tractor 10, more than one camera may be provided on one or more sides of the tractor 10. Additionally, one or more cameras 40 may be provided on top of the tractor 10, such as on the roof or on top of a roll cage.

[0041] refer to Figure 3 and Figure 4 , a side-by-side recreational vehicle 50 is shown supported on the support 14 of the trailer 12. The side-by-side recreational vehicle 50 includes a plurality of ground engaging members 52 that support the side-by-side recreational vehicle 50 when placed on the ground 18 and support the side-by-side recreational vehicle 50 relative to the support 14 when placed on the trailer 12. The side-by-side recreational vehicle 50 additionally includes at least one camera 40A positioned at the rear end 54 of the side-by-side recreational vehicle 50. Additional cameras 40 may be supported by the side-by-side recreational vehicle 50, such as at the front end of the side-by-side recreational vehicle 50, on a B-pillar 53 on the right side of the side-by-side recreational vehicle 50, on a B-pillar 55 on the left side of the side-by-side recreational vehicle 50, on a roll cage 56, and / or other suitable locations.

[0042] Exemplary side-by-side recreational vehicles 50 include the RZR brand side-by-side recreational vehicles available from Polaris Industries Inc., located at 2100 Highway 55 in Medina, Minnesota 55340. An exemplary side-by-side recreational vehicle 50 is disclosed in U.S. Pat. No. 10,369,886, the entire disclosure of which is expressly incorporated herein by reference.

[0043] Exemplary towed conditions of the side-by-side recreational vehicle 50 include when the side-by-side recreational vehicle 50 is positioned on the trailer 12, when the side-by-side recreational vehicle 50 is supported by the truck 12 (such as in the bed of the truck 20), and when the side-by-side recreational vehicle 50 is positioned on the ground and connected to the truck 20 by ropes, chains or other connecting members.

[0044] refer to Figure 5 and Figure 6 , a boat 60 is shown supported on the supports 14 of the trailer 12. The boat 60 includes a lower hull 64 that supports the boat 60 when placed in the water (not shown) and supports the boat 60 relative to the supports 62 of the trailer 12' when placed on the trailer 12'. The boat 60 may alternatively include one or more pontoons that support the boat 60 when placed in the water and support the boat 60 on the supports 62 when placed on the trailer 12'. The boat 60 additionally includes at least one camera 40A positioned at the stern 68 of the boat 60, forward of the outboard motor 66 of the boat 60. Additional cameras 40 may be supported by the boat 60, such as at the bow end of the boat 60, on the starboard side of the boat 60, on the port side of the boat 60, and / or other suitable locations. Exemplary towed states of the boat 60 include when the boat 60 is positioned on the trailer 16. Exemplary boats 60 include the pontoon boat series available from Bennington Marine, located at 2805 Decio Drive, Elkhart, Indiana 46514.

[0045] refer to Figures 7 to 10 , a portion of the recreational vehicle 10 is illustrated using a side-by-side recreational vehicle 50 as an example. The side-by-side recreational vehicle 50 includes a vehicle controller 140 having at least one associated memory 142. The vehicle controller 140 provides electronic control of various components of the side-by-side recreational vehicle 50. In addition, the vehicle controller 140 is operably coupled to a plurality of sensors 144 (see Figure 8 ), the plurality of sensors 144 monitor various parameters of the side-by-side recreational vehicle 50 or the surrounding environment of the side-by-side recreational vehicle 50. Figure 8, the vehicle controller 140 performs certain operations to control one or more subsystems of other vehicle components, such as one or more components of the propulsion system, which includes: the prime mover 112; the transmission 116; the differential 122, which is shown as being controlled by the powertrain controller 164 of the vehicle controller 140; the steering system 138, which is shown as being controlled by the power steering controller 174 of the vehicle controller 140; the braking / traction system 130, which is shown as being controlled by the braking / traction controller 172 of the vehicle controller 140; and the network component 182, which is shown as being controlled by the network controller 180. The vehicle controller 140 can be a single device or a distributed device (such as Figure 8 ), and the functions of the vehicle controller 140 may be performed by hardware and / or as computer instructions on a non-transitory computer-readable storage medium (such as memory 142).

[0046] As in Figure 8 In the embodiment shown in FIG. 1 , the vehicle controller 140 is shown to include multiple controllers. These controllers can each be a single device or a distributed device, or one or more of these controllers can be part of a single device or a distributed device together. The functions of these controllers can be performed by hardware and / or as computer instructions on a non-transitory computer-readable storage medium (such as memory 142).

[0047] In one embodiment, the vehicle controller 140 includes at least two separate controllers that communicate via a network. In one embodiment, the network is a CAN network. In one embodiment, the CAN network is implemented according to the J1939 protocol. Details regarding an exemplary CAN network are disclosed in U.S. Patent Application Serial No. 11 / 218,163 filed on September 1, 2005, the disclosure of which is expressly incorporated herein by reference. Of course, any suitable type of network or data bus may be used in place of a CAN network. In one embodiment, two-wire serial communication is used.

[0048] As mentioned herein, the side-by-side recreational vehicle 50 includes a powertrain having a prime mover 112, a transmission 116, and at least one differential 122. Exemplary prime movers 112 include internal combustion engines, two-stroke internal combustion engines, four-stroke internal combustion engines, diesel engines, electric motors, hybrid engines, and other suitable prime movers. The transmission 116 is coupled to the prime mover 112. In an embodiment, the transmission 116 may include a shiftable transmission and a continuously variable transmission ("CVT"). In one example, the CVT of the transmission 116 is coupled to the prime mover 112, and the shiftable transmission is in turn coupled to the CVT. In an embodiment, the shiftable transmission of the transmission 116 includes a forward high gear setting, a forward low gear setting, a neutral setting, a parking gear setting, and a reverse gear setting.

[0049] The transmission 116 is further coupled to at least one differential 122, which in turn is coupled to at least one ground engaging member 52. The differential 122 can transfer power from the transmission 116 to one ground engaging member 52 or multiple ground engaging members 52. In an embodiment, one or both of a front differential and a rear differential are provided. The front differential provides power to at least one of the two front wheels 52 of the side-by-side recreational vehicle 50 and the rear differential provides power to at least one of the two rear wheels 52 of the side-by-side recreational vehicle 50.

[0050] In one example, the prime mover 112 is an internal combustion engine, and the powertrain controller 164 controls the provision of fuel, the provision of spark, engine performance, reverse operation of the vehicle, locking differential, all-wheel drive, ignition timing, electrical power distribution, transmission control. In addition, the powertrain controller 164 monitors a plurality of sensors 144. Exemplary sensors 144 include: a temperature sensor that monitors the temperature of the coolant circulating in the engine, a throttle position sensor (TPS), an exhaust gas temperature sensor (EGT), a crank position sensor (CPS), a knock sensor (DET), an air box pressure sensor, an intake air temperature sensor, and other parameters required to control engine performance.

[0051] As mentioned herein, the side-by-side recreational vehicle 50 includes a braking / traction system 130. Typically, the braking / traction system 130 includes a braking input, such as a brake pedal. In an embodiment, the braking / traction system 130 includes anti-lock brakes. In an embodiment, the braking / traction system 130 includes active descent control and / or engine braking. In an embodiment, the braking / traction system 130 includes brakes, and in some embodiments, includes a separate parking brake. The braking / traction system 130 can be coupled to any one of the prime mover 112, the transmission 116, the differential 122, and the ground engaging member 52 or a connecting drive member therebetween. In one example, the braking / traction controller 172 controls the pressure and frequency of actuation of the brake caliper. In addition, the braking / traction controller 172 monitors a plurality of sensors 144. Exemplary sensors 144 include a vehicle speed sensor that monitors the speed of the vehicle 50 relative to the ground 18.

[0052] The steering system 138 is coupled to at least one of the ground engaging members 102 to guide the recreational vehicle 50 in a desired direction of travel. Typically, the steering system 138 includes a steering input, such as a steering wheel or other suitable steering input. In one example, a power steering controller 174 controls the amount of assistance provided by a power steering unit of the recreational vehicle 50 in the movement of the steering input. In addition, the power steering controller 174 monitors a plurality of sensors 144. Exemplary sensors and electronic power steering units (including speed profiles), examples of which are provided in U.S. Patent Application Serial No. 12 / 135,107, entitled “VEHICLE” and having Docket No. PLR-06-22542.02P (assigned to the assignee of the present application), the disclosure of which is expressly incorporated herein by reference.

[0053] return Figure 7 The vehicle controller 140 also interacts with an operator interface 150 of the side-by-side recreational vehicle 50, which includes at least one input device 152 and at least one output device 154. Exemplary input devices 152 include levers, buttons, switches, soft keys, and other suitable input devices. Exemplary output devices include lights, displays, audio devices, tactile devices, and other suitable output devices. The operator interface 150 also includes an interface controller 156 and associated memory 158. The interface controller 156 performs certain operations to control one or more subsystems of the operator interface 150 or one or more subsystems of other vehicle components, such as one or more of the input devices 152 and the output devices 154. In one example, the operator interface 150 includes a touch screen display, and the interface controller 156 interprets various types of touches to the touch screen display as inputs and controls the content displayed on the touch screen display. In some embodiments, the interface controller 156 forms part of a processing subsystem that includes one or more computing devices having memory, processing hardware, and communication hardware. The interface controller 156 may be a single device or a distributed device, and the functions of the interface controller 156 may be performed by hardware and / or as computer instructions on a non-transitory computer-readable storage medium, such as the memory 158 .

[0054] The operator interface 150 is included as part of the dashboard 160. The interface controller 156 controls the operation of the output device 154 and monitors the actuation of the input device 152. In one embodiment, the output device 154 includes a display 170 and an interface controller 156, which formats the information to be displayed on the display and displays the information. In an embodiment, the display 170 includes a controller that formats the information to be displayed on the display and displays the information. In one embodiment, the output device 154 includes a touch display, and the interface controller 156 formats the information to be displayed on the touch display, displays the information, and monitors the touch display for operator input. Exemplary operator inputs include touch, drag, slide, pinch, spread, and other known types of gestures.

[0055] refer to Figure 7 , the camera 40 of the side-by-side recreational vehicle 50 is operably coupled to the vehicle controller 140. The data output of the camera 40 is provided by the vehicle controller 140 to the operator interface controller 156 for display as an image on the display 170 of the operator interface 150. The camera 40 may be operably coupled to the vehicle controller 140 and / or the operator interface controller 156 via a wired connection or wirelessly. In an embodiment, the output of the camera 40 is displayed on the display 170 when the side-by-side recreational vehicle 50 is in a first powered mode in which movement of the side-by-side recreational vehicle 50 relative to the ground 18 is powered by the propulsion system and the direction of the side-by-side recreational vehicle 50 is set by the steering system 138 through input from an operator supported by the recreational vehicle. In an embodiment, the output of the camera 40 is displayed on the display 170 when the side-by-side recreational vehicle 50 is in a second non-powered configuration in which the propulsion system is unable to power movement of the side-by-side recreational vehicle 50 relative to the ground. Examples of non-powered configurations include when the prime mover 112 is not operating, when the transmission 116 is in a neutral setting, and / or when the transmission 116 is in a park setting.

[0056] In an embodiment, one or more cameras 40 are 360 ​​degree view cameras positioned on top of the side-by-side recreational vehicle 50 and provide a 360 degree view of the surroundings of the side-by-side recreational vehicle 50. In an embodiment, data output from multiple cameras 40 is provided to the vehicle controller 140 or the operator interface controller 156 and stitched together to provide a 360 degree view of the surroundings of the side-by-side recreational vehicle 50. In an embodiment, the output of each camera 40 is selectively displayable on the display 170 by selecting one or more input devices 152.

[0057] When the prime mover 112 is not operating, the vehicle controller 140 and the camera 40 are powered by the battery 178 of the side-by-side recreational vehicle 50 (see FIG. Figure 7) is powered. In an embodiment, the recreational vehicle 50 can be connected to the power source of the truck 20 by a wiring harness. In an embodiment, in a non-powered configuration, the recreational vehicle 50 can operate in a low power mode, wherein the vehicle controller wakes up periodically or on demand and provides the output of the camera 40, otherwise in a sleep mode. In an embodiment, the recreational vehicle 50 is awakened from the low power mode by an operator input received from an input in the tractor 20, a user handheld device (such as a phone 190), or from the dashboard 160. In an embodiment, the recreational vehicle 50 is awakened from the low power mode based on the speed of the recreational vehicle 50 relative to the ground being less than a threshold speed. In an embodiment, the speed of the recreational vehicle 50 is inferred from the detected speed of the tractor 20 (such as provided by a wired connection to the tractor) or from GPS data provided by a GPS system of the recreational vehicle 50 or a user handheld device (such as a phone 190). In an embodiment, once the inferred speed of the recreational vehicle 50 exceeds the threshold speed, the recreational vehicle 50 enters the low power mode. When the prime mover 112 is operating, but the transmission 116 is in the park setting, the vehicle controller 140 and the camera 40 may be powered by the electrical system or the battery 178 driven by the prime mover 112 .

[0058] refer to Figure 8 , when the side-by-side recreational vehicle 50 is positioned on the trailer 12 and placed in a non-powered configuration, the output of the camera 40 may be displayed on the towed vehicle display 170 of the side-by-side recreational vehicle 50. Additionally or alternatively, the vehicle controller 140, via the network controller 180 and the network component 182, may provide the output of at least the camera 40A (or any of the cameras 40 facing the rear of the trailer 12) to the truck 20 for display on the display 34 in the operator area 30 of the truck 20. The output of the other cameras 40 may also or alternatively be provided to the truck 20 for display on the display 34 in the operator area of ​​the truck 20.

[0059] The network controller 180 controls the communication between the side-by-side recreational vehicle 50 and other devices through one or more network components 182. In one embodiment, the network controller 180 of the side-by-side recreational vehicle 50 communicates with the remote device through a wireless network. An exemplary wireless network is a radio frequency network, and the network component 182 includes a radio frequency antenna. In one example, the wireless network is a WiFi network. In another example, the wireless network is a Bluetooth network. The network controller 180 controls the communication between the side-by-side recreational vehicle 50 and the remote device. Exemplary remote devices include: the truck 20, the display 170 removed from the side-by-side recreational vehicle 50, and a personal computing device 190 (such as a mobile smart phone) having a display 192.

[0060] In an embodiment, the network controller 180 of the side-by-side recreational vehicle 50 communicates with the remote device via a cellular network. In this example, the network component 182 includes a cellular antenna, and the network controller 180 receives cellular messages from and sends cellular messages to the cellular network. In an embodiment, the network controller 180 of the side-by-side recreational vehicle 50 communicates with the remote device via a satellite network. In this example, the network component 182 includes a satellite antenna, and the network controller 180 receives messages from and sends messages to the satellite network.

[0061] refer to Fig. 9 , when the side-by-side recreational vehicle 50 is positioned on the trailer 12 and placed in the non-powered configuration, the output of the camera 40 may be displayed on the towed vehicle display 170 of the side-by-side recreational vehicle 50. Additionally or alternatively, the vehicle controller 140, via the network controller 180 and the network component 182, may provide the output of at least the camera 40A (or any of the cameras 40 facing the rear of the trailer 12) to the personal computing device 190 for display on the display 192 of the personal computing device 190 when the personal computing device 190 is positioned in the operator area 30 of the truck 20. The output of the other cameras 40 may also or alternatively be provided to the personal computing device 190 for display on the display 192.

[0062] refer to Fig.10 , when the side-by-side recreational vehicle 50 is positioned on the trailer 12 and placed in a non-powered configuration, the output of the camera 40 can be displayed on the towed vehicle display 170 of the side-by-side recreational vehicle 50. In an embodiment, the towed vehicle display can be removed from the rest of the side-by-side recreational vehicle 50 and includes a network controller and a network component, similar to the network controller 180 and the network component 182, and includes at least one of an internal power source (such as a battery) or a power input connection. The power input connection can receive a cable that is connected to the power source of the truck 20 and provides power to the display 170. An exemplary cable is a USB cable. In this example, the display 170 can be removed from the side-by-side recreational vehicle 50 and can be positioned in the operator area 30 of the truck 20 so that the output of the camera 40 is displayed within the operator area 30 of the truck 20. Additionally, the vehicle controller 140, via the network controller 180 and the network component 182, may provide the output of at least the camera 40A (or any of the cameras 40 that face the rear of the trailer 12) to the display 170 for display on the display 170 when the display 170 is positioned in the operator area 30 of the truck 20. The outputs of the other cameras 40 may also or alternatively be provided to the display 170.

[0063] exist Figures 8 to 10In each of the embodiments disclosed in the drawings, the output of the camera 40 of the towed side-by-side recreational vehicle 50 is visible from within the operator area 30 of the truck 20. One advantage is that these embodiments provide the operator of the truck 20 with a view of the environment directly behind the trailer 12 without having to include the camera system as part of the trailer 12. Another advantage is that Fig. 9 and Fig.10 The embodiment provides the operator of the truck 20 with a view of the environment directly behind the trailer 12 without requiring the display 34 of the truck 20 to communicate with the camera system of the trailer 12. Therefore, the present embodiment can be used with any conventional tractor since the display 34 need not be included.

[0064] refer to Fig.11 In an embodiment, the tractor 200 includes one or more cameras 202, and the towed vehicle 210 includes one or more cameras 212. Data from each of the cameras 202 and 212 is provided to the display 220 to provide at least one image on the display based on the data received from the cameras 202 and 212. In an embodiment, the data from the cameras 202 and 212 are stitched together to provide a 360 degree view of the environment surrounding the tractor 200 and the towed vehicle 210. In an embodiment, the data from the cameras 202 and 212 are provided to the display 220 to provide multiple images on the display 220.

[0065] refer to Fig.12 In an embodiment, a tractor 200 includes one or more cameras 202, a trailer towed by the tractor includes one or more cameras 232, and a towed vehicle 210 supported on the trailer includes one or more cameras 212. Data from at least two of the cameras 202, 212, and 232 is provided to a display 220 to provide at least one image on the display based on the data received from the cameras 202, 212, and 232. In an embodiment, the data from the cameras 202, 212, and 232 are stitched together to provide a 360 degree view of the environment surrounding the tractor 200, the trailer 230, and the towed vehicle 210. In an embodiment, the data from the cameras 202, 212, and 232 are provided to the display 220 to provide multiple images on the display 220.

[0066] Reference now Fig.13 and Fig.14 , discuss other aspects of the vessel 60 (as discussed above with reference to Figure 5 and Figure 6 As shown, the boat 60 is removed from the trailer 12 so that it can be placed in water (not shown). Figure 5 and Figure 6In addition to the discussed camera 40A, additional cameras 40B, 40C, and 40D are shown. For example, camera 40B is shown on the port side of the boat 60, camera 40C is shown on the starboard side of the boat 60, and camera 40D is shown at the bow end of the boat 60.

[0067] Although in Fig.13 and Fig.14 4. Cameras 40A-40D are shown in the drawings, but it will be appreciated that any of a variety of alternative and / or additional camera arrangements may be used. As an example, multiple cameras may be placed at the bow end of the vessel 60 to provide images of different portions of the surroundings of the vessel 60. For example, a first camera may view the environment at or above the horizon to provide a relatively long-range view (e.g., where the vessel 60 may be heading), while a second camera may view the environment below the horizon to provide a view of the water and / or waterline near the bow end of the vessel 60. Similarly, multiple cameras may be placed on the starboard and / or port sides of the vessel 60 to provide different views (e.g., a relatively long-range view and a view that provides a relevant view when docking along the pier 70).

[0068] As mentioned above Figures 7 to 10 As discussed, the data output of the cameras 40A-40D is received by the vehicle controller 140 so that it can be provided for display on the display 170 of the operator interface 150, the display 34 of the remote vehicle 20, the display 192 of the phone 190, and / or the towed vehicle display 170. In some cases, the vehicle controller 140 provides a subset of the received data output for display.

[0069] For example, if it is detected that the boat 60 is moving toward the dock 70 (as indicated by arrow 72), the vehicle controller 140 can automatically select the data output of camera 40C. As a result of the selection, data output from other cameras (e.g., cameras 40A, 40B, and 40D) can be at least temporarily omitted from the data provided for display, or, as another example, data output from camera 40C can be enhanced relative to other cameras 40A, 40B, and 40D. As discussed above, data output from multiple cameras can be stitched together. For example, data output from cameras 40A, 40C, and 40D can be stitched together when docking to provide a more detailed view of the dock 70. Similarly, if it is detected that the boat 60 is moving forward (as indicated by arrow 74), data output from camera 40D can be selected for presentation.

[0070] In some cases, the vehicle controller 140 (e.g., via the operator interface 150) may receive explicit operator input indicating that one or more of the cameras 40A-40D are selected. In other examples, the vehicle controller 140 may automatically select a subset of the cameras (e.g., in addition to or in lieu of explicit and / or implicit operator input). For example, the vehicle controller 140 may process implicit operator input to select one or more cameras. Thus, in contrast to explicit input that includes camera selections by the operator, the implicit input includes one or more actions performed by the operator (e.g., associated with operating the vessel 60) from which one or more cameras 40A-40D may be automatically determined.

[0071] For example, the vehicle controller 140 may evaluate operator input associated with the steering wheel 76 (which may be part of the steering system 138 discussed above). Thus, when it is determined that the operator is turning the boat 60 to the right, the vehicle controller 140 may select the data output associated with the camera 40C. As another example, the vehicle controller 140 may splice data output from multiple cameras, which may then be planned based on the identified change in direction of travel. Returning to the above example, when the operator turns the boat 60 to the right, the displayed image may transition from centered on the data output associated with the camera 40D to the data output associated with the camera 40C. It will be appreciated that any of a variety of other explicit and / or implicit inputs may be processed in accordance with the aspects described herein.

[0072] It will be appreciated that the vehicle controller 140 may use any of a variety of techniques and associated data (e.g., in addition to or in lieu of implicit input) to automatically select a subset of cameras. For example, proximity data from one or more proximity sensors, GPS data, data from the power system controller 164, and / or data from the power steering controller 174 may be evaluated to determine heading and / or speed. If it is determined that the vessel is moving in a given direction and / or at a speed above or below a predetermined threshold, the camera associated with that direction may be selected accordingly. As another example, the evaluation may include determining a primary directional component from the vessel's direction of travel. For example, it may be determined that the vessel 60 is moving primarily along arrow 72 toward the dock 70 even though the vessel 60 is also moving along arrow 74 at a low speed. In other instances where the vessel 60 is moving in multiple directions, data output from multiple cameras may be stitched together. As another example, if the vessel 60 is moving below a predetermined threshold, a "bird's eye view" view (e.g., including stitched data from cameras 40A-40D) may be presented to provide information to the operator that may be used to avoid potential obstacles. Conversely, if the vessel 60 is moving above a predetermined threshold (which may be the same or a different threshold), then one of the cameras associated with the direction of travel may be selected.

[0073] In addition, data from sensors 144 may be used. For example, sensors 144 may include an inertial measurement unit (IMU) that may generate movement data that is processed by vehicle controller 140. For example, if it is determined that boat 60 is tilting (e.g., as may be the case during acceleration or when traveling in waves), vehicle controller 140 may select camera 40D to provide relevant information to the operator while moving forward along arrow 74. As another example, TPS may be used to make such a determination. In the event that multiple cameras are positioned in similar locations, vehicle controller 140 may select between similar cameras. Returning to the above example where a first camera is at or above the horizon and a second camera is below the horizon, vehicle controller 140 may select the second camera below the horizon during acceleration because the data output of the first camera may be relatively useless due to its positioning.

[0074] In some cases, computer vision techniques may be used to perform object recognition using the data output from cameras 40A-40D. As an example, trailer 12 may be detected within the data output from camera 40D, such that camera 40D is selected in response. As another example, dock 70 may be detected within the data output from camera 40C, such that camera 40C is selected in response.

[0075] Thus, a set of rules may be used to process any of the various data and accordingly determine one or more cameras from a set of available cameras. In other examples, there may be a mapping between a direction of travel and one or more cameras associated with the direction of travel. Fig.13 As shown in , there may be a mapping between the direction of travel indicated by arrow 74 and camera 40D, and between the direction of travel indicated by arrow 72 and camera 40C.

[0076] The selected camera may change in response to a change in the direction of travel of the vessel 60 (e.g., when the vessel transitions from traveling along arrow 72 to traveling along arrow 74). As examples, predetermined thresholds may be used to determine when to change cameras (such as based on a predetermined amount of time) or to determine that the vessel 60 is traveling at a greater speed in one direction than in another. These techniques may be used to avoid unnecessary or rapid camera changes in certain situations (e.g., as may be the case when waves or wakes from another vessel not in view affect the direction of travel of the vessel 60).

[0077] In an example where the operator is docking the boat 60 and loading the boat 60 onto the trailer 12, the vehicle controller 140 may initially determine that the boat 60 is moving substantially along arrow 72 (e.g., toward the dock 70), causing the camera 40C to be selected. However, as the movement of the boat 60 transitions to being substantially along arrow 74 (e.g., toward the trailer 12), the camera 40D may be selected in place of or in addition to the camera 40C. As another example, the vehicle controller 140 may detect the presence of the trailer 12 based on recognition of radio frequencies transmitted by the trailer 12 and / or the remote vehicle 20, etc.

[0078] It will be appreciated that the aspects discussed above are similarly applicable to any of a variety of other vehicles. In addition, any of a variety of additional or alternative data may be used to identify explicit / implicit selection and / or automatically determine one or more cameras from a set of cameras (e.g., cameras 40A-40D). For example, with a seaplane, the boat 60 may not have a brake / traction controller, while such data may be available in the case of other types of recreational vehicles such that it may be used in accordance with the aspects discussed above. For example, if data received from the brake / traction controller 172 indicates that the vehicle is experiencing reduced traction, the camera may be determined based on the vehicle's direction of travel (which may be different from the direction specified by the power steering controller 174) to provide relevant information to the operator of the vehicle.

[0079] Although the present invention has been described as having an exemplary design, the present invention may be further modified within the spirit and scope of the present disclosure. Therefore, the present application is intended to cover any modification, use or modification of the present invention using its general principles. In addition, the present application is intended to cover deviations from the present disclosure that fall within known or customary practices in the field to which the present invention belongs.

Claims

1. A recreational vehicle for communicating with a remote device and sized and shaped to be placed on a trailer, the recreational vehicle having a plurality of ground engaging members supporting at least one recreational vehicle support member, the recreational vehicle include: frame; a propulsion system supported by the frame to propel the recreational vehicle toward the trailer, the propulsion system having a first powered configuration to power movement of the recreational vehicle and a second non-powered configuration in which the propulsion system is unable to power movement of the recreational vehicle; a steering system coupled to the frame to establish a direction of travel for the recreational vehicle; a control system operably coupled to the propulsion system and the steering system, the control system controlling the direction and speed of the recreational vehicle; as well as a plurality of cameras supported by the frame, the plurality of cameras operably coupled to the control system to monitor at least a portion of a surrounding environment of the recreational vehicle, the plurality of cameras including a rear view camera positioned to monitor a rear of the recreational vehicle, wherein the control system provides data captured by the rear view camera to the remote device when the recreational vehicle is supported on the at least one recreational vehicle support member of the trailer and the propulsion system of the recreational vehicle is in the second non-powered configuration.

2. The recreational vehicle of claim 1 further comprising a display supported by the frame of the recreational vehicle and removably coupled to the recreational vehicle, the display becoming the remote device when removed from the recreational vehicle.

3. The recreational vehicle according to claim 1, in, The remote device includes a display.

4. The recreational vehicle according to claim 3, in, The remote device is a personal computing device.

5. The recreational vehicle according to claim 1, in, The remote device is part of an operator interface of a tractor vehicle towing the trailer.

6. The recreational vehicle according to claim 1, in, In the non-powered configuration of the recreational vehicle, a prime mover of the propulsion system is de-energized.

7. The recreational vehicle according to claim 1, in, In the non-powered configuration of the recreational vehicle, a transmission of the propulsion system is in a park setting.

8. A method of visualizing a portion of the surroundings of a recreational vehicle towing a tractor, the method include: receiving data from a camera supported by the recreational vehicle using an electronic controller when the recreational vehicle is in a towed state being pulled by the towing vehicle; as well as An image is displayed on a display remote from the recreational vehicle using the electronic controller based on the data received from the camera.

9. The method according to claim 8 also includes providing a propulsion system for the recreational vehicle to push the recreational vehicle toward the trailer, the propulsion system having a first power configuration that provides power for movement of the recreational vehicle and a second non-power configuration in which the propulsion system is unable to provide power for movement of the recreational vehicle.

10. The method according to claim 9, in, The receiving step occurs when the propulsion system of the recreational vehicle is in the non-powered configuration.

11. The method according to claim 8, in, The camera is a visible light camera.

12. The method according to claim 8, in, The recreational vehicle is supported by a trailer coupled to the tractor vehicle.

13. The method according to claim 8, in, The recreational vehicle is supported by the towing vehicle.

14. The method according to claim 8, in, The recreational vehicle is supported by the ground and coupled to the towing vehicle via a connecting member.

15. A recreational vehicle that communicates with a remote device supported by a towing vehicle while the recreational vehicle is towed by the towing vehicle, the recreational vehicle include: frame; a propulsion system supported by the frame to propel the recreational vehicle, the propulsion system having a first powered configuration for powering movement of the recreational vehicle and a second non-powered configuration in which the propulsion system is unable to power movement of the recreational vehicle; a steering system coupled to the frame to establish a direction of travel for the recreational vehicle; a control system operably coupled to the propulsion system and the steering system, the control system controlling the direction and speed of the recreational vehicle; as well as a plurality of cameras supported by the frame, the plurality of cameras operably coupled to the control system to monitor at least a portion of a surrounding environment of the recreational vehicle, wherein the control system provides data captured by at least one of the plurality of cameras to the remote device supported by the towing vehicle when the propulsion system of the recreational vehicle is in the second non-powered configuration.

16. The recreational vehicle of claim 15, further comprising a display supported by the frame of the recreational vehicle and removably coupled to the recreational vehicle, the display becoming the remote device when removed from the recreational vehicle.

17. The recreational vehicle of claim 15, in, The remote device includes a display.

18. The recreational vehicle of claim 17, in, The remote device is a personal computing device.

19. The recreational vehicle of claim 15, in, The remote device is part of an operator interface of a tractor vehicle towing the trailer.

20. The recreational vehicle of claim 15, in, In the non-powered configuration of the recreational vehicle, a prime mover of the propulsion system is de-energized.

21. The recreational vehicle of claim 15, in, In the non-powered configuration of the recreational vehicle, a transmission of the propulsion system is in a neutral setting.

22. A method of visualizing a portion of the surrounding environment of a recreational vehicle having a prime mover to power movement of the recreational vehicle, the recreational vehicle towing a tractor, the method include: receiving data from a recreational vehicle camera supported by the recreational vehicle using an electronic controller when the recreational vehicle is in a towed state being pulled by the towing vehicle; receiving data from a tractor camera supported by the tractor using an electronic controller; as well as At least one image is displayed on a display remote from the recreational vehicle using the electronic controller based on the data received from the recreational vehicle camera and the towing vehicle camera.

23. The method according to claim 22, in, The towed state of the recreational vehicle includes when a prime mover of the recreational vehicle is powered off.

24. The method according to claim 22, in, The towed state of the recreational vehicle includes when a transmission of the recreational vehicle is in a park setting.

25. The method of claim 22, further comprising generating the at least one image by stitching together data from the recreational vehicle camera and data from the tractor vehicle camera.

26. The method according to claim 22, in: The tractor includes the electronic controller; and The electronic controller receives data from the recreational vehicle camera via a wireless network.

27. A method of visualizing a portion of the surrounding environment of a recreational vehicle having a prime mover to power movement of the recreational vehicle, the recreational vehicle towing a tractor and positioned on a trailer supporting the recreational vehicle, the method include: receiving data from a recreational vehicle camera supported by the recreational vehicle using an electronic controller when the recreational vehicle is in a towed state being pulled by the towing vehicle; receiving data from a trailer camera supported by the trailer using an electronic controller; as well as At least one image is displayed on a display remote from the recreational vehicle using the electronic controller based on the data received from the recreational vehicle camera and the trailer camera.

28. The method according to claim 27, in, The towed state of the recreational vehicle includes when a prime mover of the recreational vehicle is powered off.

29. The method according to claim 27, in, The towed state of the recreational vehicle includes when a transmission of the recreational vehicle is in a park setting.

30. The method of claim 27, further comprising generating the at least one image by stitching together data from the recreational vehicle camera and data from the trailer camera.

31. The method according to claim 27, in: The tractor includes the electronic controller; and The electronic controller receives data from the recreational vehicle camera via a wireless network.

32. A recreational vehicle, include: frame; a propulsion system supported by the frame to propel the recreational vehicle; a steering system coupled to the frame to establish a direction of travel for the recreational vehicle; a control system operably coupled to the propulsion system and the steering system, the control system controlling the direction and speed of the recreational vehicle; as well as a plurality of cameras supported by the frame, the plurality of cameras operably coupled to the control system to monitor at least a portion of a surrounding environment of the recreational vehicle, wherein the control system: automatically selecting a camera from the plurality of cameras based on data from at least one of the propulsion system and the steering system; and Provides data captured by the selected camera for display.

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