Rearview system with rear camera

Abstract

The invention relates to a rear view system (1) for a traction vehicle (3) capable of cooperating with a trailer (5) attached to the traction vehicle (3) so as to be rotatably moved, the rear view system (1) comprising: two lateral cameras (7); two rear cameras (11); two lateral screens (17); a control unit (21) configured to display an image from each lateral camera (7) on a corresponding lateral screen (17), the control unit (21) further configured to display the image from each lateral camera (7) on the corresponding lateral screen (17) when the trailer (5) attached so as to be rotatably moved extends on an opposite side with respect to the longitudinal axis (9), an image from the rear camera (11) is displayed instead of an image from the lateral camera (7) on one of the two sides.

Description

Technical Field

[0001] The present invention relates to a rearview system having at least two side cameras and two rear cameras. Background Art

[0002] It is known to use a rearview system to replace the side mirrors of a vehicle. Such an arrangement is of interest for articulated vehicles such as trucks, which include a towing vehicle and a trailer mounted for rotational movement, and each side mirror can be replaced by a camera and a screen.

[0003] When the truck moves in a straight line, that is, when the trailer is aligned with the towing vehicle, the driver sees the area near the lateral side wall of the trailer.

[0004] When turning or maneuvering, part of the rear view is blocked by the trailer because the towing vehicle and the trailer are no longer aligned.

[0005] One solution could be to add other cameras coupled to additional screens provided in the cockpit, independent of the rearview system.

[0006] However, this solution is impractical because it becomes difficult for the driver to monitor several screens simultaneously when turning or maneuvering.

[0007] The present invention aims to solve all or part of the above-mentioned drawbacks. Summary of the Invention

[0008] To this end, the present invention relates to a rearview system for a towing vehicle, the towing vehicle being capable of cooperating with a trailer mounted for rotational movement on the towing vehicle, the rearview system comprising:

[0009] Two side cameras, each side camera being configured to be attached to a corresponding side of the towing vehicle relative to the longitudinal axis of the towing vehicle,

[0010] Two rear cameras, each rear camera being configured to be attached to a corresponding rear area of the towing vehicle, each rear area being located on a corresponding side relative to the longitudinal axis, and when the towing vehicle and the trailer are cooperating and traveling on a flat horizontal ground, each rear camera is located at a position lower than the load support tray of the trailer,

[0011] Two side screens, each side screen being configured to be attached to the towing vehicle so as to be visible from the cockpit of the towing vehicle,

[0012] A control unit configured to display images from each side camera on a corresponding side screen, the control unit further configured to display an image from a rear camera instead of an image from a side camera on one of the two sides when a rotatably movable trailer extends on the opposite side with respect to the longitudinal axis, the extension direction of the trailer having a deviation angle greater than a limit value with respect to the longitudinal axis of the towing vehicle.

[0013] When the towing vehicle and the trailer are aligned along the longitudinal axis and when the trailer is slightly deviated, the control unit allows the side cameras to be displayed.

[0014] In this case, the trailer does not affect the vision because the side cameras capture the side walls of the trailer on each side. Additionally, the front part of the trailer facing the rear of the towing vehicle does not block a part of the field of view of the side cameras. Therefore, the rear camera is not used.

[0015] The field of view of each side camera corresponds to a rear side view angle with respect to the towing vehicle moving forward along the longitudinal axis.

[0016] When the towing vehicle turns or during manoeuvring, a deviation angle appears between the extension direction of the trailer and the longitudinal axis of the towing vehicle.

[0017] When the deviation angle exceeds the limit value on one side of the longitudinal axis, the control unit displays an image from the rear camera on the opposite side.

[0018] In fact, on the deviated side, the side wall of the trailer remains visible and occupies an increasing amount of space in the field of view of the side camera.

[0019] On the other hand, on the other side, the side wall of the trailer becomes increasingly invisible until it disappears from the field of view of the side camera. The front part of the trailer above the load support tray may also partially block the field of view of the side camera.

[0020] The control unit then changes the display, and the rear camera makes the field of view hidden by the front part of the towed vehicle visible to the side camera. The rear camera also makes the area that the trailer would occupy in the absence of deviation visible.

[0021] If a pedestrian or other vehicle is in this area, it becomes visible on the corresponding side screen. Therefore, the change in the operation of the cameras by the control unit improves safety and facilitates turning and manoeuvring.

[0022] When the turning or manoeuvring is completed and when the deviation angle is again less than the limit value, the control unit stops displaying the image from the rear camera.

[0023] According to one embodiment, when the deviation angle is greater than a limit value, the control unit displays an image from the rear camera instead of the image from the corresponding side camera. According to this embodiment, when the deviation angle is less than the limit value again, the control unit stops displaying the image from the rear camera and displays the image from the side camera again. According to this embodiment, the same display area of each side screen enables the display of an image from the rear camera or an image from the corresponding side camera.

[0024] According to another embodiment, when the deviation angle is greater than a limit value, the control unit displays an image from the rear camera instead of a part of the image from the corresponding side camera, which is then truncated compared to the image displayed when the deviation angle is less than the limit value. When the deviation angle is less than the limit value again, the control unit stops displaying the image from the rear camera and displays the untruncated image from the corresponding side camera again. According to this embodiment, when the deviation angle is greater than the limit value, the same display area of each side screen enables the display of a truncated image from the side camera and an image from the rear camera.

[0025] According to yet another embodiment, when the deviation angle is greater than a limit value, in addition to the image from the corresponding side camera, the control unit also displays an image from the rear camera, and simply stops displaying the image from the rear camera when the deviation angle becomes less than the limit value. According to this embodiment, each side screen includes a display area dedicated to the rear camera.

[0026] According to one aspect of the invention, the control unit includes, in a memory, an algorithm for identifying a specific entity (such as a pedestrian, another vehicle, or an identifiable obstacle considered dangerous or vulnerable). The rear view system may include an audible or visual warning device to notify the driver in the event that at least one specific entity is identified. This arrangement improves safety.

[0027] The terms "front" and "rear" should be understood as being defined with respect to the direction of travel of the towing vehicle and the trailer when the towing vehicle and the trailer are coupled. For the trailer, these terms are defined with respect to the extension direction of the trailer, and for the towing vehicle, these terms are defined with respect to the longitudinal axis.

[0028] According to one aspect of the invention, optionally, the control unit may be configured such that at least one additional criterion must be met for the image change from the side camera to the rear camera.

[0029] Preferably, the additional criterion is that the towing vehicle is traveling in the backward direction.

[0030] In this case, the rear view system is reserved for maneuvers in the backward direction and there is no camera change when driving in the forward direction during sharp turns. This arrangement is interesting in the sense that driving in the forward direction remains the same for the driver who constantly sees the images from the side cameras.

[0031] An additional criterion can also be a speed slower than the speed limit. Preferably, the speed limit is 30 km / h.

[0032] According to one aspect of the invention, the trailer includes a coupling bolt that is attached to the load support tray and is directed downward. The towing vehicle includes a fifth wheel that is arranged to cooperate with the coupling bolt.

[0033] The expression "located at a position below the load support tray" means that, directly above each rear camera, the load support tray is above the rear camera.

[0034] The terms "horizontal" and "vertical" and their derivatives are defined when the towing vehicle and the trailer are mated and driven on a flat horizontal ground.

[0035] According to one aspect of the invention, the limit value is included between 5 and 30°. Preferably, the limit value can be modified by a parameterization control unit.

[0036] According to one aspect of the invention, each side camera is arranged on or provided in a side portion of the body of the towing vehicle. Each rear camera is provided in a rear portion of the body of the towing vehicle. Each side portion extends substantially parallel to the longitudinal axis, and each rear portion extends transversely to the longitudinal axis.

[0037] Herein, an articulated vehicle is a vehicle that includes a towing vehicle and a trailer that is rotatably movably mounted on the towing vehicle. It can be a truck or any other type of articulated vehicle.

[0038] According to one aspect of the invention, each side screen includes a user interface for forcing the display of an image from the rear camera in addition to or instead of all or part of the image from the side camera. Without user intervention, the display change is automatically performed by the control unit.

[0039] According to one aspect of the invention, the control unit is configured to control the presence of the trailer from the image from the rear camera.

[0040] According to one aspect of the invention, in the absence of a trailer, the rear camera can be used by the control unit as a reverse camera.

[0041] According to one aspect of the invention, when the towing vehicle and the trailer are mated and traveling on a horizontal flat ground and the deviation angle is zero, the trailer extends between two parallel vertical limiting planes. In addition, the two limiting planes are transverse to the extending direction of the trailer, and the rear region is located between the two limiting planes.

[0042] This arrangement makes it possible to reduce the area occluded by the trailer in the image from the rear camera. The rear camera is also close to the rear end of the towing vehicle.

[0043] According to one aspect of the invention, each side screen includes a first display portion for an image from a side camera and / or an image from a corresponding rear camera, and at least one separate second display portion for a cropped image from the side camera or an image from a corresponding additional side camera.

[0044] This display in at least two regions is advantageous when the image from the side camera is not visible to the driver, that is, when it is greater than a limiting value. The second display portion also provides an additional safety element by displaying the rear side region in a wide angle.

[0045] According to one possibility, each side screen includes a third display portion dedicated to displaying an image from a corresponding rear camera.

[0046] According to one aspect of the invention, the cropped image from the side camera is cropped by the control unit at a wider angle than the image from the side camera intended to be displayed on the first display portion.

[0047] In other words, the side camera has a wide enough angle to allow, through the processing of the control unit, an image with a reduced angle for the first display portion and a cropped image with an unchanged angle for the second display portion to be obtained.

[0048] This arrangement allows only one camera per side, namely the side camera, to be used to obtain two differently cropped images.

[0049] According to one aspect of the invention, the rear view system includes two additional side cameras, each additional side camera being configured to be attached to a corresponding side of the towing vehicle relative to the longitudinal axis of the towing vehicle.

[0050] Preferably, the field of view of each additional side camera 15 is different from the field of view of each corresponding side camera. The two fields of view can cover a common area.

[0051] According to one aspect of the invention, the image from each side camera corresponds to the image of a conventional rear view mirror, and the image from each additional side camera corresponds to the image of an additional rear view mirror with a different orientation, in particular the additional rear view mirror required for an articulated vehicle.

[0052] Thus, the rear vision system is self - sufficient and when the deviation angle is less than the limit value, the driver only needs the lateral screen.

[0053] According to one aspect of the invention, the rear vision system includes two lateral housings, each lateral housing including a lateral camera and a corresponding additional lateral camera, and each lateral housing being attachable to a corresponding lateral area of the cab of the towing vehicle.

[0054] Combining the two cameras in one housing makes them easier to integrate while limiting the occupied area.

[0055] Alternatively, in the absence of the additional lateral camera, the same type of lateral housing can be used for the individual lateral camera.

[0056] According to one aspect of the invention, the two rear cameras are located in the same vertical rear plane of the towing vehicle and are oriented substantially parallel to the longitudinal axis.

[0057] Preferably, the rear plane is transverse to the longitudinal axis.

[0058] According to one aspect of the invention, the control unit is capable of determining the distance of an object present in the images of the two rear cameras by comparing the two images and using the principle of stereovision.

[0059] This arrangement is useful when an obstacle is detected during a maneuver, as the distance to the rear camera can be determined.

[0060] Preferably, the rear cameras are wide - angle cameras such that their fields of view widely overlap.

[0061] According to one aspect of the invention, the control unit is configured to be mounted in the towing vehicle. Preferably, the control unit is connected to the central unit of the towing vehicle.

[0062] According to one aspect of the invention, the central unit provides the value of the deviation angle to the control unit.

[0063] According to one embodiment, the control unit can estimate the value of the deviation angle by analyzing the images from the lateral camera and / or the rear camera.

[0064] According to a particularly advantageous embodiment, the control unit can estimate the value of the deviation angle based on a computational algorithm by combining an image analysis method with a method using a geometric model.

[0065] According to this particularly advantageous embodiment, the image analysis method is based on images captured by various cameras of the vehicle, and in particular by the side cameras, as input. The received images are processed by the control unit, in particular by means of at least one depth estimation method. This processing allows the control unit to determine the geometry of the vehicle, and in particular the geometry of the trailer, in order to be able to perform a first estimation of the position of the trailer end, that is to say the position where the trailer end is located.

[0066] The image analysis method is advantageously supplemented by a method using a geometric model, which also makes it possible to determine the trailer end position and thus estimate the deviation angle.

[0067] The method using the geometric model is based on dynamic data provided by the central unit of the towing vehicle (such as vehicle speed, wheel and / or steering wheel angle) and on predetermined data (such as trailer dimensions, and in particular the predetermined trailer length). Based on these different data, the control unit performs a second estimation of the trailer end position.

[0068] Then the first and second estimations of the trailer end position are compared with each other. If the difference is too large, the first estimation obtained by image analysis is used to perform another estimation of the trailer end position based on the method using the geometric model. More precisely, the first estimation is used to redefine the value of the trailer length, on the basis of which the method using the geometric model is performed, which makes it possible to perform the calibration of the geometric model and the data involved, and in particular the data related to the predetermined trailer length.

[0069] Therefore, another second estimation of the trailer end position based on the method using the geometric model is then performed, and then compared with the first estimation obtained by image analysis. As long as the difference is too large, or the obtained estimations are incompatible with each other, a new second estimation based on the method using the geometric model is performed.

[0070] When the first and second estimations are close enough to be considered consistent with each other, the control unit thus derives a final estimation of the trailer end position, which is then used to estimate the deviation angle formed by the extension direction of the trailer with respect to the longitudinal axis of the towing vehicle.

[0071] In addition, and in certain specific cases, the second estimation obtained by the method using the geometric model makes it possible to detect and correct particularly serious inconsistencies in the first estimation obtained by image analysis, which can be, for example, a case where the visibility conditions are particularly poor.

[0072] Thus, the image analysis method and the method using the geometric model complement each other, and allow the obtained estimations of the trailer end position to be gradually refined in order to arrive at a final estimation for deriving the value of the deviation angle.

[0073] This particularly advantageous embodiment thus makes it possible to perform an accurate and reliable estimation of the deviation angle based solely on image analysis and a geometric model, by taking advantage of the images captured by the cameras of the towing vehicle and certain data received from the central unit of the towing vehicle, without the need to use one or more additional sensors such as a yaw angle detector or an ultrasonic sensor.

[0074] According to one aspect of the invention, each rear camera is configured to be attached to or arranged in the rear flap of the towing vehicle.

[0075] The rear flap is a fixed vertical external element of the towing vehicle, forming a rear partition.

[0076] Preferably, each rear camera is arranged vertically at the same level as the axle of the towing vehicle and / or behind the axle along the longitudinal axis.

[0077] According to one aspect of the invention, each rear camera is an independent element capable of communicating with the control unit via wired or wireless communication.

[0078] Preferably, each rear camera includes fastening hooks capable of cooperating with the rear flap. Thus, during manufacturing or retrofitting, the rear cameras can be installed on a large number of towing vehicles.

[0079] By independent element, it is understood that each rear camera is included in its own housing (independent of the other parts of the towing vehicle).

[0080] According to one aspect of the invention, each rear camera includes means for fastening to complementary means of the towing vehicle.

[0081] Similarly, each side camera and additional side camera are capable of communicating with the control unit via wired or wireless communication.

[0082] According to one possibility, the invention also relates to a rearview and lighting system including the rearview system as described above, which for each side further includes side tail lights, and each corresponding rear camera is capable of communicating with the control unit.

[0083] This arrangement facilitates the integration of the rear cameras for new towing vehicles. Integrating the rear cameras into the side tail lights reduces the space occupied by the rear cameras and looks aesthetically pleasing.

[0084] According to one aspect of the invention, illuminating the rear lights means the rear illumination and brake lights of the towing vehicle.

[0085] According to one aspect of the invention, each side rear light includes a support for a bulb and a corresponding rear camera, and a translucent protective encapsulation mounted on the support and surrounding the bulb and the rear camera, the protective encapsulation having an opening through which the lens of the rear camera passes.

[0086] The rear camera is thus protected by leaving only the protruding lens. The opening is provided in a recess in the protective encapsulation facing the interior of the side rear light.

[0087] Preferably, mounting the protective encapsulation on the support provides a seal within the protective encapsulation and the support. The side rear light includes sealing means such as a seal for the lens.

[0088] According to one aspect of the invention, the support includes a printed circuit extending transversely to the orientation direction of the bulb and the rear camera, to which the bulb and the rear camera are attached.

[0089] The invention also relates to a towing vehicle comprising a rear view system or a rear view and lighting system as described above.

[0090] The invention also relates to an articulated vehicle comprising a towing vehicle and a trailer.

[0091] The different aspects defined above can be combined and they are not incompatible. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] The invention will be better understood with the aid of the detailed description disclosed below with reference to the drawings.

[0093] Figure 1 is a schematic side view of a trailer and a towing vehicle comprising a rear view system.

[0094] Figure 2 is a schematic top view of the trailer and the towing vehicle during a turn or a maneuver.

[0095] Figure 3 is a schematic top view of a towing vehicle comprising a rear view system.

[0096] Figure 4 is a schematic view of the elements constituting the rear view system.

[0097] Figure 5 is a schematic rear view of a side rear light including a rear camera of the rear view system.

[0098] Figure 6 is a schematic cross-sectional view of a side rear light including a rear camera.

[0099] Figure 7 is a block diagram representing a method for estimating a deviation angle. ​​​​​​​Detailed implementation mode

[0100] In the detailed description following the above-defined drawings, the same elements or elements performing the same functions may retain the same reference numerals to simplify the understanding of the present invention.

[0101] As Figures 1 to 4 shown, the rearview system 1 is intended for a towing vehicle 3 which is capable of cooperating with a trailer 5 rotatably movably mounted on the towing vehicle 3.

[0102] The rearview system 1 includes two side cameras 7, each side camera 7 being configured to be attached to a corresponding side of the towing vehicle 3 relative to the longitudinal axis 9 of the towing vehicle 3.

[0103] The rearview system 1 includes two rear cameras 11, each rear camera 11 being configured to be attached to a corresponding rear area 13 of the towing vehicle 3.

[0104] When the towing vehicle 3 and the trailer 5 are cooperating and traveling on a horizontal flat ground, each rear area 13 is located on a corresponding side relative to the longitudinal axis 9, and each rear camera 11 is located at a position lower than the load support tray 15 of the trailer 5.

[0105] The rearview system 1 includes two side screens 17, each side screen 17 being configured to be attached to the towing vehicle 3 so as to be visible from the cockpit 19 of the towing vehicle 3.

[0106] The rearview system 1 includes a control unit 21 which is configured to display images from each side camera 7 on a corresponding side screen 17.

[0107] The control unit 21 is further configured to display all or part of the images from the rear camera 11 instead of the images from the side camera 7 on one of the two sides when the rotatably movably mounted trailer 5 extends on the opposite side relative to the longitudinal axis 9.

[0108] This occurs when the deviation angle 25 of the extension direction 23 of the trailer 5 relative to the longitudinal axis 9 of the towing vehicle 3 is greater than a limit value.

[0109] The control unit 21 makes it possible to display the side cameras 7 when the towing vehicle 3 and the trailer 5 are aligned along the longitudinal axis 9 and when the trailer 5 is slightly deviated.

[0110] In this case, the trailer 5 does not affect the vision because the side cameras 7 photograph the side walls of the trailer 5 on each side. In addition, the front part of the trailer 5 facing the rear of the towing vehicle 3 does not block part of the field of view of the side cameras 7. Therefore, the rear cameras 11 are not used.

[0111] The field of view of each lateral camera 7 corresponds to a rear lateral viewing angle with respect to the towing vehicle 3 traveling in the forward direction along the longitudinal axis 9.

[0112] When the towing vehicle 3 turns or during maneuvers, a deviation angle 25 appears between the extension direction 23 of the trailer 5 and the longitudinal axis 9 of the towing vehicle 3.

[0113] As Figure 2 and Figure 4 shown, when the deviation angle 25 on one side of the longitudinal axis 9 exceeds the limit value, the control unit 21 displays an image from the rear camera 11 on the opposite side.

[0114] In fact, on the deviation side, the side wall of the trailer 5 remains visible and occupies an increasing amount of space in the field of view of the lateral camera 7.

[0115] On the other hand, on the other side, the side wall of the trailer 5 becomes increasingly invisible until it disappears from the field of view of the lateral camera 7. The front part of the trailer 5 above the load support tray 15 may also partially block the field of view of the lateral camera 7.

[0116] The control unit 21 then changes the display, and the rear camera 11 makes the field of view hidden by the front part of the trailer 5 visible to the lateral camera 7. The rear camera 11 also makes the area that the trailer 5 would occupy without deviation visible.

[0117] If a pedestrian 27 or another vehicle is in this area, it becomes visible on the corresponding lateral screen 17.

[0118] When the turn or maneuver is completed and when the deviation angle 25 is again less than the limit value, the control unit 21 replaces the image from the rear camera 11 with the image from the lateral camera 7.

[0119] The terms "front" and "rear" should be understood as being defined with respect to the forward travel direction of the towing vehicle 3 and the trailer 5 when they are coupled. For the trailer 5, these terms are defined with respect to the extension direction 23 of the trailer 5, and for the towing vehicle 3, these terms are defined with respect to the longitudinal axis 9.

[0120] Optionally, the control unit 21 can be configured such that at least one additional criterion must be met for the image change from the lateral camera 7 to the rear camera 11.

[0121] An additional criterion preferably used is the fact that the towing vehicle 3 is traveling in the reverse direction.

[0122] In this case, the rearview system 1 is reserved for maneuvers in the backward direction and there is no camera change when driving in the forward direction during sharp turns. This arrangement is interesting in the sense that the driver constantly sees the same images from the side cameras 7 when driving in the forward direction.

[0123] An additional criterion can also be a speed slower than the speed limit, for example 30 km / h.

[0124] The trailer 5 includes a coupling bolt 29 that is attached to the load support tray 15 and is directed downward. The towing vehicle 3 includes a fifth wheel 31 that is arranged to cooperate with the coupling bolt 29.

[0125] The expression "located at a position below the load support tray 15" means that directly above each rear camera 11, the load support tray 15 is above the rear camera 11.

[0126] The terms "horizontal" and "vertical" and their derivatives are defined when the towing vehicle 3 and the trailer 5 are mated and traveling on a horizontal flat ground.

[0127] Depending on the towing vehicle 3 and the trailer 5 used, the limit value is included between 5 and 30°. The limit value can be modified by a parameterized control unit.

[0128] Each side camera 7 is arranged on or provided in the side portion of the body of the towing vehicle 3. Each rear camera 11 is provided in the rear portion of the body of the towing vehicle 3. Each side portion extends substantially parallel to the longitudinal axis 9, and each rear portion extends transversely to the longitudinal axis 9.

[0129] In this document, an articulated vehicle 33 is a vehicle that includes a towing vehicle 3 and a trailer 5 that is rotatably movably mounted on the towing vehicle 3. It can be a truck or any other type of articulated vehicle.

[0130] Each side screen 17 includes a user interface 35 to force an image change between the side camera 7 and the rear camera 11. Without user intervention, the display change is automatically performed by the control unit 21.

[0131] The control unit 21 is configured to control the presence of the trailer 5 based on the images from the rear camera 11. In the absence of the trailer 5, the rear camera 11 can be used by the control unit 21 as a reverse camera.

[0132] When the towing vehicle 3 and the trailer 5 are mated and traveling on a horizontal flat ground and the deviation angle 25 is zero, the trailer 5 extends between two parallel vertical limit planes 37.

[0133] The two limiting planes 37 are also transverse to the direction of extension 23 of the trailer 5, and the rear region 13 is located between the two limiting planes 37.

[0134] The rear camera 11 is also close to the rear end of the towing vehicle 3.

[0135] The rear view system 1 includes two additional side cameras 39, each additional side camera 39 being configured to be attached to a corresponding side of the towing vehicle 3 relative to the longitudinal axis 9 of the towing vehicle 3.

[0136] Each side screen 17 includes a first display portion 41 for an image from the corresponding side camera 7 or rear camera 11 and a separate second display portion 43 for an image from the corresponding additional side camera 39.

[0137] The field of view of each additional side camera 39 is different from the field of view of each corresponding side camera 7. The two fields of view can cover a common area.

[0138] The images from each side camera 7 correspond to the images of a conventional rearview mirror, and the images from each additional side camera 39 correspond to the images of an additional rearview mirror with a different orientation, in particular the additional rearview mirror required for an articulated vehicle.

[0139] The rear view system 1 includes two side housings 45, each side housing 45 including the corresponding side camera 7 and the additional side camera 39.

[0140] Each side housing 45 can be attached to a corresponding side region of the cockpit of the towing vehicle 3.

[0141] Alternatively, the rear view system 1 may not include the additional side cameras 39. The same type of side housing 45 can be used only for the side cameras 7.

[0142] In this case, the second display portion 43 broadcasts a cropped image obtained from the side camera 7. The image is cropped by the control unit 21 according to an angle wider than the image from the side camera 7 (intended to be displayed on the first display portion 41).

[0143] In other words, the side camera 7 has an angle wide enough to allow, through the processing of the control unit 21, an image with a reduced angle for the first display portion 41 and an un-reduced angle cropped image for the second display portion 43 to be obtained.

[0144] This arrangement allows only one camera per side, i.e., the side camera 7, to be used to obtain two differently cropped images.

[0145] Two rear cameras 11 are located in the same vertical rear plane 47 of the towing vehicle 3 and are oriented substantially parallel to the longitudinal axis 9. The rear plane 47 is transverse to the longitudinal axis 9.

[0146] The control unit 21 is capable of determining the distance of an object present in the images of the two rear cameras 11 by comparing the two images and using the principle of stereovision.

[0147] The rear cameras 11 are wide-angle cameras such that their fields of view widely overlap. The control unit 21 is configured to be mounted in the towing vehicle 3. The control unit 21 is connected to the central unit of the towing vehicle 3.

[0148] The central unit can provide the value of the deviation angle 25 to the control unit 21. In addition, the control unit 21 can estimate the value of the deviation angle 25 by analyzing the images from the side cameras 7 or the rear cameras 11.

[0149] As Figure 7 represented, the control unit 21 can also estimate the value of the deviation angle by combining an image analysis method with a method using a geometric model. The image analysis method is based on the images captured by different side and rear cameras of the towing vehicle 3 as input. The received images are processed by the control unit 21, in particular by means of a depth estimation method. This processing allows the control unit 21 to determine the geometry of the articulated vehicle 33 and, in particular, the geometry of the trailer 5 in order to be able to perform a first estimate of the position of the trailer end, that is to say the position where the trailer end is located.

[0150] This image analysis method is advantageously supplemented by a method using a geometric model, which also makes it possible to determine the trailer end position.

[0151] The method using a geometric model is based on the dynamic data provided by the central unit of the towing vehicle 3, such as the speed of the towing vehicle 3, the wheel and / or steering wheel angles, and on the predefined data, such as the trailer dimensions and, in particular, the predefined trailer length. Based on these different data and with the aid of a geometric model, the control unit 21 performs a second estimate of the trailer end position.

[0152] Then the first estimate and the second estimate of the trailer end position are compared with each other. If the difference is too large, the first estimate obtained by image analysis is used to perform another estimate of the trailer end position based on the method using a geometric model. More precisely, the first estimate is used to redefine the value of the trailer length, on the basis of which the method using a geometric model is performed, which makes it possible to perform the calibration of the geometric model and the data involved, and in particular the data related to the predefined trailer length.

[0153] Thus, another second estimate of the trailer end position based on the method using the geometric model is then performed and compared with the first estimate obtained by image analysis. As long as the difference is too large or the estimates obtained are not compatible with each other, a new second estimate based on the method using the geometric model is performed.

[0154] When the first estimate and the second estimate are close enough to be considered consistent with each other, the control unit 21 thus derives a final estimate of the trailer end position, which is then used to estimate the deviation angle formed by the extension direction of the trailer 5 relative to the longitudinal axis of the towing vehicle 3.

[0155] Furthermore, and in certain specific cases, the second estimate obtained by the method using the geometric model makes it possible to detect and correct particularly severe inconsistencies in the first estimate obtained by image analysis, which can be, for example, a case where the visibility conditions are particularly poor.

[0156] The programming of the control unit 21 can be modified to adapt to the limit value of the deviation angle 25.

[0157] Each rear camera 11 is configured to be attached to or set in the rear flap of the towing vehicle 3.

[0158] The rear flap is a fixed vertical external element of the towing vehicle 3, forming a rear partition. Each rear camera 11 is vertically set at the same level as the axle of the towing vehicle 3 and / or behind the axle along the longitudinal axis 9.

[0159] As Figure 4 shown, each rear camera 11 is an independent element capable of communicating with the control unit 21 via wired or wireless communication.

[0160] In Figure 4 it, only the side cameras 7 related to one side, the additional side camera 39, the rear camera 11 and the side screen 17 are shown. The left side screen 17 shows the situation before the rear camera 11 is displayed, and the right side screen 17 shows the same screen when the rear camera 11 is displayed.

[0161] Each rear camera 11 includes fastening hooks capable of cooperating with the rear flap. Thus, during manufacture or modification, the rear camera 11 can be installed on a large number of towing vehicles 3.

[0162] By an independent element, it can be understood that each rear camera 11 is included in its own housing (independent of the other parts of the towing vehicle 3).

[0163] Each rear camera 11 includes means for fastening to complementary means of the towing vehicle 3.

[0164] Similarly, each side camera 7 and the additional side camera 39 can communicate with the control unit 21 via wired or wireless communication.

[0165] As Figure 5 and Figure 6 shown, instead of being a separate element, each rear camera 11 can be included in the corresponding side tail light 49.

[0166] Then, we obtain a rearview and lighting system 51 similar to the above rearview system 1, and also includes side tail lights 49 for each side.

[0167] Each rear camera 11 can communicate with the control unit 21.

[0168] This arrangement facilitates the integration of the rear camera 11 for the new towing vehicle. Integrating the rear camera 11 into the side tail light 49 reduces the space occupied by the rear camera 11 and has an aesthetic appearance.

[0169] By the side tail light 49 means the rear lighting and brake lights of the towing vehicle 3.

[0170] Each side tail light 49 includes a support 53 for the bulb 55 and the corresponding rear camera 11, and a translucent protective enclosure 57 mounted on the support 53 and surrounding the bulb 55 and the rear camera 11.

[0171] The protective enclosure 57 has an opening 59 for the lens 61 of the rear camera 11 to pass through.

[0172] The rear camera 11 is thus protected by only leaving the protruding lens 61. The opening 59 is provided in a recess 63 of the protective enclosure 57 facing the inside of the side tail light 49.

[0173] Mounting the protective enclosure 57 on the support 53 ensures the sealing within the protective enclosure 57 and the support 53. The side tail light 49 includes a sealing device, such as a seal for the lens 61.

[0174] The support 53 includes a printed circuit 65 extending transversely to the orientation direction of the bulb 55 and the rear camera 11, and the bulb 55 and the rear camera 11 are attached to the printed circuit 65.

[0175] The invention also relates to a towing vehicle 3 including the rearview system 1 or the rearview and lighting system 51 as described above.

[0176] The invention also relates to an articulated vehicle 33 including a towing vehicle 3 and a trailer 5.

[0177] The above description emphasizes the fact that the change of the camera operated by the control unit 21 enables an improvement in safety and facilitates the turning and maneuvering of the articulated vehicle 33. The area blocked by the trailer 5 is restricted due to the images from the rear camera opposite.

[0178] Furthermore, the rear view system 1 or the rear view and lighting system 51 (if applicable) is thus self - sufficient. The driver does not have to look at other additional screens to ensure his safety during maneuvering or turning.

[0179] It goes without saying that the present invention is not limited to the single embodiment described above as an example; on the contrary, it encompasses all its variants.

Claims

1. A rear view system (1) for a towing vehicle (3) which is capable of cooperating with a trailer (5) rotatably movably mounted on the towing vehicle (3), the rear view system (1) comprising: - Two side cameras (7), each side camera (7) being configured to be attached to a corresponding side of the towing vehicle (3) relative to the longitudinal axis (9) of the towing vehicle (3), - Two rear cameras (11), each rear camera (11) being configured to be attached to a corresponding rear area (13) of the towing vehicle (3), each rear area (13) being located on a corresponding side relative to the longitudinal axis (9), and when the towing vehicle (3) and the trailer (5) are cooperating and traveling on a horizontal flat ground, each rear camera (11) being located at a position lower than the load support tray (15) of the trailer (5), - Two side screens (17), each side screen (17) being configured to be attached to the towing vehicle (3) so as to be visible from the cockpit (19) of the towing vehicle (3), - A control unit (21) which is configured to display an image from each side camera (7) on a corresponding side screen (17), the control unit (21) being further configured to display an image from the rear camera (11) instead of an image from one of the side cameras (7) on one of the two sides when the rotatably movably mounted trailer (5) extends on a relative side with respect to the longitudinal axis (9), and the extension direction (23) of the trailer (5) has a deviation angle (25) greater than a limit value with respect to the longitudinal axis (9) of the towing vehicle (3).

2. The rear vision system (1) according to claim 1, wherein, When the towing vehicle (3) and the trailer (5) are cooperating and traveling on the horizontal flat ground and the deviation angle (25) is zero, the trailer (5) extends between two parallel vertical limiting planes (37), and in addition, the two limiting planes (37) are transverse to the extension direction (23) of the trailer (5), and the rear area (13) is located between the two limiting planes (37).

3. The rear vision system according to any one of claims 1 or 2, wherein, Each side screen (17) includes a first display portion (41) for an image from the corresponding side camera (7) or rear camera (11) and a separate second display portion (43) for a cropped image from the side camera (7) or an image from a corresponding additional side camera (39).

4. The rear vision system according to claim 3, wherein, The cropped image from the side camera (7) is cropped by the control unit (21) at an angle wider than the image of the side camera (7) intended to be displayed on the first display portion (41).

5. The rear view system according to claim 3, comprising two additional side cameras (39), each additional side camera (39) being configured to be attached to a corresponding side of the towing vehicle (3) relative to the longitudinal axis (9) of the towing vehicle (3).

6. The rear vision system (1) according to claim 5, comprising two lateral housings (45), each lateral housing (45) comprising said lateral camera (7) and said corresponding additional lateral camera (39), and each lateral housing (45) being attachable to a corresponding lateral area of the cockpit of said towing vehicle (3).

7. The rear vision system (1) according to any one of claims 1 to 6, wherein, Said two rear cameras (11) are located in the same vertical rear plane (47) of said towing vehicle (3) and are oriented substantially parallel to said longitudinal axis (9).

8. The rear view system (1) according to any one of claims 1 to 7, wherein, Said control unit (21) is capable of determining the distance of an object present on the images of said two rear cameras (11) by comparing the two images and using the principle of stereoscopic vision.

9. The rear vision system (1) according to any one of claims 1 to 8, wherein, Each rear camera (11) is configured to be attached to or provided in the rear flap of said towing vehicle (3).

10. The rear vision system (1) according to any one of claims 1 to 9, wherein, Each rear camera is an independent element capable of communicating with said control unit (21) by wired or wireless communication.

11. A rear vision and lighting system (51), comprising a rear vision system (1) according to any one of claims 1 to 8, said rear vision and lighting system (51) further comprising lateral tail lights (49) for each side, each corresponding rear camera (11) being capable of communicating with said control unit (21).

12. The rearview and lighting system (51) according to claim 11, wherein, Each lateral tail light (49) comprises a support (53) for a bulb (55) and a corresponding rear camera (11), and a translucent protective enclosure (57) mounted on said support (53) and surrounding said bulb (55) and said rear camera (11), the protective enclosure (57) having an opening (59) through which the lens (61) of said rear camera (11) passes.

13. The rear view and lighting system (51) according to claim 12, wherein, Said support (53) comprises a printed circuit (65) extending transversely to the orientation direction of said bulb (55) and said rear camera (11), said bulb (55) and said rear camera (11) being attached to said printed circuit (65).

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