Camera viewfinder system with variable field of view

Abstract

A camera mirror system for a vehicle includes a first camera (20a) that generates a camera image having a camera field of view (FOVex1). A controller (24) is configured to receive the camera image and output a display image (28, 30) having a first display field of view based on the camera image. The controller (24) receives a trailer angle (26). The controller (24) is configured to modify the first display field of view based on the trailer angle (26).

Description

Technical Field

[0001] This disclosure relates to a camera sight system (CMS) for commercial trucks, and more particularly to a CMS with an automatically variable field of view. Background Technology

[0002] Camera-based sight mirror replacement systems and camera systems used to supplement the view of a sight mirror are used in commercial vehicles to enhance the vehicle operator's ability to see their surroundings. A camera-based sight mirror system (CMS) utilizes one or more cameras to provide the vehicle operator with an enhanced field of view. In some examples, the sight mirror replacement system covers a larger field of view than a conventional sight mirror, or includes views that cannot be fully obtained via a conventional sight mirror.

[0003] Some known CMSs provide adjacent Category II and Category IV views on a single display in the tractor's cab. There is one display providing both Category II and Category IV views for the driver's side of the vehicle and another display providing both for the passenger side. The CMS can automatically pan the Category II view during vehicle maneuvers (such as turning) to track, for example, the rear edge of the trailer. The Category IV view is known to remain static during vehicle maneuvers because it is significantly wider than the Category II view.

[0004] For example, Class II and Class IV views are defined in the European R46 regulation, and the United States and other countries have similar driving visibility requirements for commercial trucks. Any reference to “class” views in this specification is not intended to be restrictive, but rather to serve as an example of the type of view provided to a display by a particular camera. Summary of the Invention

[0005] In some aspects, the technology described herein relates to a method for providing a view for a commercial vehicle. A camera image from a camera, oriented towards an area adjacent to a trailer, has a camera field of view. The trailer angle is received. A first display field of view within the camera's field of view is determined based on the trailer angle. The first display field of view of the camera image is sent to a display mounted on the vehicle connected to the trailer. These steps are performed iteratively. During such iterations as the trailer angle increases, the first display field of view is expanded based on the increase in trailer angle. During iterations as the trailer angle decreases, the first display field of view is narrowed based on the decrease in trailer angle.

[0006] In some respects, the techniques described herein relate to a method that further includes expanding the first display field of view between a minimum first display field of view and a maximum first display field of view based on an increase in the trailer angle, wherein the minimum first display field of view is smaller than the camera field of view.

[0007] In some respects, the techniques described herein involve a method in which the minimum first display field of view is approximately 50 degrees.

[0008] In some respects, the techniques described herein involve a method in which the maximum first display field of view is approximately 70 degrees.

[0009] In some respects, the technique described herein relates to a method in which the maximum first display field of view is 70.9 degrees.

[0010] In some respects, the techniques described herein relate to a method in which camera images are real-time videos from a camera.

[0011] In some aspects, the technology described herein relates to a method that further includes: determining a second display field of view within a camera image; and sending the second display field of view of the camera image to a display. The first display field of view and the second display field of view of the camera image are simultaneously displayed on the display.

[0012] In some respects, the techniques described herein involve a method in which the second display field of view is approximately 35 degrees.

[0013] In some respects, the techniques described herein relate to a method in which a first display field of view is a Class IV view and a second display field of view is a Class II view.

[0014] In some respects, the technology described herein relates to a method that also includes determining the trailer angle.

[0015] In some respects, the techniques described in this paper involve a method in which the camera's field of view is greater than 70 degrees.

[0016] In some aspects, the technology described herein relates to a camera-view mirror system for a vehicle, the camera-view mirror system including a first camera that generates a camera image having a camera field of view. A controller is configured to receive the camera image and output a display image having a first display field of view based on the camera image. The controller receives a trailer angle and is configured to modify the first display field of view based on the trailer angle.

[0017] In some respects, the technology described herein relates to a camera viewing system in which a controller is configured to increase a first display field of view from a minimum first display field of view to a maximum first display field of view based on the trailer angle increasing from zero to the maximum trailer angle.

[0018] In some respects, the technology described herein relates to a camera viewing system in which the minimum first display field of view is approximately 50 degrees.

[0019] In some respects, the technology described herein relates to a camera viewing system in which the maximum first display field of view is approximately 70 degrees.

[0020] In some respects, the technology described herein relates to a camera view system in which the controller is configured to modify the first display field of view based on changes in the trailer angle.

[0021] In some respects, the technology described herein relates to a camera view system in which the camera images are real-time video.

[0022] In some respects, the technology described herein relates to a camera view system in which a controller is further configured to output a display image such that the display image includes a second display field of view based on a camera image, wherein the second display field of view is smaller than a first display field of view, and wherein the display image includes a first display field of view adjacent to the second display field of view.

[0023] In some respects, the technology described herein relates to a camera viewing system in which a second display field of view is approximately 35 degrees.

[0024] In some respects, the technology described herein relates to a camera view system in which a first display field of view is a Class IV view and a second display field of view is a Class II view.

[0025] In some respects, the technology described herein relates to a camera sight system, wherein the controller is also configured to determine the trailer angle.

[0026] In some respects, the technology described herein relates to a camera viewing system in which the camera field of view is greater than 70 degrees.

[0027] In some respects, the technology described herein relates to a camera view system, the camera view system further comprising a first display that receives the display image and is configured to display the display image.

[0028] In some respects, the technology described herein relates to a camera viewing system in which a first camera and a first display are mounted to a tractor unit connected to a trailer, and wherein the trailer is pivotable relative to the tractor unit to define a trailer angle.

[0029] In some aspects, the technology described herein relates to a camera-view mirror system for a vehicle, the system comprising a first camera generating a first camera video signal having a first camera field of view. A second camera generates a second camera video signal having a second camera field of view. The system includes a first display and a second display. A controller is configured to receive the first camera video signal and the second camera video signal, and to output a first display video signal based on the first camera video signal, and a second display video signal based on the second camera video signal. Each of the first and second display video signals includes a first display portion displaying the first field of view and a second display portion displaying the second field of view. The controller receives a trailer angle and is configured to modify the first field of view based on the trailer angle.

[0030] In some respects, the technology described herein relates to a camera viewing system, wherein the controller is also configured to modify the second field of view based on the trailer angle.

[0031] In some respects, the technology described herein relates to a camera sight system in which the controller is configured to increase each of the first fields of view from a minimum first field of view to a maximum first field of view based on the trailer angle increasing from zero to a maximum trailer angle.

[0032] In some respects, the technology described herein relates to a camera field-view system in which a second field of view is smaller than a first field of view.

[0033] In some respects, the technology described herein relates to a camera view system in which a first display video signal and a second display video signal each include a first field of view adjacent to a second field of view.

[0034] In some respects, the technology described herein relates to a camera viewing system in which the second field of view is approximately 35 degrees.

[0035] In some respects, the technology described herein relates to a camera viewing system in which the first field of view is a Class IV view and the second field of view is a Class II view.

[0036] In some respects, the technology described herein relates to a camera sight system, wherein the controller is also configured to determine the trailer angle.

[0037] In some respects, the technology described herein relates to a camera viewing system in which a first camera has a field of view greater than 70 degrees.

[0038] In some respects, the technology described herein relates to a camera view system, the camera view system further comprising a first display that receives the first display video signal and is configured to display the first display portion and the second display portion.

[0039] In some respects, the technology described herein relates to a camera viewing system in which a first camera and a first display are mounted to a tractor unit connected to a trailer, and wherein the trailer is pivotable relative to the tractor unit to define a trailer angle.

[0040] These and other features of the invention can be best understood from the following description and drawings, which are briefly described below. Attached Figure Description

[0041] This disclosure can be further understood by referring to the following detailed description when considered in conjunction with the accompanying drawings, wherein:

[0042] Figure 1 It is a simplified front perspective view of a commercial truck with a Camera View System (CMS) for providing at least Category II and Category IV views.

[0043] Figure 2 This is a schematic top view of a commercial truck equipped with a camera sight system that provides Category II and Category IV views.

[0044] Figure 3 yes Figure 1 and Figure 2 A schematic diagram of the camera monitoring system.

[0045] Figure 4 The vehicle is shown during cornering maneuvers with a large trailer angle.

[0046] Figure 5 This is a graph illustrating an exemplary relationship between the trailer angle and the field of view.

[0047] The embodiments, examples, and alternatives described in the foregoing paragraphs, claims, or the following description and drawings, including any of their aspects or corresponding individual features, may be employed independently or in any combination. Features described in conjunction with one embodiment apply to all embodiments unless those features are incompatible. Detailed Implementation

[0048] exist Figure 1 and Figure 2A commercial vehicle 10 is shown. Vehicle 10 includes a vehicle cab or tractor unit 12 and a trailer 14 towed by the tractor unit 12. Although commercial trucks are contemplated in this disclosure, the invention can also be applied to other types of vehicles. Vehicle 10 includes a camera viewing mirror system (CMS) having a driver-side camera arm 16a and a passenger-side camera arm 16b mounted externally to the vehicle cab 12. If desired, the camera arms 16a, 16b may also include conventional reflectors integrated therewith, although the CMS can be used to completely replace reflectors. In an additional example, each side may include multiple camera arms, each arm housing one or more cameras and / or viewing mirrors.

[0049] Each of the camera arms 16a and 16b includes a base fixed to, for example, a driver's cab 12. The pivot arm is supported by the base and can be hinged relative to the base. At least one rear-facing camera 20a or 20b is respectively arranged within the camera arm. The external cameras 20a and 20b respectively provide an external field of view (FOV). EX1 FOV EX2 Each field of view includes Class II and Class IV views ( Figure 2 At least one of these views, which are legally mandated views in the commercial trucking industry. For example, Class II and Class IV views are defined in European Regulation R46, and the United States and other countries have similar driving visibility requirements for commercial trucks. Any reference to “class” views is not intended to be restrictive, but rather to serve as an example of the type of view provided to a display by a particular camera. A Class II view on a given side of vehicle 10 is a subset of a Class IV view on the same side of vehicle 10. If desired, multiple cameras may also be used in each camera arm 16a, 16b to provide these views. Each arm 16a, 16b may also provide a housing surrounding electronics configured to provide various features of the CMS.

[0050] In the example shown, the camera field of view (FOV) EX1 FOV EX2 Greater than 70 degrees. For example, camera field of view (FOV). EX1 FOV EX2 It can be 75 to 80 degrees. In another example, the camera's field of view (FOV) EX1 FOV EX2 It's 70.9 degrees. Figure 2 In this context, the Class IV view is approximately 50 degrees, but it can be altered as described below. Each Class IV view comprises the respective camera's field of view (FOV). EX1 FOV EX2 Within (i.e., a subset thereof). In this example, each of the Class II views is approximately 35 degrees and is included within the corresponding Class IV view (i.e., a subset thereof). In the examples given herein, the field of view is described entirely with respect to the horizontal field of view. The vertical field of view will remain proportional to the horizontal field of view.

[0051] The first video display 18a and the second video display 18b are arranged on or near the A-pillars 19a, 19b on each of the driver's side and passenger side inside the vehicle cab 12 to display Class II and Class IV views on their respective sides of the vehicle 10, providing rearward-facing side views of the vehicle 10 captured by the external cameras 20a, 20b.

[0052] refer to Figure 2 and Figure 3 The CMS includes a video unit 24 that receives images (more specifically, live video signals) from each of cameras 20a and 20b and outputs the video signals to each of a first video display 18a and a second video display 18b. The video unit 24 includes at least one processor and an electronic storage device for storing instructions that, when executed by the at least one processor, cause the CMS to perform the functions described herein. These functions include providing Type II and Type IV views to the first video display 18a and the second video display 18b based on the video signals from the external cameras 20a and 20b, as described below.

[0053] Video unit 24 may receive trailer angle signals from trailer angle sensor 26, a mechanical sensor indicating the angle of trailer 14 relative to tractor 12. Alternatively, video unit 24 may use known techniques to determine the trailer angle based on video signals from one or both of cameras 20a, 20b, such as by tracking reference points on trailer 14, such as the trailing edge of the trailer or the wheels of the trailer. In short, if the distance to the trailing edge (or wheels) of trailer 14 is known, the trailer angle can be calculated using basic geometry based on the position of the trailing edge (or wheels) in the video signal. Any other source of trailer angle may be provided to video unit 24, as the invention is not limited to any particular source of trailer angle.

[0054] Figure 3 This is a schematic diagram of a camera monitoring system. As is well known, a Class IV view on each side of the vehicle can be displayed on a first portion 28 of the associated displays 18a, 18b, and a Class II view on the same side of the vehicle 10 can be displayed on a second portion 30 of the same displays 18a, 18b. The first portion 28 can be approximately one-third of each display 18a, 18b, and the second portion 30 can be approximately two-thirds of each display 18a, 18b. In the example shown, the second portion 30 is above the first portion 28.

[0055] In the example shown, video unit 24 generates Class IV and Class II fields of view from first camera 20a and combines them into a single video signal sent to first display 18a, wherein the Class IV field of view occupies the lower third of the single video signal and the Class II field of view occupies the upper two-thirds of the single video signal. Video unit 24 also receives live video signals from second camera 20b and provides a similar single video signal to second display 18b. In this example, each video signal includes Class IV and Class II fields of view, respectively digitally separated into a first portion 28 and a second portion 30 of the display.

[0056] Alternatively, if each first section 28 is a display that is physically separate from the adjacent second section 30, or if the display itself provides separation of the two inputs to the first section 28 and the second section 30, then Class II and Class IV fields of view can be provided from the video unit 24, each field of view as a separate video signal.

[0057] Other views may be provided by additional cameras and / or displays (such as Class V, Class VI, Class VIII, etc.). The invention described herein can be used for any of these views (or all other views), but will be described with respect to Class IV and Class II views.

[0058] Figure 4 The vehicle 10 is shown in the process of performing a turning maneuver. In the initial position ( Figure 2 The trailer 14 has an initial angle of approximately zero degrees relative to the cab 12, meaning that the longitudinal axis of the trailer 14 is aligned with the longitudinal axis of the cab 12. During turning (forward or backward travel), the trailer 14 deflects relative to the cab 12. Figure 4 This increases the trailer angle. The trailer angle sensor 26 can detect the angle of the trailer 14 relative to the tractor 12 and report the angle to the video unit 24. Alternatively, the video unit 24 can calculate the trailer angle based on video signals from one or both of the cameras 20a and 20b.

[0059] To provide the driver with an improved field of view, the field of view provided to either or both of the first portion 28 and the second portion 30 of each display 18a, 18b is varied based on changes in the trailer angle. In one example, the Class IV field of view provided to the first portion 28 is varied based on changes in the trailer angle.

[0060] In one example, the Class IV field of view expands as the angle of trailer 14 relative to tractor 12 increases (“expansion” is defined herein as follows: Figure 2 The trailer angle is considered to be zero, and Figure 4 The trailer angle (approximately 50 degrees) is greater than Figure 2 (The trailer angle). Figure 4 In the example shown, the Class IV field of view is larger than... Figure 2 The field of view is limited, but only to the side where the trailer 14 of vehicle 10 is deflected. Alternatively, both Category IV fields of view can be expanded together, regardless of which direction the trailer is deflected. Figure 4 In this context, the Category IV field of view is equal to or almost equal to the camera's field of view (FOV). ex2 .

[0061] Category IV field of view extends from the inner boundary near the rear edge of the tractor to the outer boundary 10 meters away from the vehicle. When the Category IV field of view changes, the field of view still extends to the same inner boundary, and only the outer boundary is adjusted. Figure 4 This would also be correct if the Type II field of view is changed. If other views are changed, it is possible that the associated inner boundary will change, or both the associated inner and outer boundaries will change as the field of view changes.

[0062] Figure 4 The trailer 14 angle with a maximum trailer angle of 50 degrees and a Class IV field of view with a maximum field of view of 70.9 degrees are shown. Figure 4 The Category IV field of view will be displayed in the first portion 28 of display 18a. If vehicle 10 turns in another direction causing trailer to veer in the opposite direction, the Category IV view on the other side of vehicle 10 will be expanded, as shown in the first portion 28 of display 18b.

[0063] Video unit 24 processes video signals from cameras 20a and 20b to output calculated fields of view based on the current trailer angle (e.g., by cropping to the calculated field of view angle), and provides these fields of view to the first portion 28 of the respective displays 18a and 18b. Video from camera 20a is provided only to display 18a, and video from camera 20b is provided only to display 18b. Only the field of view on the side of trailer 14 that is biased increases, while the field of view on the opposite side remains at its minimum.

[0064] Simultaneously, in a known manner, video unit 24 also continuously provides a Type II field of view to the second portion 30 of each display 18a, 18b by selecting subsets of the fields of view of cameras 20a, 20b respectively. For example, the Type II field of view can be a constant 35 degrees. Alternatively, the Type II field of view can also expand as the trailer angle increases.

[0065] Expanding the field of view by adjusting the trailer angle ensures the trailer remains within the field of view during cornering maneuvers. In addition to, or instead of, the trailer angle, the field of view can be expanded or narrowed based on other information.

[0066] Figure 5An example graph shows the expansion of the displayed field of view (in this example, Class IV field of view) based on the increase of the trailer angle. As the trailer angle increases from zero to the maximum trailer angle, the Class IV field of view expands continuously from the minimum field of view to the maximum field of view. The maximum trailer angle can be 50 degrees. The expansion of the Class IV field of view can be proportional to the increase of the trailer angle. Alternatively, as shown, the expansion of the Class IV field of view can be based on a function (geometric, exponential, etc.) that never reaches the maximum field of view (which would be an asymptote).

[0067] In this example, the minimum field of view for Class IV can be approximately 50 degrees, and the maximum field of view for Class IV can be 70.9 degrees, which is the camera's field of view. The Class IV field of view will always be a subset of or 100% of the camera's field of view.

[0068] In accordance with patent laws and regulations, the above exemplary configuration is considered to represent a preferred embodiment of the invention. However, it should be noted that the invention may be practiced in ways different from those specifically shown and described without departing from the spirit or scope thereof. The alphanumeric designations used for method steps are for ease of reference in dependent claims and do not indicate a desired order of execution unless such claim expressly specifies such order.

Claims

1. A method for providing a view of a commercial vehicle with a trailer, the method comprising: a) Receive camera images from a camera facing an area adjacent to the trailer, the camera images having a camera field of view; b) Receiving trailer angle; c) Determine a first display field of view within the camera's field of view based on the trailer angle received in step c); d) Sending the first display field of view of the camera image to a display mounted on the vehicle; as well as e) Iteratively execute steps a) to d), and during the iteration of step c) where the trailer angle increases, expand the first display field of view based on the increase of the trailer angle, and during the iteration of step c) where the trailer angle decreases, shrink the first display field of view based on the decrease of the trailer angle.

2. The method according to claim 1, wherein, Step e) includes expanding the first display field of view between a minimum first display field of view and a maximum first display field of view based on an increase in the trailer angle, wherein the minimum first display field of view is smaller than the camera field of view.

3. The method according to claim 2, wherein, The minimum first display field of view is approximately 50 degrees.

4. The method according to claim 2 or 3, wherein, The maximum first display field of view is approximately 70 degrees.

5. The method according to claim 2 or 3, wherein, The maximum first display field of view is 70.9 degrees.

6. The method according to any one of the preceding claims, wherein, The camera images are live video from the camera.

7. The method according to any one of the preceding claims, further comprising: f) Determine the second display field of view within the camera image; g) Sending the second display field of view of the camera image to the display; as well as h) During step e), the first display field of view of the camera image and the second display field of view of the camera image are simultaneously displayed on the display.

8. The method according to claim 7, wherein, The second display field of view is approximately 35 degrees.

9. The method according to claim 7 or 8, wherein, The first display field of view is a Class IV view, and the second display field of view is a Class II view.

10. The method according to any one of the preceding claims, further comprising determining the trailer angle.

11. The method according to any one of the preceding claims, wherein, The camera has a field of view greater than 70 degrees.

12. A camera-view mirror system for a vehicle, comprising: A first camera generates a camera image with a camera field of view; A controller configured to receive the camera image and output a display image having a first display field of view based on the camera image, the controller being configured to receive the trailer angle; and The controller is configured to modify the first display field of view based on the trailer angle.

13. The camera sight system according to claim 12, wherein, The controller is configured to increase the first display field of view from a minimum first display field of view to a maximum first display field of view based on the increase of the trailer angle from zero to the maximum trailer angle.

14. The camera sight system according to claim 13, wherein, The minimum first display field of view is approximately 50 degrees.

15. The camera view system according to claim 13 or 14, wherein, The maximum first display field of view is approximately 70 degrees.

16. The camera sight system according to any one of claims 12 to 15, wherein, The controller is configured to modify the first display field of view based on changes in the trailer angle.

17. The camera sight system according to any one of claims 12 to 16, wherein, The camera images are live video.

18. The camera sight system according to any one of claims 12 to 17, wherein, The controller is also configured to output the display image such that the display image further includes a second display field of view based on the camera image, wherein the second display field of view is smaller than the first display field of view, and wherein the display image includes the first display field of view adjacent to the second display field of view.

19. The camera sight system according to claim 18, wherein, The second display field of view is approximately 35 degrees.

20. The camera sight system according to claim 18 or 19, wherein, The first display field of view is a Class IV view, and the second display field of view is a Class II view.

21. The camera sight system according to any one of claims 12 to 20, wherein, The controller is also configured to determine the trailer angle.

22. The camera sight system according to any one of claims 12 to 21, wherein, The camera has a field of view greater than 70 degrees.

23. The camera view system according to any one of claims 12 to 22, further comprising a first display, the first display receiving the display image and configured to display the display image.

24. The camera viewing system of claim 23, wherein the first camera and the first display are mounted to a tractor connected to the trailer, and wherein the trailer is pivotable relative to the tractor to define the trailer angle.

25. A camera-view mirror system for a vehicle, comprising: A first camera, wherein the first camera generates a first camera video signal having a first camera field of view; A second camera, which generates a second camera video signal having a second camera field of view; First display; Second display; A controller configured to receive a first camera video signal and a second camera video signal, the controller configured to output a first display video signal based on the first camera video signal and a second display video signal based on the second camera video signal, wherein each of the first video display signal and the second video display signal includes a first display portion displaying a first field of view and a second display portion displaying a second field of view, the controller receiving a trailer angle; and The controller is configured to modify the first field of view based on the trailer angle.

26. The camera sight system according to claim 25, wherein, The controller is also configured to modify the second field of view based on the trailer angle.

27. The camera sight system according to claim 25 or 26, wherein, The controller is configured to increase each first field of view from a minimum first field of view to a maximum first field of view based on the trailer angle increasing from zero to the maximum trailer angle.

28. The camera sight system according to claim 27, wherein, The minimum first field of view is approximately 50 degrees.

29. The camera sight system according to claim 27 or 28, wherein, The maximum first field of view is approximately 70 degrees.

30. The camera sight system according to any one of claims 25 to 29, wherein, The second field of view is smaller than the first field of view.

31. The camera sight system according to any one of claims 25 to 30, wherein, The first display video signal and the second display video signal each include the first field of view adjacent to the second field of view.

32. The camera sight system according to any one of claims 25 to 31, wherein, The second field of view is approximately 35 degrees.

33. The camera sight system according to any one of claims 25 to 32, wherein, The first field of view is a Class IV view, and the second field of view is a Class II view.

34. The camera sight system according to any one of claims 25 to 33, wherein, The controller is also configured to determine the trailer angle.

35. The camera sight system according to any one of claims 25 to 34, wherein, The first camera has a field of view greater than 70 degrees.

36. The camera view system according to any one of claims 25 to 35, further comprising a first display, the first display receiving the first display video signal and configured to display the first display portion and the second display portion.

37. The camera viewing system of claim 36, wherein the first camera and the first display are mounted to a tractor connected to the trailer, and wherein the trailer is pivotable relative to the tractor to define the trailer angle.

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