DETERMINATION OF VEHICLE VIEW BASED ON RELATIVE POSITION

Abstract

Vehicle, including: a large number of cameras configured to capture images of a vehicle's surroundings; a communication system wirelessly connected to a remote display; and a processor configured to: Assembling the images; Determine, via the communication system, a relative position of the remote display in relation to the vehicle; Determining a vehicle view based on the composite images and the determined relative position; and Transferring the vehicle's view to the remote display.

Description

TECHNICAL AREA

[0001] The present disclosure relates generally to vehicle imaging and in particular to the determination and remote display of a vehicle view based on a specific relative position. GENERAL STATE OF THE ART

[0002] Modern vehicles may include one or more cameras configured to capture views from the vehicle's perspective. These views can be used for automatic navigation and vehicle control, as well as for safety purposes, such as providing a "rearview" camera for the driver. The state of the art is described in JP 2015 - 70 350 A, JP 2013 - 191 969 A and DE 10 2008 034 606 A1. SUMMARY

[0003] The attached claims define this application. The present disclosure briefly presents aspects of the embodiments and is not to be used to limit the claims. Further implementations according to the techniques described herein are provided, as will be apparent to the person skilled in the art after examining the following drawings and the detailed description, and it is intended that these implementations fall within the scope of this application.

[0004] Exemplary embodiments for determining and transmitting a vehicle view to a remote display based on the relative position of the remote display are shown. An exemplary vehicle disclosed includes a plurality of cameras configured to capture images of the vehicle's surroundings, a communication system, and a processor. The processor is configured to combine the images captured by the plurality of cameras. The processor is also configured to determine the relative position of a remote display with respect to the vehicle. Furthermore, the processor is configured to determine a vehicle view based on the determined relative position and to transmit the vehicle view to the remote display.

[0005] An exemplary disclosed method involves capturing images of a vehicle's surroundings using a multitude of cameras. The method also includes assembling the images captured by the multitude of cameras. Furthermore, the method includes determining the relative position of a remote display with respect to the vehicle. The method also includes determining a vehicle view based on the determined relative position and transmitting the vehicle view to the remote display for presentation to a user.

[0006] Another example might include a means of capturing images of a vehicle's surroundings using a multitude of cameras. The example might also include a means of combining the images captured by the multitude of cameras. Furthermore, the example might include a means of determining the relative position of a remote display with respect to a vehicle. The example might also include a means of determining a vehicle view based on the determined relative position and transmitting the vehicle view to the remote display for presentation to a user. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] For a better understanding of the invention, reference may be made to the embodiments shown in the following drawings. The components in the drawings are not necessarily to scale, and associated elements may be omitted, or in some cases, proportions may be enlarged to emphasize and clearly illustrate the novel features described herein. Furthermore, system components may be arranged in different ways, as is known in the prior art. Additionally, in the drawings, the same reference numerals in the various views denote corresponding parts. Fig. Figure 1 represents an exemplary vehicle according to embodiments of the present disclosure. Fig. Figure 2 presents an exemplary block diagram of the vehicle's electronic components. Fig. 1 dar. Fig. 3A and Fig. 3B represent a first and second vehicle position with respect to a remote display according to embodiments of the present disclosure. Fig. 4A and Fig. Figure 4B represents two example images that are displayed on a remote display according to embodiments of the present disclosure. Fig. Figure 5 presents a flowchart of an exemplary process according to embodiments of the present disclosure. DETAILED DESCRIPTION OF EXAMPLES OF EXECUTION

[0008] Although the invention may be embodied in different ways, as shown in the drawings and described below, some exemplary and non-limiting embodiments are given, it being understood that the present disclosure is to be regarded as an example of the invention and is not intended to limit the invention to the specific embodiments shown.

[0009] As mentioned above, modern vehicles may include one or more cameras configured to capture images from the vehicle's perspective. These images can be used for navigation, steering, and automated vehicle control. Some vehicles may also include features such as parking assist and trailer reversing assist, allowing the vehicle to perform one or more maneuvers autonomously. The driver may even be outside the vehicle during these maneuvers.

[0010] In some scenarios, a vehicle may be parked outdoors in a parking lot. As a driver approaches the vehicle, they may wish to look around to see if there are any people or objects nearby that might be hidden on the other side of the vehicle.

[0011] For both remote vehicle control and safety reasons, it can be advantageous to provide the driver with a remote display showing a view of the other or hidden side of the vehicle. This allows the driver to "see through" the vehicle to determine the presence of objects or people. Furthermore, examples show that the remote display can provide images along with warnings or alarms, indicating changes in the various objects within the image, such as a flashing alarm when a person approaches the vehicle.

[0012] In some of the examples disclosed herein, the vehicle may include a multitude of cameras configured to capture images of the vehicle's surroundings. These cameras may be arranged and / or oriented to capture a full 360-degree view. Furthermore, the cameras may be configured to capture images at all times or only at specific times, such as during operation of the parking assist or reversing assist systems.

[0013] The example vehicle may also include a communication system. This communication system may be connected to a vehicle processor and configured to transmit and / or receive data to a remote display. The remote display may be a smartphone, tablet, or other mobile device configured to display one or more images.

[0014] The vehicle processor can be configured to perform one or more actions. For example, the processor can combine images captured by multiple cameras. This can allow the display of a complete image of the vehicle's surroundings and / or a portion thereof. The processor can also be configured to determine the relative position of a remote display in relation to the vehicle. This can be achieved using the communication system by employing one or more antennas positioned at various locations inside and / or outside the vehicle.

[0015] The processor can also be configured to determine a vehicle view based on a specific relative position. A vehicle view can comprise one image, a multitude of images, and / or a combination of parts of a multitude of images captured by the vehicle cameras, and shows a view from the vehicle's perspective. The vehicle view can be determined based on the specific relative position of the remote display by selecting one or more images from one side of the vehicle opposite the remote display, such that the remote display can "see through" the vehicle.

[0016] The processor can also be configured to transmit the specific vehicle view to the remote display.

[0017] If the vehicle moves during a remotely controlled vehicle movement operation, the processor can also update the relative position and the specific vehicle view and transmit the updated vehicle view to the remote display. Additionally, the remote display can (via a user) change its position relative to the vehicle. In this case, the processor can update the relative position and the vehicle view and transmit the updated vehicle view to the display.

[0018] In some examples, the processor can be configured to predict vehicle movement and influence or modify the vehicle view accordingly. For instance, a vehicle might be instructed to perform a parking assist operation that requires the vehicle to reverse into a parking space. If the remote display is initially located near the driver's side of the vehicle, a corresponding vehicle view might show the right side of the vehicle. As the vehicle reverses, the corresponding vehicle view might then rotate to show a view closer to the rear of the vehicle. However, if the vehicle predicts the vehicle movement, the processor can influence or modify the vehicle view to show a larger proportion of the rear view than would otherwise be displayed.This can provide increased safety, as a user of the remote display can better see objects in the path of the moving vehicle.

[0019] Furthermore, the processor can be configured to recognize one or more features present in the vehicle's field of view and send an alarm to the remote display. These features can include, for example, people, animals, toys, other vehicles, and / or structures.

[0020] Fig. Figure 1 represents an exemplary vehicle 100 according to embodiments of the present disclosure. The vehicle 100 may be a standard gasoline-powered vehicle, a hybrid vehicle, an electric vehicle, a fuel cell vehicle, and / or a vehicle of another type of mobility device. The vehicle 100 may include mobility-related parts, such as a powertrain with an engine, a transmission, a drive shaft, and / or wheels, etc. The vehicle 100 may be non-autonomous, semi-autonomous (e.g., some routine driving functions are controlled by the vehicle 100), or autonomous (e.g., driving functions are controlled by the vehicle 100 without direct driver input). The vehicle 100 may include one or more components, which are described below with reference to Fig. 2 will be described.

[0021] In Fig. Figure 1 shows the vehicle 100 with a processor 110, a communication system 120 and a variety of cameras 112. Fig. Figure 1 depicts vehicle 100 with six cameras, but it should be noted that there may be fewer or more cameras.

[0022] The processor 110 can be configured to perform one or more functions as described herein. And the communication system 120 can also be configured to perform one or more functions.

[0023] The cameras 112 can be positioned inside or outside the vehicle 100. Each camera can have a specific field of view, which may or may not overlap with one or more other cameras. In some examples, the cameras 112 can be positioned and / or oriented so that the combined field of view provides full 360-degree coverage.

[0024] Fig. Figure 2 presents an exemplary block diagram 200 showing electronic components of the vehicle 100 according to some embodiments. In the example shown, the electronic components 200 include an on-board computer system 202, an infotainment main unit 220, a communication system 120, sensors 230, electronic control unit(s) 240, and a vehicle data bus 250.

[0025] The onboard computing system 202 can include a microcontroller unit, a controller, or a processor 110 and memory 212. The processor 110 can be any suitable processing device or set of processing devices, such as, without limitation, a microprocessor, a microcontroller-based platform, an integrated circuit, one or more field-programmable gate arrays (FPGAs), and / or one or more application-specific integrated circuits (ASICs). The memory 212 can be volatile memory (e.g., RAM, including non-volatile RAM, magnetic RAM, ferroelectric RAM, etc.), non-volatile memory (e.g., disk memory, FLASH memory, EPROMs, EEPROMs, memristor-based non-volatile solid-state memory, etc.), immutable memory (e.g., EPROMs), read-only memory, and / or high-capacity storage devices (e.g., hard disks, solid-state drives, etc.).In some examples, memory 212 includes several types of memory, in particular volatile memory and non-volatile memory.

[0026] The memory 212 can be a computer-readable medium on which one or more sets of instructions, such as the software for executing the methods of this disclosure, can be embedded. The instructions can embody one or more of the methods or logic described herein. For example, the instructions may be located wholly or at least partially in one or more of the memory 212, the computer-readable medium, and / or, during the execution of the instructions, in the processor 110.

[0027] The terms “non-transient computer-readable medium” and “computer-readable medium” include a single medium or multiple media, such as a central or distributed database and / or associated caches and servers, that store one or more sets of instructions. Furthermore, the terms “non-transient computer-readable medium” and “computer-readable medium” include any tangible medium capable of storing, encoding, or containing a set of instructions intended to be executed by a processor or that cause a system to perform one or more of the methods or operations disclosed herein. In the sense used herein, the term “computer-readable medium” is expressly defined to include any type of computer-readable storage device and / or storage disk and to exclude signal propagation.

[0028] The infotainment head unit 220 can provide an interface between the vehicle 100 and a user. The infotainment head unit 220 can include one or more input and / or output devices 222 and a user interface 224 to receive and display input from the user(s). The input devices can include, for example, a control knob, an instrument panel, a digital camera for image capture and / or recognition of visual commands, a touchscreen, an audio input device (e.g., a passenger compartment microphone), buttons, or a touchpad. The output devices can include instrument cluster outputs (e.g., gauges, indicator lights), actuators, a heads-up display, a center console display (e.g., a liquid crystal display (LCD), an organic light-emitting diode (OLED) display, a flat panel display, a semiconductor display, etc.), and / or speakers.In the example shown, the infotainment head unit 220 includes hardware (e.g., a processor or controller, RAM, data storage, etc.) and software (e.g., an operating system, etc.) for an infotainment system (such as Ford's SYNC® and MyFord Touch®, Toyota's Entune®, GMC's IntelliLink®, etc.). In some examples, the infotainment head unit 220 may share a processor and / or memory with the vehicle's onboard computing system 202. Additionally, the infotainment head unit 220 may display the infotainment system, for example, on a center console display in the vehicle 100.

[0029] The Communication System 120 can include wired or wireless network interfaces to enable communication with external networks, devices, or systems. The Communication System 120 can also include hardware (e.g., processors, memory, storage, antenna, etc.) and software to control the wired or wireless network interfaces. In the example shown, the Communication System 120 includes one or more communication controllers for standards-based networks (e.g., Global System for Mobile Communications (GSM), Universal Mobile Telecommunications System (UMTS), Long Term Evolution (LTE), Code Division Multiple Access (CDMA), WiMAX (IEEE 802.16m); Near Field Communication (NFC); ​​Local Area Network (including IEEE 802.11 a / b / g / n / ac or others), Dedicated Short Range Communication (DSRC), and Wireless Gigabit (IEEE 802.11ad), etc.).In some examples, the communication system 120 may include a wired or wireless interface (e.g., an auxiliary port, a USB (Universal Serial Bus) port, a Bluetooth® radio node, etc.) for communicative pairing with a mobile device (e.g., a smartphone, smartwatch, tablet, etc.). In these examples, the vehicle 100 can communicate with the external network via the paired mobile device. The external network(s) may be a public network such as the internet; a private network such as an intranet; or a combination thereof, and may use various network protocols now available or developed in the future, including, but not limited to, TCP / IP-based network protocols.

[0030] Sensors 230 can be arranged in and around the vehicle 100 to monitor properties of the vehicle 100 and / or an environment in which the vehicle 100 is located. One or more sensors 230 can be mounted on the exterior of the vehicle 100 to measure properties around the exterior of the vehicle 100. For example, one or more antennas can be arranged around an exterior surface of the vehicle 100 to receive signals from one or more devices and determine the position of the device. Additionally or alternatively, one or more sensors 230 can be mounted inside a passenger compartment of the vehicle 100 or in a body section of the vehicle 100 (e.g., an engine compartment, wheel wells, etc.) to measure properties of an interior space of the vehicle 100.For example, the sensors can include 230 accelerometers, odometers, speedometers, tilt and yaw sensors, wheel speed sensors, microphones, tire pressure sensors, biometric sensors and / or sensors of any other suitable type.

[0031] In some examples, the sensors 230 may include one or more cameras 112, inertial sensors 232, radar 234, lidar 236, and ultrasonic sensors 238. In some examples, the inertial sensors may be used to determine a change in the vehicle's position, which in turn may be used to determine or modify the relative position of a remote display with respect to the vehicle. Furthermore, the inertial sensors may be used to determine or predict vehicle movement, such as during a remote steering maneuver, to influence the vehicle view transmitted to the remote display. The radar 234, lidar 236, and ultrasonic 238 sensors may detect one or more objects, structures, or other features in the vehicle's environment, which may allow the processor to transmit an alarm to the remote display.

[0032] The ECUs 240 can monitor and control subsystems of the vehicle 100. Furthermore, the ECUs 240 can transmit properties (such as the status of the ECU 240, sensor readings, control state, fault and diagnostic codes, etc.) to other ECUs 240, the onboard computing platform 202, and / or the processor 110, and / or receive requests from them. Some vehicles 100 may have seventy or more ECUs 240 located at various positions within the vehicle 100, interconnected via the vehicle data bus 250. The ECUs 240 can be separate electronics sets, each containing its own circuitry (such as integrated circuits, microprocessors, RAM, data storage, etc.) and firmware, sensors, actuators, and / or mounting hardware.In the example shown, the ECUs 240 can include the telematics control unit 242, the body control unit 244, the electronic power assisted steering (EPAS) control unit 246 and the speed control unit 248.

[0033] The telematics control unit 242 can control the tracking of the vehicle 100, for example, using data received from a GPS receiver, communication system 120, and / or one or more sensors 230. The body control unit 244 can control various subsystems of the vehicle 100.

[0034] For example, the body control unit 244 can control the power supply to a trunk latch, windows, electrically operated locks, an electrically operated sunroof control, an immobilizer system, and / or electrically operated mirrors, etc. The EPAS control unit 246 can send and receive one or more signals via a data bus 250, corresponding to steering information such as the vehicle's direction of travel. The speed control unit 248 can send and receive one or more signals via the data bus 250 and, in response, control a speed, acceleration, or other aspect of the vehicle 100.

[0035] The vehicle data bus 250 can include one or more data buses that connect the onboard computing system 202, the infotainment main unit 220, the communication system 120, the sensors 230, the ECUs 240, and other devices or systems connected to the vehicle data bus 250. In some examples, the vehicle data bus 250 can be implemented according to the CAN (controller area network) bus protocol as defined by the International Organization for Standardization (ISO) 11898-1. Alternatively, in some examples, the vehicle data bus 250 can be a MOST (Media Oriented Systems Transport) bus or a CAN Flexible Data (CAN-FD) bus (ISO 11898-7).

[0036] Fig. 3A and Fig. 3B represent a first and second vehicle position with respect to a remote display 330 according to embodiments of the present disclosure. Fig. Vehicle 100 is located at position 3A, immediately to the right of the remote display 330. Vehicle 100 contains a number of cameras configured to record its surroundings. In particular, cameras 312A and 312B record their respective fields of view.

[0037] The processor of vehicle 100 can determine the relative position of the remote display 330, for example, using a communication system that includes one or more antennas. Fig. 3A The processor determines that the relative position of the remote display 330 is on the left side of the vehicle 100. And in response, the processor can use images taken by cameras on the opposite (right) side of the vehicle 100 to determine a vehicle view 320A.

[0038] Vehicle view 320A corresponds to a combination of images captured by cameras 312A and 312B. In some examples, the vehicle view can be determined from images from a single camera or from three or more. Furthermore, vehicle view 320A is in Fig. 3A is shown with a specific height and length relative to the vehicle 100. However, in some examples, the height and width of the vehicle view 320A may be greater or lesser and may depend on the distance between the vehicle 100 and the remote device. For example, a remote device closer to the vehicle 100 may result in a greater width and / or length of the vehicle view, while a remote device located further away may have a smaller width and / or length.

[0039] Fig. 3B represents a second vehicle position with respect to the remote display 330. It is understood that the remote device 330 is in Fig. 3A and Fig. 3B remained stationary while the vehicle moved backwards 100.

[0040] As in Fig. Since image 3B is visible, the processor has determined a second vehicle view 320B based on a combination of images from cameras 312B and 312C. Vehicle view 320B is again a view from the vehicle's perspective relative to the position of the remote display 330. The vehicle processor can determine, based on one or more vehicle sensors (e.g., inertial sensors) and / or communication between the vehicle and the remote display, that the vehicle has moved and / or that the relative position of the remote display has changed. The processor can be configured to modify the vehicle view in response, as shown in Fig. 3B shown, for example by rotating the view around the vehicle 100, changing the camera image used or the combination of camera images used, or by otherwise modifying the vehicle view.

[0041] Fig. 4A and Fig. Figure 4B represents example vehicle views displayed on a remote display 400. The vehicle's processor can be configured to transmit the vehicle view to the remote display for viewing by a user. Furthermore, the processor can be configured to detect one or more features in the vehicle view and provide an alarm to the remote display. The one or more features can be detected by the various vehicle sensors, including radar, lidar, and ultrasonic sensors.

[0042] In Fig. 4A includes the vehicle vision features 410, 412, and 420. It can be determined that features 410 and 412 are inanimate objects. And it can be determined that feature 420 is a person. The processor can be configured to provide an alarm or warning to the remote display based on the detection of a person.

[0043] Fig. 4B represents a second vehicle view in which the person, feature 420, has approached the vehicle. The processor can be configured to provide an alarm or warning to the remote display to indicate that the person is approaching. This can include a visual or audible alarm, such as a flashing outline of a person. In some examples, the flashing frequency can increase as the person gets closer, or the outline can change color (e.g., from green to yellow to red) based on a certain distance or approach speed of person 420.

[0044] In some examples, the processor can also be configured to detect one or more trusted objects. For instance, the vehicle might contain one or more antennas or other sensors configured to detect a remote key. If a person, such as Person 420, is in possession of the vehicle's remote key, the processor cannot transmit an alarm. Alternatively, the processor can transmit an alarm indicating that the person is trusted.

[0045] Fig. Figure 5 presents a flowchart of an exemplary method 500 according to embodiments of the present disclosure. Method 500 can determine a vehicle view based on the relative position of a remote display with respect to the vehicle and transmit this view to the remote display. The flowchart from Fig. 5 represents machine-readable instructions stored in memory (such as memory 212) and can contain one or more programs which, when executed by a processor (such as processor 110), can cause vehicle 100 to perform one or more of the functions described here. Although the example program, with reference to the flowchart from Fig. As described in section 5, many other methods can alternatively be used to execute the functions described here. For example, the execution order of the blocks can be rearranged, blocks can be modified, omitted, and / or combined to execute procedure 600. Furthermore, since procedure 500 can be used in conjunction with the components from Fig. As disclosed in 1-4, some functions of these components are not described in detail below.

[0046] Procedure 500 can begin at block 502. At block 504, procedure 500 can include taking pictures. The pictures can be taken by a large number of cameras arranged around the vehicle.

[0047] At block 506, procedure 500 can involve image compositing. The images can be combined to create a full 360-degree view from the vehicle's perspective. This can provide a vehicle view in any direction. Image compositing can also involve combining a subset of the images instead of all images captured by the cameras.

[0048] At block 508, procedure 500 may involve determining the relative position of a remote display with respect to the vehicle. Determining the relative position may involve using one or more antennas, such as BLE (Bluetooth Low Energy) antennas, to triangulate or otherwise determine the position of the remote display. In some examples, the relative position may be determined with respect to the center of the vehicle.

[0049] Procedure 500 can then proceed to block 518, which involves determining a vehicle view based on relative position. The vehicle view is formed from one or more images captured by one or more cameras on the side of the vehicle opposite the position of the remote display. In some examples, the vehicle view can be determined with a specific width and length based on a distance between the remote display and the vehicle. Other factors can also influence the vehicle view.

[0050] At block 520, procedure 500 can involve the detection of features in the vehicle's field of view. This can include the detection of people, objects, structures, and more. It can also include generating an alarm, which can be visual or audible, to correspond to a specific feature.

[0051] At block 522, procedure 500 may involve transmitting the vehicle view to the remote display. This may also include transmitting one or more alarms or warnings corresponding to features detected in block 520.

[0052] Procedure 500 can then proceed to block 510, which involves determining the vehicle's motion. The vehicle's motion can be determined based on one or more inertial sensors, GPS sensors, or other vehicle sensors. Procedure 500 can then include updating the relative position based on the determined vehicle motion at block 512.

[0053] Block 514 may involve determining a movement of the remote display. This may include determining a change in the remote display's position based on one or more antennas or other vehicle sensors. Procedure 500 may then involve updating the relative position at Block 516.

[0054] Procedure 500 may then involve determining an updated vehicle view at block 518, detecting features in the updated vehicle view at block 520, and transferring the updated vehicle view to the remote display at block 522. Blocks 510-522 may be repeated to update the vehicle view while the vehicle and / or the remote display are moving. Procedure 500 may then terminate at block 524.

[0055] In this application, the use of the disjunctive form is intended to include the conjunctive form. The use of definite or indefinite articles is not intended to indicate cardinality. In particular, reference to "the" object or "a" object is intended to denote one of a possible multitude of objects. Furthermore, the conjunction "or" can be used to convey features that are present simultaneously, instead of mutually exclusive alternatives. In other words, the conjunction "or" is intended to include "and / or". The terms "includes", "containing", and "include" are inclusive and each have the same scope as "comprises", "comprising", and "encompassing".

[0056] The embodiments described above, in particular any "preferred embodiments," are possible examples of implementations and serve only to clarify the basic ideas of the invention. Many variations and modifications can be made to the embodiment(s) described above without substantially deviating from the spirit and basic ideas of the techniques described herein. Accordingly, it is intended that all variations fall within the scope of this disclosure and are protected by the following claims.

Claims

[1] Vehicle, comprising: a large number of cameras configured to capture images of a vehicle's surroundings; a communication system wirelessly connected to a remote display; and a processor configured to: Assembling the images; Determine, via the communication system, a relative position of the remote display in relation to the vehicle; Determining a vehicle view based on the composite images and the determined relative position; and Transferring the vehicle's view to the remote display. [2] Vehicle according to claim 1, wherein the processor is further configured to determine the relative position of the remote display using one or more antennas. [3] Vehicle according to claim 1, wherein the vehicle view is a view from the vehicle relative to the specified relative position. [4] Vehicle according to claim 1, wherein images of the vehicle environment are captured while a remote vehicle steering movement process takes place. [5] Vehicle according to claim 1, wherein the processor is further configured to modify the vehicle view based on (i) a change in the position of the vehicle and (ii) a change in the relative position of the remote display with respect to the vehicle. [6] Vehicle according to claim 1, wherein the processor is further configured to detect one or more features in the vehicle view and, in response thereto, to provide an alarm to the remote display. [7] Vehicle according to claim 6, further comprising one or more vehicle sensors configured to detect one or more features in the vehicle's view, wherein the alarm includes a visual indication that a detected feature is approaching the vehicle. [8] Vehicle according to claim 1, wherein the processor is further configured to predict a movement of the vehicle and, in response thereto, to modify the vehicle view transmitted to the display based on the predicted movement. [9] Procedures, comprehensive: Capturing images of a vehicle's surroundings using a large number of cameras; Assembling the images; Determining the relative position of a remote display in relation to the vehicle using a communication system of the vehicle; Determining a vehicle view based on the composite images and the determined relative position; and Transferring the vehicle's view to the remote display for presentation to a user. [10] Method according to claim 9, further comprising determining the relative position using one or more antennas. [11] Method according to claim 9, wherein the vehicle view is a view from the vehicle relative to the specified relative position. [12] Method according to claim 9, further comprising performing a remote vehicle steering movement process, wherein images of the vehicle environment are recorded while the remote vehicle steering movement process takes place. [13] Method according to claim 9, further comprising modifying the vehicle view based on (i) a change in the position of the vehicle and (ii) a change in the relative position of the remote display in relation to the vehicle. [14] Method according to claim 9, further comprising detecting one or more features in the vehicle view using one or more vehicle sensors and in response thereto providing an alarm to the remote display, wherein the alarm comprises a visual indication that a detected feature is approaching the vehicle. [15] Method according to claim 9, further comprising predicting a movement of the vehicle and, in response thereto, modifying the vehicle view transmitted to the remote display based on the movement.

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