Rear-view system with rear cameras

Abstract

The invention relates to a rear-view system (1) for a towing vehicle (3) that is able to cooperate with a trailer (5) attached to the towing vehicle (3) so as to be rotatably movable, 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 the images from each lateral camera (7) on a corresponding lateral screen (17), the control unit (21) also being configured to display the image from a rear camera (11) rather than the image of a lateral camera (7) on one of the two sides when the trailer (5), which is attached so as to be rotatably movable, extends on the opposite side with respect to the longitudinal axis (9).

Description

[0001] DESCRIPTION

[0002] TITLE: Rearview system with rear cameras

[0003] Field of invention

[0004] The present invention relates to a rearview system with at least two side cameras and two rear cameras.

[0005] Prior art

[0006] It is known to use a rearview mirror system to replace the side mirrors of a vehicle. This arrangement is interesting for an articulated vehicle such as a truck comprising a tractor unit and a rotatable trailer, each side mirror being able to be replaced by a camera and a screen.

[0007] The driver sees the areas near the side walls of the trailer when the truck is traveling straight, that is, when the trailer is aligned with the towing vehicle.

[0008] When turning or maneuvering, part of the rear view is obscured by the trailer because the towing vehicle and trailer are no longer aligned.

[0009] One solution could be to add, independently of the rearview system, other cameras coupled with additional screens placed inside the cabin.

[0010] However, this solution is impractical because it becomes difficult for the driver to monitor several screens at once when turning or maneuvering.

[0011] The present invention aims to resolve all or part of the drawbacks mentioned above.

[0012] Statement of the invention

[0013] To this end, the present invention relates to a rearview system for a tractor vehicle capable of cooperating with a trailer mounted rotatably on the tractor vehicle, the rearview system comprising: two side cameras, each side camera being configured to be attached to a corresponding side of the tractor vehicle relative to a longitudinal axis of the tractor vehicle, two rear cameras, each rear camera being configured to be attached to a corresponding rear area of ​​the tractor vehicle, each rear area being located on a corresponding side relative to the longitudinal axis, each rear camera being located lower than a load support platform of the trailer when the tractor vehicle and the trailer cooperate and roll on flat horizontal ground, two side screens, each side screen being configured to be attached to the tractor vehicle so as to be visible from a cockpit of the tractor vehicle,a control unit configured to display the images from each side camera on a corresponding side screen, the control unit being further configured to display the image from a rear camera instead of the image from a side camera of one of the two sides when the trailer, which is rotatably mounted, extends on the opposite side with respect to the longitudinal axis, a direction of extension of the trailer having a deviation angle greater than a limit value with respect to the longitudinal axis of the towing vehicle.,

[0014] The control unit allows the side cameras to be displayed when the towing vehicle and trailer are aligned along the longitudinal axis and when the trailer is slightly deviating.

[0015] In this case, the trailer does not obstruct vision since the side cameras film the sides of the trailer on each side. In addition, the front of the trailer facing the rear of the towing vehicle does not obscure part of the side cameras' field of vision. The rear cameras are therefore not used.

[0016] The field of view of each side camera corresponds to a rear side view angle relative to the towing vehicle moving forward along the longitudinal axis.

[0017] When the towing vehicle turns or during a maneuver, a deviation angle appears between the direction of extension of the trailer and the longitudinal axis of the towing vehicle.

[0018] Beyond the limit value of the deviation angle on one side of the longitudinal axis, the control unit displays the image from the rear camera on the opposite side.

[0019] In fact, on the side of the diversion, the side of the trailer remains visible and takes up more and more space in the field of vision of the side camera.

[0020] On the other hand, on the other side, the side of the trailer becomes less and less visible until it disappears from the side camera's field of vision. The front of the trailer above the load support platform can also partially obscure the side camera's field of vision.

[0021] The control unit then changes the display and the rear camera makes visible a field of vision hidden by the front of the trailer for the side camera. The rear camera also makes visible an area that the trailer would occupy if there were no deviation.

[0022] If a pedestrian or other vehicle is in this area, it becomes visible on the corresponding side screen. The camera change operated by the control unit therefore improves safety and facilitates turns and maneuvers.

[0023] When the turn or maneuver is completed and the deviation angle is again below the limit value, the control unit stops displaying the rear camera image.

[0024] According to one embodiment, when the deviation angle is greater than the limit value, the control unit displays the image from the rear camera instead of the image from the corresponding side camera. According to this embodiment, the control unit stops displaying the image from the rear camera and displays the image from the side camera again when the deviation angle is again less than the limit value. According to this embodiment, the same display area of ​​each side screen can display either the image from the rear camera or the image from the corresponding side camera.

[0025] According to another embodiment, when the deviation angle is greater than the limit value, the control unit displays the 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 again less than the limit value, the control unit stops displaying the image from the rear camera and again displays the untruncated image from the corresponding side camera. According to this embodiment, the same display area of ​​each side screen makes it possible to display both a truncated image from the side camera and the image from the rear camera when the deviation angle is greater than the limit value.

[0026] According to yet another embodiment, when the deviation angle is greater than the limit value, the control unit displays the image from the rear camera in addition to the image from the corresponding side camera, and simply stops displaying the image from the rear camera when the deviation angle becomes lower than the limit value. According to this embodiment, each side screen comprises a display area dedicated to the rear camera. According to one aspect of the invention, the control unit comprises in memory an algorithm for recognizing a particular entity such as a pedestrian, another vehicle or recognizable obstacle considered dangerous or vulnerable. The rearview system may include an audible or visual warning to inform the driver in the event of recognition of at least one particular entity. This arrangement improves safety.

[0027] The terms "front" and "rear" are to be understood as being defined in relation to the forward direction of travel of the towing vehicle and the trailer when they cooperate. For the trailer, these terms are defined in relation to the direction of extension of the trailer and, for the towing vehicle, in relation to the longitudinal axis.

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

[0029] Preferably, an additional criterion is that the towing vehicle is driven in reverse.

[0030] The rearview system is in this case reserved for reversing maneuvers and the camera change does not occur when driving forward during tight turns. This arrangement is interesting in the sense that driving forward remains identical for the driver who constantly sees the images from the side cameras.

[0031] An additional criterion may 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 comprises a coupling pin attached to the load support plate and oriented downwards. The towing vehicle comprises a fifth wheel arranged to cooperate with the coupling pin.

[0033] The phrase "located lower than a 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 trailer cooperate and roll on flat horizontal ground.

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

[0036] According to one aspect of the invention, each side camera is arranged on or provided in a side portion of a 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] In this text, an articulated vehicle is a vehicle comprising the towing vehicle and the trailer mounted rotatably 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 comprises a user interface for forcing the display of the rear camera image in addition to the side camera image or in place of all or part of the side camera image. Without user intervention, the display change is carried out automatically 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 images of the rear cameras.

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

[0041] According to one aspect of the invention, when the towing vehicle and the trailer cooperate and roll on the horizontal flat ground and the deflection angle is zero, the trailer extends between two parallel vertical limit planes, the two limit planes being moreover transverse to the direction of extension of the trailer, the rear zones are located between the two limit planes.

[0042] This arrangement helps reduce the area obscured by the trailer in the rear camera image. The rear cameras are also close to the rear end of the towing vehicle.

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

[0044] This display in at least two zones is advantageous when the image from the side camera is not visible to the driver, i.e. beyond the limit value. The second display section also provides an additional safety element by showing a rear side zone from a wide angle.

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

[0046] In other words, the side camera has a wide enough angle to allow the control unit to process an image with a reduced angle for the first display part and a cropped image with a non-reduced angle for the second display part.

[0047] This arrangement allows only one camera to be used per side, namely the side camera, to obtain two differently framed images.

[0048] According to one aspect of the invention, the rearview system comprises 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.

[0049] Preferably, the field of view of each additional side camera is different from that of each corresponding side camera. These two fields of view can cover common areas.

[0050] According to one aspect of the invention, the image from each side camera corresponds to the image of a conventional rearview mirror and the image from each additional side camera corresponds to the image of an additional rearview mirror oriented differently, in particular an additional rearview mirror required for an articulated vehicle.

[0051] The rearview system is therefore self-sufficient and only the side screens are required by the driver when the deviation angle is below the limit value.

[0052] According to one aspect of the invention, the rearview system comprises two side boxes, each side box comprising the side camera and the corresponding additional side camera and each side box being capable of being attached to a corresponding side area of ​​a cab of the towing vehicle.

[0053] Grouping the two cameras in one housing makes them easier to integrate while reducing bulk.

[0054] Alternatively, in the absence of an additional side camera, the same type of side housing can be used for the side camera alone.

[0055] 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.

[0056] Preferably, the rear plane is transverse to the longitudinal axis. 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 stereoscopy.

[0057] This arrangement is useful when an obstacle is detected while performing a maneuver since it is possible to determine its distance from the rear cameras.

[0058] Preferably, the rear cameras are wide-angle cameras so that their fields of view overlap widely.

[0059] 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 a central unit of the towing vehicle.

[0060] According to one aspect of the invention, the central unit provides the control unit with the value of the deflection angle.

[0061] According to one embodiment, the control unit can estimate a value of the deviation angle by analyzing the images from the side cameras and / or rear cameras.

[0062] According to a particularly advantageous embodiment, the control unit can estimate a value of the deviation angle by an image analysis method coupled with a method using a geometric model based on calculation algorithms.

[0063] According to this particularly advantageous embodiment, the image analysis method is based as input on the images captured by the various cameras, and in particular by the side cameras, of the vehicle. The images received 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 so as to be able to make a first estimate of a trailer end position, that is to say of a location where the end of the trailer is located.

[0064] This image analysis method is advantageously supplemented by a method using a geometric model also making it possible to determine a trailer end position and therefore to estimate the deviation angle.

[0065] The method using a 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, as well as predetermined data such as trailer size and in particular a predetermined trailer length. On the basis of these different data, the control unit makes a second estimate of a trailer end position.

[0066] Said first and second estimates of a trailer end position are then compared with each other. If the difference is too large, the first estimate, obtained by image analysis, is used to make another estimate of a trailer end position based on the method using a geometric model. More precisely, the first estimate is used to redefine the value of the length of the trailer on the basis of which the method using a geometric model is carried out, which makes it possible to calibrate the geometric model and the data involved, and in particular the data relating to the predetermined length of the trailer.

[0067] Thus, another second estimate of a trailer end position based on the method using a geometric model is then made, then compared to the first estimate obtained by image analysis. As long as the difference is too large, or the estimates obtained are incompatible with each other, a new second estimate based on the method using a geometric model is made.

[0068] When the first estimate and the second estimate are close enough to be considered consistent with each other, the control unit derives a final estimate of a trailer end position, which is then used to estimate the angle of deviation formed by the trailer extension direction relative to the longitudinal axis of the towing vehicle.

[0069] In addition, and in certain specific cases, the second estimate obtained by the method using a geometric model makes it possible to detect and correct a particularly gross inconsistency in the first estimate obtained by image analysis, which may, for example, be the case when visibility conditions are particularly poor.

[0070] Thus, the image analysis method and the method using a geometric model complement each other and allow the end-of-trailer position estimates obtained to be gradually refined, to arrive at the final estimate used to deduce the value of the deviation angle.

[0071] 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, this particularly advantageous embodiment therefore makes it possible to carry out an accurate and reliable estimation of the deviation angle based solely on an image analysis and a geometric model, without the need to use one or more additional sensors, such as yaw angle detectors or ultrasonic sensors. According to one aspect of the invention, each rear camera is configured to be attached to or arranged in a rear skirt of the towing vehicle.

[0072] The rear skirt is a fixed vertical exterior element of the towing vehicle, forming a rear partition.

[0073] Preferably, each rear camera is arranged vertically at the same level as the axles of the towing vehicle and / or behind the axles along the longitudinal axis.

[0074] According to one aspect of the invention, each rear camera is an independent element capable of communicating by wired or wireless communication with the control unit.

[0075] Preferably, each rear camera includes a mounting bracket capable of cooperating with the rear skirt. The rear cameras can therefore be fitted to a large number of tractor vehicles during manufacture or retrofit.

[0076] By independent element, it is understood that each rear camera is included in its own housing independent of other parts of the towing vehicle.

[0077] According to one aspect of the invention, each rear camera comprises an arrangement for attachment to a complementary arrangement of the towing vehicle.

[0078] Similarly, each side camera and additional side camera is capable of communicating via wired or wireless communication with the control unit.

[0079] According to one possibility, the present invention also relates to a rearview and lighting system comprising a rearview system as described above, the rearview and lighting system further comprising, for each side, a side rear light, each corresponding rear camera being able to communicate with the control unit.

[0080] This arrangement facilitates the integration of rear cameras for new towing vehicles. Integrating rear cameras into the side taillights reduces the space taken up by the rear camera and looks aesthetically pleasing.

[0081] According to one aspect of the invention, by side rear light is meant a rear lighting light and brake light of the towing vehicle.

[0082] According to one aspect of the invention, each side rear light comprises a support for bulbs and for the corresponding rear camera and a translucent protective capsule mounted on the support and enveloping the bulbs and the rear camera, the protective capsule having an opening for the passage of a lens of the rear camera. The rear camera is thus protected by leaving only the lens protruding. The opening is provided in a recess of the protective capsule towards the inside of the side rear light.

[0083] Preferably, mounting the protective capsule on the bracket provides sealing within the protective capsule and the bracket. The side tail light includes a sealing device such as a lens seal.

[0084] According to one aspect of the invention, the support comprises a printed circuit extending transversely to the orientation directions of the bulbs and the rear camera, the bulbs and the rear camera being attached to the printed circuit.

[0085] The present invention also relates to a towing vehicle comprising a rearview system or a rearview and lighting system as described above.

[0086] The present invention further relates to the articulated vehicle comprising the towing vehicle and the trailer.

[0087] The different aspects defined above, which are not incompatible, can be combined.

[0088] Brief description of the figures

[0089] The invention will be better understood with the aid of the detailed description which is set out below with reference to the accompanying drawings.

[0090] [Fig. 1] is a schematic side view of a trailer and towing vehicle incorporating a rear-view system.

[0091] [Fig. 2] is a schematic top view of the trailer and towing vehicle during a turn or maneuver.

[0092] [Fig. 3] is a schematic top view of the towing vehicle including the rearview system.

[0093] [Fig. 4] is a schematic view of the elements constituting the rearview system.

[0094] [Fig. 5] is a schematic rear view of a side tail lamp incorporating a rear view camera of the rearview system.

[0095] [Fig. 6] is a schematic sectional view of the side tail light including the rear camera.

[0096] [Fig. 7] is a block diagram representing the method of estimating the deviation angle. Description with reference to figures

[0097] In the detailed description which follows of the figures defined above, the same elements or elements fulfilling identical functions may retain the same references so as to simplify the understanding of the invention.

[0098] As illustrated in Figures 1 to 4, a rearview system 1 is intended for a tractor vehicle 3 capable of cooperating with a trailer 5 mounted so as to rotate on the tractor vehicle 3.

[0099] The rearview system 1 comprises two side cameras?, each side camera 7 being configured to be attached to a corresponding side of the towing vehicle 3 relative to a longitudinal axis 9 of the towing vehicle 3.

[0100] The rearview system 1 comprises two rear cameras 11, each rear camera 11 being configured to be attached to a corresponding rear area 13 of the towing vehicle 3.

[0101] Each rear area 13 is located on a corresponding side relative to the longitudinal axis 9 and each rear camera 11 being located lower than a load support plate 15 of the trailer 5 when the towing vehicle 3 and the trailer 5 cooperate and roll on a horizontal flat ground.

[0102] The rearview system 1 comprises two side screens 17, each side screen 17 being configured to be attached to the towing vehicle 3 so as to be visible from a cockpit 19 of the towing vehicle 3.

[0103] The rearview system 1 comprises a control unit 21 configured to display the images from each side camera 7 on a corresponding side screen 17.

[0104] The control unit 21 is further configured to display the image from a rear camera 11 instead of all or part of the image from a side camera 7 on one of the two sides when the trailer 5, which is mounted to rotate, extends on the opposite side relative to the longitudinal axis 9.

[0105] This occurs when an extension direction 23 of the trailer 5 has a deviation angle 25 greater than a limit value relative to the longitudinal axis 9 of the towing vehicle 3.

[0106] The control unit 21 allows the side cameras 7 to be displayed when the towing vehicle 3 and the trailer 5 are aligned along the longitudinal axis 9 and when the trailer 5 deviates slightly. In this case, the trailer 5 does not obstruct the view since the side cameras ? film the sides of the trailer 5 on each side. In addition, the front of the trailer 5 which faces the rear of the towing vehicle 3 does not mask part of the field of view of the side cameras ?. The rear cameras 11 are therefore not used.

[0107] The field of view of each side camera 7 corresponds to a rear side view angle relative to the towing vehicle 3 traveling forward along the longitudinal axis 9.

[0108] When the towing vehicle 3 turns or during a maneuver, a deviation angle 25 appears between the extension direction 23 of the trailer 5 and the longitudinal axis 9 of the towing vehicle 3.

[0109] As shown in Figures 2 and 4, beyond the limit value of the deflection angle 25 on one side of the longitudinal axis 9, the control unit 21 displays the image from the rear camera 11 on the opposite side.

[0110] In fact, on the side of the diversion, the side of the trailer 5 remains visible and occupies more and more space in the field of vision of the side camera 7.

[0111] On the other hand, on the other side, the side of the trailer 5 is less and less visible until it disappears from the field of vision of the side camera 7. The front of the trailer 5 above the load support platform 15 can also partially obscure the field of vision of the side camera 7.

[0112] The control unit 21 then changes the display and the rear camera 11 makes visible a field of vision hidden by the front of the trailer 5 for the side camera 7. The rear camera 11 also makes visible an area that the trailer 5 would occupy if there were no deviation.

[0113] If a pedestrian Tl or another vehicle is in this area, it becomes visible on the corresponding side screen 17.

[0114] When the turn or maneuver is completed and when the deviation angle 25 is again below the limit value, the control unit 21 replaces the image from the rear camera 11 with that from the side camera 7.

[0115] The terms "front" and "rear" are to be understood as being defined with respect to the forward direction of travel of the towing vehicle 3 and the trailer 5 when they cooperate. 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, with respect to the longitudinal axis 9. Optionally, it is possible to configure the control unit 21 so that at least one additional criterion is to be fulfilled for the image change from the side camera 7 to the rear camera 11.

[0116] An additional criterion preferably used is the fact that the towing vehicle 3 is driving in reverse.

[0117] The rearview system 1 is in this case reserved for reversing maneuvers and the camera change does not occur when driving forward during tight turns. This arrangement is interesting in the sense that driving forward remains identical for the driver who constantly sees the images from the side cameras 7.

[0118] An additional criterion may also be a speed slower than a speed limit, for example 30 km / h.

[0119] The trailer 5 comprises a coupling pin 29 attached to the load support plate 15 and oriented downwards. The towing vehicle 3 comprises a fifth wheel 31 arranged to cooperate with the coupling pin 29.

[0120] The expression "located lower than a load support tray 15" means that at the level of each rear camera 11, the load support tray 15 is above the rear camera 11.

[0121] The terms "horizontal" and "vertical" and their derivatives are defined when the towing vehicle 3 and the trailer 5 cooperate and roll on the horizontal flat ground.

[0122] The limit value is between 5 and 30° depending on the towing vehicle 3 and trailer 5 used. The limit value can be changed by setting the control unit.

[0123] Each side camera 7 is arranged on or provided in a side part of a body of the towing vehicle 3. Each rear camera 11 is provided in a rear part of the body of the towing vehicle 3. Each side part extends substantially parallel to the longitudinal axis 9 and each rear part extends transversely to the longitudinal axis 9.

[0124] In this text, an articulated vehicle 33 is a vehicle comprising the towing vehicle 3 and the trailer 5 mounted so as to be able to rotate on the towing vehicle 3. It may be a truck or any other type of articulated vehicle.

[0125] Each side screen 17 comprises a user interface 35 to force the change of image between the side camera 7 and the rear camera 11. Without user intervention, the change of display is carried out automatically by the control unit 21. The control unit 21 is configured to control the presence of the trailer 5 from the images of the rear cameras 11. The rear cameras 11 can be used by the control unit 21 as a reversing camera in the absence of a trailer 5.

[0126] When the towing vehicle 3 and the trailer 5 cooperate and roll on the horizontal flat ground and the deflection angle 25 is zero, the trailer 5 extends between two parallel vertical boundary planes 37.

[0127] The two limit planes 37 are also transverse to the direction of extension 23 of the trailer 5, the rear zones 13 being located between the two limit planes 37.

[0128] The rear cameras 11 are also close to the rear end of the towing vehicle 3.

[0129] The rearview system 1 comprises 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.

[0130] Each side screen 17 comprises a first display part 41 for the image from the corresponding side camera 7 or rear camera 11 and a separate second display part 43 for the image from the corresponding additional side camera 39.

[0131] The field of view of each additional side camera 39 is different from that of each corresponding side camera 7. These two fields of view can cover common areas.

[0132] The image from each side camera 7 corresponds to the image of a conventional rearview mirror and the image from each additional side camera 39 corresponds to the image of an additional rearview mirror oriented differently, in particular an additional rearview mirror required for an articulated vehicle.

[0133] The rearview system 1 comprises two side boxes 45, each side box 45 comprising the corresponding side camera 7 and additional side camera 39.

[0134] Each side box 45 is capable of being attached to a corresponding side area of ​​a cabin of the towing vehicle 3.

[0135] Alternatively, the rearview system 1 may not include an additional side camera 39. The same type of side housing 45 may be used for the side camera 7 only. In this case, the second display part 43 broadcasts a cropped image obtained from the side camera 7. Said image is cropped by the control unit 21 according to a wider angle than the image from the side camera 7 intended to be displayed on the first display part 41.

[0136] In other words, the side camera 7 has a wide enough angle to allow the obtaining, by processing of the control unit 21, of an image of a reduced angle for the first display part 41 and of a cropped image of a non-reduced angle for the second display part 43.

[0137] This arrangement allows only one camera per side to be used, namely the side camera 7, to obtain two differently framed images.

[0138] The 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.

[0139] 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 stereoscopy.

[0140] The rear cameras 11 are wide-angle cameras so that their field of view overlaps widely. The control unit 21 is configured to be mounted in the towing vehicle 3. The control unit 21 is connected to a central unit of the towing vehicle 3.

[0141] The central unit can provide the control unit 21 with the value of the deviation angle 25. Also, the control unit 21 can estimate a value of the deviation angle 25 by analyzing the images from the side cameras 7 or rear cameras 11.

[0142] As shown in Figure 7, the control unit 21 can also estimate a value of the deviation angle by an image analysis method coupled with a method using a geometric model. The image analysis method is based as input on the images captured by the different side and rear cameras of the towing vehicle 3. The received images are processed by the control unit 21 by means in particular 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 so as to be able to make a first estimate of a trailer end position 5, that is to say of a location where the end of the trailer is located.

[0143] This image analysis method is advantageously supplemented by a method using a geometric model also making it possible to determine a trailer end position. The method using a geometric model is based on dynamic data provided by the central unit of the towing vehicle 3 such as the speed of the towing vehicle 3, the wheel angle and / or the steering wheel as well as on predetermined data such as a trailer size and in particular a predetermined trailer length. On the basis of these different data and by means of a geometric model, the control unit 21 makes a second estimate of a trailer end position.

[0144] Said first and second estimates of a trailer end position are then compared with each other. If the difference is too large, the first estimate, obtained by image analysis, is used to make another estimate of a trailer end position based on the method using a geometric model. More precisely, the first estimate is used to redefine the value of the length of the trailer on the basis of which the method using a geometric model is carried out, which makes it possible to calibrate the geometric model and the data involved, and in particular the data relating to the predetermined length of the trailer.

[0145] Thus, another second estimate of a trailer end position based on the method using a geometric model is then made, then compared to the first estimate obtained by image analysis. As long as the difference is too large, or the estimates obtained are incompatible with each other, a new second estimate based on the method using a geometric model is made.

[0146] When the first estimate and the second estimate are close enough to be considered consistent with each other, the control unit 21 deduces therefrom a final estimate of a trailer end position, which is then used to estimate the angle of deviation formed by the direction of extension of the trailer 5 relative to the longitudinal axis of the towing vehicle 3.

[0147] In addition, and in certain specific cases, the second estimate obtained by the method using a geometric model makes it possible to detect and correct a particularly gross inconsistency in the first estimate obtained by image analysis, which may, for example, be the case when visibility conditions are particularly poor.

[0148] The programming of the control unit 21 can be modified to adapt the limit value of the deflection angle 25.

[0149] Each rear camera 11 is configured to be attached to or arranged in a rear skirt of the towing vehicle 3.

[0150] The rear skirt is a fixed vertical exterior element of the towing vehicle 3, forming a rear partition. Each rear camera 11 is arranged vertically at the same level as the axles of the towing vehicle 3 and / or behind the axles along the longitudinal axis 9.

[0151] As illustrated in Figure 4, each rear camera 11 is an independent element capable of communicating by wired or wireless communication with the control unit 21.

[0152] In Figure 4, only the side camera 7, the additional side camera 39, the rear camera 11 and the side screen 17 relating to one side are shown. The left side screen 17 represents the situation before the rear camera 11 is displayed and the right side screen 17 represents this same screen when the rear camera 11 is displayed.

[0153] Each rear camera 11 includes a mounting bracket capable of cooperating with the rear skirt. The rear cameras 11 can thus equip a large number of tractor vehicles 3 during manufacture or retrofit.

[0154] By independent element, it is understood that each rear camera 11 is included in its own housing independent of other parts of the towing vehicle 3.

[0155] Each rear camera 11 comprises an arrangement for attachment to a complementary arrangement of the towing vehicle 3.

[0156] Similarly, each side camera 7 and additional side camera 39 is capable of communicating by wired or wireless communication with the control unit 21.

[0157] As illustrated in Figures 5 and 6, alternatively to the rear cameras 11 as independent elements, each rear camera 11 may be included in a corresponding side rear light 49.

[0158] We then obtain a rearview and lighting system 51 similar to the rearview system 1 above and further comprising, for each side, a side rear light 49.

[0159] Each rear camera 11 is capable of communicating with the control unit 21.

[0160] This arrangement facilitates the integration of rear cameras 11 for new tractor vehicles 3. The integration of the rear cameras 11 into the side taillights 49 reduces the space taken up by the rear camera 11 and has an aesthetic appearance.

[0161] By side rear light 49 is meant a rear lighting and brake light of the towing vehicle 3.

[0162] Each side tail light 49 comprises a support 53 for bulbs 55 and for the corresponding rear camera 11 and a translucent protective capsule 57 mounted on the support 53 and enveloping the bulbs 55 and the rear camera 11.

[0163] The protective capsule 57 has an opening 59 for the passage of a lens 61 of the rear camera 11.

[0164] The rear camera 11 is thus protected by leaving only the lens 61 protruding. The opening 59 is formed in a recess 63 of the protective capsule 57 towards the inside of the side rear light 49.

[0165] Mounting the protective capsule 57 on the support 53 provides sealing within the protective capsule 57 and the support 53. The side rear light 49 includes a sealing device such as a seal for the lens 61.

[0166] The support 53 comprises a printed circuit 65 extending transversely to the orientation directions of the bulbs 55 and the rear camera 11, the bulbs 55 and the rear camera 11 being attached to the printed circuit 65.

[0167] The present invention also relates to a towing vehicle 3 comprising a rearview system 1 or a rearview and lighting system 51 as described above.

[0168] The present invention further relates to the articulated vehicle 33 comprising the towing vehicle 3 and the trailer 5.

[0169] This above description highlights the fact that the camera change operated by the control unit 21 makes it possible to improve safety and facilitates turns and maneuvers of the articulated vehicle 33. The area masked by the trailer 5 is limited thanks to the image from the opposite rear camera.

[0170] Furthermore, the rearview system 1 or the rearview 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 a maneuver or a turn.

[0171] As goes without saying, the invention is not limited to the single embodiment described above as an example; on the contrary, it encompasses all variant embodiments.

Claims

CLAIMS 1. Rearview system (1) for a towing vehicle (3) capable of cooperating with a trailer (5) mounted rotatably on the towing vehicle (3), the rearview 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 a 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), each rear camera (11) being located lower than a load support platform (15) of the trailer (5) when the towing vehicle (3) and the trailer (5) cooperate and roll on flat horizontal ground, two side screens (17),each side screen (17) being configured to be attached to the towing vehicle (3) so as to be visible from a cockpit (19) of the towing vehicle (3), a control unit (21) configured to display the images of each side camera (7) on a corresponding side screen (17), the control unit (21) being further configured to display the image of a rear camera (11) instead of the image of a side camera (7) of one of the two sides when the trailer (5), which is mounted rotatably, extends on the opposite side relative to the longitudinal axis (9), an extension direction (23) of the trailer (5) having a deviation angle (25) greater than a limit value relative to the longitudinal axis (9) of the towing vehicle (3)., 2. Rearview system (1) according to claim 1, wherein, when the towing vehicle (3) and the trailer (5) cooperate and roll on the horizontal flat ground and the deflection angle (25) is zero, the trailer (5) extends between two parallel vertical limit planes (37), the two limit planes (37) being moreover transverse to the direction of extension (23) of the trailer (5), the rear zones (13) are located between the two limit planes (37).

3. Rearview system according to one of claims 1 or 2, wherein each side screen (17) comprises a first display part (41) for the image from the corresponding side camera (7) or rear camera (11) and a second separate display part (43) for a cropped image from the side camera (7) or an image from a corresponding additional side camera (39).

4. Rearview system according to claim 3, wherein the cropped image of the side camera (7) is cropped by the control unit (21) at a wider angle than the image of the side camera (7) intended to be displayed on the first display part (41).

5. Rearview 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. Rearview system (1) according to claim 5, comprising two side boxes (45), each side box (45) comprising the side camera (7) and the corresponding additional side camera (39) and each side box (45) being capable of being attached to a corresponding side area of ​​a cabin of the towing vehicle (3).

7. Rearview system (1) according to one of claims 1 to 6, wherein the 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).

8. Rearview system (1) according to one of claims 1 to 7, in which the control unit (21) is capable of determining the distance of an object present on the images of the two rear cameras (11) by comparing the two images and using the principle of stereoscopy.

9. Rearview system (1) according to one of claims 1 to 8, in which each rear camera (11) is configured to be attached to or arranged in a rear skirt of the towing vehicle (3).

10. Rearview system (1) according to one of claims 1 to 9, in which each rear camera is an independent element capable of communicating by wired or wireless communication with the control unit (21).

11. Rearview and lighting system (51) comprising a rearview system (1) according to one of claims 1 to 8, the rearview and lighting system (51) further comprising, for each side, a side rear light (49), each corresponding rear camera (11) being capable of communicating with the control unit (21).

12. Rearview and lighting system (51) according to claim 11, wherein each side rear light (49) comprises a support (53) for bulbs (55) and for the corresponding rear camera (11) and a translucent protective capsule (57) mounted on the support (53) and enveloping the bulbs (55) and the rear camera (11), the protective capsule (57) having an opening (59) for the passage of a lens (61) of the rear camera (11).

13. Rearview and lighting system (51) according to claim 12, in which the support (53) comprises a printed circuit (65) extending transversely to the directions of orientation of the bulbs (55) and the rear camera (11), the bulbs (55) and the rear camera (11) being attached to the printed circuit (65).

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