Camera monitoring system including field of view zoom

Abstract

To mitigate operability difficulties caused by limited visibility in long commercial vehicles.SOLUTION: A method of displaying camera views in a camera monitor system for a tractor and trailer comprises: displaying information to a driver on a display; capturing a field of view with a camera; identifying a triggering event related to the captured field of view; and recognizing a feature in the captured field of view related to the triggering event; where the displayed information is modified to include displaying at least a portion of the captured field of view including the feature.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to vehicle camera monitoring systems (CMS), and more particularly to methods and systems for increasing driver awareness using a CMS. [Background technology]

[0002] Mirror replacement systems and camera systems that complement mirror views are utilized in commercial vehicles to enhance the vehicle operator's ability to view the surrounding environment. Camera monitoring systems (CMS) utilize one or more cameras to provide the vehicle operator with an enhanced field of view. In some instances, the camera system covers a wider field of view than a traditional mirror or includes views that are not fully accessible through a traditional mirror.

[0003] Driving a commercial vehicle equipped with a CMS is safer than with traditional mirrors because the cameras can provide visibility in situations where mirrors cannot. However, even with mirrors and / or a CMS incorporated into a commercial vehicle, operating the commercial vehicle can still be difficult due to the limited visibility caused by the length of the commercial vehicle. Summary of the Invention

[0004] In one exemplary embodiment, a method of displaying a camera view in a camera monitor system for a tractor and trailer includes information being displayed on a display to a driver, a field of view being captured by the camera, a trigger event being identified in association with the captured field of view, a feature being recognized in the captured field of view associated with the trigger event, and the displayed information is modified to include displaying at least a portion of the captured field of view that includes the feature.

[0005] In a further embodiment of any of the above, the displayed information is a legally defined field of view provided by the captured field of view.

[0006] In a further embodiment of any of the above, the legally prescribed field of view corresponds to either a wide angle rear-to-side vehicle view or a narrow angle rear-to-side vehicle view.

[0007] In a further embodiment of any of the above, the modifying step includes at least temporarily replacing the legally prescribed view.

[0008] In a further embodiment of any of the above, the method includes moving at least a portion of the displayed captured field of view from the display to another display after a predetermined criterion.

[0009] In a further embodiment of any of the above, the predetermined criteria is a risk scenario of greater rank than the trigger event.

[0010] In a further embodiment of any of the above, the method includes cropping the captured field of view to provide a first region of interest corresponding to a legally prescribed field of view, and cropping the captured field of view to provide a second region of interest corresponding to at least a portion of the captured field of view, wherein the at least a portion of the captured field of view is enlarged on the display compared to a representation of the legally prescribed field of view.

[0011] In a further embodiment of any of the above, at least a portion of the first and second regions of interest overlap one another.

[0012] In a further embodiment of any of the above, at least a portion of the second region of interest is outside the legally prescribed field of view.

[0013] In a further embodiment of any of the above, the first and second regions of interest are displayed on different displays.

[0014] In a further embodiment of any of the above, the first and second regions of interest are displayed on the same display as each other.

[0015] In a further embodiment of any of the above, the second region of interest is displayed in a window positioned over the representation of the legally prescribed field of view.

[0016] In a further embodiment of any of the above, the method includes cropping the captured field of view to provide a third region of interest corresponding to another legally prescribed view, and both legally prescribed fields of view are shown on a common display.

[0017] In a further embodiment of any of the above, the trigger event is a potential collision with an object, and the features include at least one of the object and a portion of the trailer closest to the object.

[0018] In a further embodiment of any of the above, the object is an overtaking vehicle and the portion of the trailer includes a trailer end.

[0019] In further embodiments of any of the above, the object is a vulnerable road user.

[0020] In a further embodiment of any of the above, the triggering event is a potential curb collision of the trailer, and the feature includes at least one of a curb and a wheel of the trailer.

[0021] In a further embodiment of any of the above, the triggering event is a potential lane crossing of a trailer, and the feature includes at least one of a trailer edge and a lane marking.

[0022] In a further embodiment of any of the above, the trigger event is a steering angle above a threshold and the feature is an area between a tractor and a trailer.

[0023] In an alternative exemplary embodiment, a camera monitor system for a vehicle includes at least one camera configured to capture a field of view, a plurality of displays including first and second displays configured to display first and second information, respectively, the first information corresponding to a legally prescribed field of view, and a controller in communication with the first and second displays and the at least one camera, the controller configured to modify at least one of the first and second information to include identifying a trigger event associated with a captured field of view, recognizing a feature in the captured field of view associated with the trigger event, and displaying at least a portion of the captured field of view including the feature, wherein the displayed at least a portion of the captured field of view is magnified relative to the displayed legally prescribed field of view.

[0024] These and other features of the present invention can be best understood from the following specification and drawings. [Brief explanation of the drawings]

[0025] The present disclosure may be better understood by reference to the following detailed description when considered in conjunction with the accompanying drawings.

[0026] [Figure 1A] FIG. 1 is a schematic front view of a commercial truck equipped with a camera monitoring system (CMS) used to provide at least Class II and Class IV views.

[0027] [Figure 1B] FIG. 1 is a schematic top view of a commercial truck equipped with a camera monitoring system providing Class II, Class IV, Class V, and Class VI views.

[0028] [Figure 2A] 1 is a schematic diagram of a vehicle cab including a CMS and a display.

[0029] [Figure 2B] 1 is a schematic diagram of an example of a vehicle cab and display arrangement.

[0030] [Figure 3] 1 is a flowchart illustrating a method for displaying a camera view in a vehicle cab.

[0031] [Figure 4] 10A and 10B show schematic examples of captured fields of view and cropped areas for display.

[0032] [Figure 5A] 1 shows a right narrow-angle view as seen by the operator during a turn maneuver.

[0033] [Figure 5B] 1 shows a narrow-angle view of the left side as seen by the operator during a turn maneuver.

[0034] [Figure 6] 1 is a schematic diagram of a narrow-angle view according to the disclosed method, along with a magnified portion of the narrow-angle view;

[0035] [Figure 7] 10 is another example displaying a magnified portion of a field of view captured in accordance with the disclosed method.

[0036] The embodiments, examples and alternatives of the preceding paragraphs, the claims, or the following description and drawings, including any of their various aspects or their respective individual features, may be taken independently or in any combination. Features described in connection with one embodiment are applicable to all embodiments, except where such features are incompatible. DETAILED DESCRIPTION OF THE INVENTION

[0037] Schematic diagrams of a commercial vehicle 10 are shown in FIGS. 1A and 1B. The vehicle 10 includes a vehicle cab or tractor 12 for towing a trailer 14. It should be understood that the vehicle cab 12 and / or trailer 14 may be of any configuration. While commercial trucks are contemplated in this disclosure, the present invention is applicable to other types of vehicles. The vehicle 10 incorporates a camera monitor system (CMS) 15 (FIG. 2A) having driver-side and passenger-side camera arms 16a, 16b (commonly "camera arms 16" or "wings") mounted on the exterior of the vehicle cab 12 to display to the operator a view typically provided by mirrors. If desired, the camera arms 16a, 16b may also include conventional mirrors integrated therewith, although the CMS 15 may be used to replace the mirrors entirely. In additional examples, multiple camera arms may be included on each side, each arm housing one or more cameras and / or mirrors.

[0038] Each camera arm 16a, 16b includes a base fixed to, for example, the cab 12. A pivoting arm is supported by the base and can be articulated (i.e., manually or powered folded) relative thereto. Fixed wings may also be used. At least one rear-facing camera 20a, 20b is disposed within each camera arm. Each arm 16a, 16b may also provide a housing that encloses electronics configured to provide various features of the CMS 15.

[0039] Each exterior camera 20a, 20b has an exterior field of view (FOV) that includes at least one of a Class II view (narrow angle) and a Class IV view (wide angle) (FIG. 1B), which are legally defined views in the commercial trucking industry. EX1 , FOV EX2 The image capture unit captures the image.

[0040] It is desirable to capture at least a portion of the trailer 14 within the field of view, e.g., the side and / or end of the trailer, throughout vehicle operation. For example, Class II and Class IV views are defined in the European R46 legislation, and the United States and other countries have similar driving visibility requirements for commercial trucks. References to "class" views are not intended to be limiting, but rather as an illustration of the type of view provided on the display by a particular camera. For example, SAE J3155 and other regulations may prescribe specific views. It should also be understood that multiple cameras may be used in each camera arm 16 a, 16 b to provide these or other views, as needed.

[0041] Figure 2A is a schematic diagram of the cab of vehicle 10 including displays, and Figure 2B is a diagram illustrating an example layout of displays within the cab. First and second video displays 18a, 18b are positioned on the driver's and passenger's sides, respectively, within vehicle cab 12 on or near A-pillars 19a, 19b and display Class II (narrow angle) and Class IV (wide angle) views on each side of vehicle 10 (e.g., Class II depicted above Class IV in a portrait configuration), which provide rearward-facing views along vehicle 10 (e.g., including a portion of the trailer) captured by exterior cameras 20a, 20b.

[0042] If Class V and / or Class VI view footage is also required, a camera housing 16c and camera 20c may be positioned at or near the front of the vehicle 10 to provide these views ( FIG. 1b ). A third display 18c positioned within the cab 12 near the top center of the windshield can be used to display Class V and Class VI views forward of the vehicle 10 to the driver. Displays 18a, 18b, and 18c face a driver area 24 within the cab 22, where the driver is seated in a driver's seat 26. The location, size, and field of view(s) streamed to a particular display may differ from the configurations described herein and still encompass the invention of this disclosure. For example, additional displays may be added near the first, second, and third displays 18a, 18b, and 18c (generally, “displays 18”), such as displays 18d, 18e, 18f, and 18g shown in FIG. 2B , to provide dedicated displays providing Class VIII views.

[0043] If Class VIII view footage is required, camera housings can be placed on the sides and rear of the vehicle 10 to provide a field of view that includes some or all of the vehicle's Class VIII zone. As shown, the Class VIII view includes a view that surrounds the immediate vicinity of the trailer and a rearward, close-up view of the vehicle, including behind the trailer. In some cases, the Class VIII view is generated using a trailer-mounted camera 20d, which is a rear-facing camera that provides a view behind the trailer. This rear view can be provided on one of the displays 18 in the vehicle cab 22, either as an alternative to or as a supplement to a rearview mirror. This view is particularly useful because the trailer 14 can obstruct some or all of the view provided by a conventional rearview mirror.

[0044] CMS 15 is also configured to utilize imagery from cameras 20a, 20b, 20c, and 20d (collectively "cameras 20"), as well as imagery from other cameras that may be positioned around the vehicle or in communication with the vehicle, to determine vehicle characteristics, identify objects, and facilitate driver assistance features such as display overlays and semi-autonomous driver assistance systems.

[0045] These features and functions of the CMS 15 can be used to implement multiple CMS 15 systems to assist in the operation of a vehicle. It should be noted that the controller 30 (FIG. 2A) for the CMS 15 can be used to implement various functionalities disclosed herein. The controller 30, which communicates with the displays 18 and the cameras 20, may include one or more separate units. For example, a centralized architecture may have a common controller located on the vehicle 10, while a distributed architecture may use a controller located on each of the displays 18, for example. Furthermore, part of the controller 30 may be located on the vehicle 10, while another part of the controller 30 may be located elsewhere, such as on the camera arm 16. In another example, a master-slave display configuration may be used, where one display includes the controller 30 and the other display receives commands from the controller 30.

[0046] In terms of hardware architecture, such a controller may include a processor, memory (e.g., memory 31, FIG. 2A), and one or more input and / or output (I / O) device interfaces communicatively coupled via a local interface. The local interface may include, for example, but is not limited to, one or more buses and / or other wired or wireless connections. The local interface may also include additional elements, such as controllers, buffers (caches), drivers, repeaters, and receivers that enable communication, which are omitted for simplicity. Additionally, the local interface may include address, control, and / or data connections to enable appropriate communication between the aforementioned components.

[0047] Controller 30 may be a hardware device for executing software, particularly software stored in a memory (e.g., memory 31, FIG. 2). Controller 30 may be a custom or commercially available processor, a central processing unit (CPU), an auxiliary processor among several processors associated with the controller, a semiconductor-based microprocessor (in the form of a microchip or chipset), or any device for general-purposely executing software instructions.

[0048] The memory 31 may include any one or combination of volatile memory elements (e.g., random access memory (RAM, such as DRAM, SRAM, SDRAM, VRAM, etc.)) and / or non-volatile memory elements (e.g., ROM, hard drive, tape, CD-ROM, etc.). Additionally, the memory 31 may incorporate electronic, magnetic, optical, and / or other types of storage media. The memory 31 may have a distributed architecture in which various components are located remotely from each other but are accessible by the processor.

[0049] The software in memory 31 may include one or more separate programs, each containing an ordered list of executable instructions for implementing a logical function. A system component embodied as software may be constructed as a source program, an executable program (object code), a script, or any other entity containing a set of instructions to be executed. If constructed as a source program, the program is translated via a compiler, assembler, interpreter, etc., which may or may not be contained within memory 31.

[0050] Input / output devices of the present disclosure that may be coupled to the system I / O interface(s) may include, but are not limited to, input devices such as a keyboard, mouse, scanner, microphone, camera, mobile device, proximity device, etc. They may also include, but are not limited to, output devices such as a printer, display, etc. Finally, input / output devices may further include devices that communicate as both input and output, such as, but are not limited to, a modulator / demodulator (i.e., for accessing another device, system, or network), a radio frequency (RF) or other transceiver, a telephone interface, a bridge, a router, etc.

[0051] When controller 30 is in operation, the processor may be configured to execute software stored in memory 31, to communicate data to and from memory 31, and to generally control the operation of the computing device in accordance with the software. The software in memory 31 is read, in whole or in part, by the processor and often buffered within the processor before being executed.

[0052] In various examples, the controller 30 includes one or more modules having algorithm(s), equation(s), and / or decision manager(s) that receive input(s) from sensors and / or stored values. Exemplary modules include a lane detection module 100, an object detection module 101, a trailer edge detection module 102, a kinematics module 104, a trailer crash area prediction module 106, a tractor crash area prediction module 108, and a collision warning module 110. Example inputs include a steering angle sensor 32, a vehicle speed sensor 34, and other sensor data. Vehicle configuration information 36 relates to vehicle characteristics (e.g., trailer length, axle position, trailer type / wheelbase, tractor configuration / wheelbase, hitch point location, etc.) and may be provided by the manufacturer, operator, and / or determined by one or more modules. During vehicle operation, the controller 30 may communicate information to the driver, fleet operator, or others using an output 39 (e.g., a display 18, a speaker, etc.). Exemplary operations and applications of these modules are disclosed in International Application No. PCT / US2023 / 083416, filed December 11, 2023, entitled "CAMERA MONITOR SYSTEM WITH TRAILER CURB STRIKE ALERT AND TRAILER STRIKING AREA," which is incorporated herein by reference in its entirety.

[0053] The object detection module 101 includes one or more image processing algorithms configured to identify objects in captured images. The algorithms may be used to identify VRUs (e.g., pedestrians or bicyclists), attributes of the tractor 12 and / or trailer 14, other vehicles, signs, curbs, trees, buildings, and / or other inanimate objects.

[0054] The lane detection module 100 also uses image processing of the captured image to identify markings on the road, such as lane markers that visually separate adjacent lanes. An example algorithm is described in U.S. Publication No. US 2023 / 117,719, entitled "CAMERA MIRROR SYSTEM DISPLAY FOR COMMERCIAL VEHICLES INCLUDING SYSTEM FOR IDENTIFYING ROAD MARKINGS," which is incorporated by reference in its entirety. This publication describes a lane detection module in which an object detection algorithm identifies lane markings on a road by filtering the lane marking colors from surrounding portions of the captured image. Other techniques based on deep learning or other computer vision methods may also be used, if desired.

[0055] The trailer end detection module 102 is another image processing module that extracts one or more trailer features from the captured image to determine the location of the trailer end in 3D space. These extracted attributes can be used to detect objects such as tractor wheels, trailer ends, and other features. An exemplary wheel detection algorithm technique is disclosed in U.S. Publication No. US 2023 / 202,394, entitled "CAMERA MONITOR SYSTEM FOR COMMERCIAL VEHICLES INCLUDING WHEEL POSITION ESTIMATION," which is incorporated herein by reference in its entirety. An example of a trailer end detection algorithm technique is disclosed in U.S. Publication No. US 2023 / 125,045, entitled "TRAILER END TRACKING IN CAMERA MONITORING SYSTEM," which is incorporated herein by reference in its entirety. Other techniques can also be used if desired.

[0056] In one example of operation, CMS 15 utilizes kinematics module 104 to predict the impact zone of trailer 14 during a turning maneuver and generate a two-dimensional overlay that is digitally superimposed on at least one of the displayed Class II / IV images, thereby indicating to the vehicle operator the anticipated impact zone of trailer 14 and allowing the vehicle operator to adjust vehicle operation accordingly. CMS 15 uses captured images received from cameras 20a, 20b, as well as other camera and vehicle operation data received from a common vehicle controller via a data connection, such as a CAN bus or LIN bus, to estimate the predicted positions of the tractor and / or trailer sides at each of multiple lateral positions and multiple time points. These positions are converted into a geometric region that encompasses all positions. In this manner, the shape and size of the geometric region are not fixed but rather reflect the actual predicted impact zone of the trailer (e.g., see 150 in FIG. 5A).

[0057] To avoid accidental collisions, the crash area prediction system uses vehicle data (e.g., steering angle, steering speed, trailer angle, vehicle speed, trailer wheelbase, tractor wheelbase, hitch point location, yaw rate, etc.) to generate a predicted crash area over time. The predicted crash area is a prediction of the path the trailer will take during a turn and is continuously recalculated as the turn progresses. The trailer crash area is also useful in potential "curve cut" scenarios when the vehicle 10 is traveling on curved roads. On curved roads, there is an increased likelihood that the trailer edge will cross the lane markers that mark the boundary with the adjacent lane, creating a potentially dangerous situation.

[0058] CMS 15 includes a decision manager or collision warning module 110 that communicates with modules 101-108 for assessing the proximity between a predicted tractor and / or trailer path (i.e., a tractor and trailer collision area) and one or more objects (e.g., predicting an impending curb collision, curb cut, object collision, etc.). The decision manager may consider estimated time to event, severity (what the object is), rate of closure between objects, etc., and provide overlays and / or alerts. While various overlays and alerts are useful for increasing operator awareness and improving safety, it is desirable to provide the operator with information to more easily and proactively manage their vehicle to safely navigate their surroundings. One such approach is to automatically provide the operator with an enlarged or zoomed view of an area of ​​interest within the field of view captured from a given camera.

[0059] To this end, a method 200 for displaying a camera view in CMS 15 is shown in Figure 3. Method 200 includes displaying information to an operator on one of displays 18 (e.g., 18a, 18b, 18c, 18d, 18e, 18f and / or 18g; block 202), as occurs during normal vehicle operation.

[0060] That is, each display 18 is typically used to present different information to the operator sequentially during vehicle use. For example, display 18a may present left-side Class II and Class IV views 122, 124, and display 18b may present right-side Class II and Class IV views 122', 124'. Display 18c may present a Class V / Class VI view. Displays 18d, 18e may present a Class VIII view, etc.; display 18f may present information related to vehicle information and / or comfort features (e.g., HVAC, radio, etc.); and display 18g may present vehicle operating information such as vehicle speed, engine RPM, fuel level, operating temperature, etc. It should be understood that all of these examples are illustrative and that variations may be used.

[0061] Also, during normal vehicle operation, the various cameras 20 capture fields of view with their respective image capture units (block 204). The normal images displayed on one or more displays may be altered to bring heightened operator attention to certain situations (block 206), for example, in response to a trigger event associated with the captured fields of view (e.g., a prediction of an impending curb strike, curb cut, object collision, jackknife, etc.).

[0062] In one example, a trigger event occurs (block 208), for example, in response to image processing of the captured image and / or by recognizing a feature within the captured field of view, such as by an ultrasonic sensor, LiDAR, radar, etc. The displayed information on one or more displays 18 is then modified to include displaying at least a portion of the captured field of view that includes the feature (block 210). The displayed portion of the captured field of view that includes the feature may be an enlarged (zoomed-in) version of another displayed version of the captured field of view.

[0063] 4 shows a captured field of view 120 from one of the cameras 20 used to provide at least one legally prescribed view. In one example where a camera is used to provide a legally prescribed view (e.g., Class II and / or Class IV / narrow and / or wide angle), the captured field of view 120 is cropped to provide a first region of interest 132 that corresponds to the legally prescribed view. The captured field of view 120 may be cropped to provide a second region of interest 134 that corresponds to at least a portion of the captured field of view 120. At least a portion of the captured field of view (e.g., second region of interest 134) is magnified on the display 18 relative to the display of the legally prescribed view.

[0064] When a single common camera provides both the first and second regions of interest 132, 134, for example, at least a portion of the first and second regions of interest 132, 134 may overlap one another. Furthermore, because the camera 20 may provide a field of view larger than necessary to provide the legally prescribed field of view, at least a portion of the second region of interest 134 may be outside the legally prescribed field of view. The captured field of view 120 may also be cropped to provide a third region of interest 136 corresponding to another legally prescribed field of view (e.g., Class IV / wide angle in the illustrated example), where both legally prescribed fields of view are shown on a common display (e.g., display 18a or 18b).

[0065] 4 , a motorcycle 140 outside the vehicle's blind spot and / or legally prescribed view is sensed by the CMS 15 (e.g., via image processing, ultrasonic sensors, LiDAR, radar, etc.). The disclosed method 200 segments a second region of interest 134 to include not only the motorcycle 140 but also features (e.g., trailer edge 142) that provide the operator with context regarding the motorcycle 140's position relative to the vehicle 10. The second region of interest 134 is then displayed in an enlarged format (zoomed in) on one of the displays 18. In this manner, the display information on one or more displays 18 is modified to include displaying at least a portion of the captured field of view (second region of interest 134) that includes the feature (e.g., trailer edge 142).

[0066] Regarding where the second region of interest 134 is displayed, the first and second regions of interest 132, 134 may be displayed on different displays (e.g., the first region of interest 132 is depicted on display 18a / 18b and the second region of interest 134 is depicted on display 18f). Alternatively, the first and second regions of interest 132, 134 may be displayed on the same display (e.g., both on display 18a or both on display 18b). For example, FIGS. 5A and 5B show left and right displays 18a, 18b, respectively, depicting corresponding narrow-angle views 122, 122′ (e.g., Class II views). During a turning maneuver, a trailer collision area 150 may be overlaid on display 18a to inform the operator of the inside trailer path at the current steering angle. The trailer path may intersect with or be near an object such as a curb 144. In such a scenario, it may be desirable to display a magnified view of the second region of interest 134 in a window 160 positioned over the display of the legally prescribed field of view, i.e., narrow-angle view 122, as shown in Figure 6. The magnified image includes the features of most interest to the operator, here the curb 144 and trailer wheels 146, which the operator can monitor in more detail using the zoomed view.

[0067] In another example, the modifying step may include temporarily replacing (i.e., swapping) one of the displayed legally prescribed fields of view (e.g., narrow display view 122 on display 18a) with an enlarged field of view. In such an approach, it may be desirable to limit the amount of time the legally prescribed field of view is replaced. To this end, the displayed second region of interest 134 may be moved from display 18a to another display (e.g., 18f; see FIG. 7) after a predetermined criterion is met, such as the occurrence of a risk scenario of a greater rank than the trigger event (e.g., the legally prescribed field of view is not displayed for a predetermined period of time or a new trigger event occurs that presents a greater risk of collision than the current trigger event).

[0068] Any number of trigger events can be used to provide the operator with a zoomed view for enhanced awareness. For example, the trigger event may be a potential collision with an object 140, and the features include the object and / or a portion of the trailer closest to the object. The object may be an overtaking vehicle (e.g., a motorcycle or other motorized vehicle), and the portion of the trailer includes a trailer end 142 to prevent the driver from inadvertently changing lanes away from the overtaking vehicle. In another example, the object is a vulnerable road user (VRU). In yet another example, the trigger event is a potential trailer curb collision, and the features include at least one of a curb 144 and a trailer wheel 146. In yet another example, the trigger event is a potential trailer lane crossing, and the features include at least one of a trailer end 142 and a lane marking. In another example, the trigger event is a steering angle exceeding a threshold (e.g., indicating an imminent jackknife) and the feature is the area between the tractor and trailer, which may be captured by a camera other than cameras 20a, 20b, 20c.

[0069] Also, while particular component arrangements are disclosed in the illustrated embodiments, it should be understood that other arrangements would benefit from the present disclosure. Although a particular sequence of steps is shown, described, and claimed, it should be understood that, unless otherwise indicated, the steps may be performed in any order, separated, or combined, and still benefit from the present invention.

[0070] Although the different examples have specific components shown, embodiments of the present invention are not limited to those specific combinations, and some components or features of one example may be used in combination with features or components of another example.

[0071] While exemplary embodiments have been disclosed, those of ordinary skill in this art would recognize that certain modifications would come within the scope of the following claims, and for that reason the following claims should be studied to determine their true scope and content.

Claims

1. 1. A method for displaying a camera view in a camera monitor system for a tractor and trailer, comprising: displaying the information to the driver on a display; capturing a field of view with a camera; identifying a trigger event associated with the captured field of view; Recognizing features associated with the trigger event in the captured field of view; modifying the displayed information to include displaying at least a portion of the captured field of view that includes the feature; A method comprising:

2. The method of claim 1 , wherein the displayed information is a legally defined field of view provided by the captured field of view.

3. The method of claim 2 , wherein the legally prescribed field of view corresponds to one of a wide-angle rear-side vehicle view and a narrow-angle rear-side vehicle view.

4. The method of claim 2 , wherein the modifying step includes at least temporarily replacing the legally prescribed view.

5. moving at least a portion of the displayed captured field of view from the display to another display after a predetermined criterion; The method of claim 4, comprising:

6. The method of claim 5 , wherein the predetermined criteria is a risk scenario that ranks greater than the trigger event.

7. 2. The method of claim 1, comprising cropping the captured field of view to provide a first region of interest corresponding to a legally prescribed field of view, and cropping the captured field of view to provide a second region of interest corresponding to the at least a portion of the captured field of view, the at least a portion of the captured field of view being enlarged on the display compared to a representation of the legally prescribed field of view.

8. The method of claim 7 , wherein at least a portion of the first and second regions of interest overlap one another.

9. The method of claim 7 , wherein at least a portion of the second region of interest is outside the legally defined field of view.

10. The method of claim 7 , wherein the first and second regions of interest are displayed on different displays.

11. The method of claim 7 , wherein the first and second regions of interest are displayed on the same display.

12. The method of claim 11 , wherein the second region of interest is displayed in a window positioned over the representation of the legally prescribed field of view.

13. 8. The method of claim 7, further comprising cropping the captured field of view to provide a third region of interest corresponding to another legally prescribed view, wherein both legally prescribed fields of view are shown on a common display.

14. The method of claim 1 , wherein the trigger event is a potential collision with an object, and the feature includes at least one of the object and a portion of a trailer closest to the object.

15. The method of claim 14 , wherein the object is an overtaking vehicle and the portion of the trailer includes a trailer end.

16. The method of claim 14 , wherein the object is a vulnerable road user.

17. The method of claim 1 , wherein the triggering event is a potential curb collision of a trailer, and the feature includes at least one of a curb and a wheel of the trailer.

18. The method of claim 1 , wherein the trigger event is a potential lane crossing of a trailer and the feature includes at least one of a trailer edge and a lane marking.

19. 2. The method of claim 1, wherein the trigger event is a steering angle above a threshold and the feature is an area between a tractor and a trailer.

20. In a camera monitor system for a vehicle, at least one camera configured to capture a field of view; a plurality of displays including first and second displays configured to display first information and second information, respectively, the first information corresponding to a legally prescribed field of view; a controller in communication with the first and second displays and the at least one camera; wherein the controller identifying a trigger event associated with the captured field of view; Recognizing features associated with the trigger event in the captured field of view; and modifying at least one of the first information and the second information to include displaying at least a portion of the captured field of view including the feature, wherein the displayed at least a portion of the captured field of view is magnified relative to a displayed legally prescribed field of view. A system configured to:

Images