Rearview system with rear camera

Abstract

The present invention relates to a rear vision system (1) for a towing vehicle (3) that can cooperate with a trailer (5) attached to the towing vehicle (3), the rear vision system (1) comprising two side cameras (7), two rear cameras (11), and a control unit (21) that is further configured to display the image of the rear camera (11) instead of the image of one of the side cameras (7) on one of the two sides when the rotatably attached trailer (5) extends on the opposite side relative to the longitudinal axis (9).

Description

[Technical Field]

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

[0002] It is known to use a rearview mirror system in place of the vehicle's side mirrors, this arrangement being of interest for articulated vehicles such as trucks, which have a towing vehicle and a rotatably mounted trailer, where each side mirror can be replaced by a camera and screen.

[0003] The driver can see the area near the side of the trailer when the truck is traveling straight, i.e., when the trailer is aligned with the towing vehicle.

[0004] When turning or steering, the rear view is partially obstructed by the trailer because the towing vehicle and trailer are no longer aligned.

[0005] One solution might be to add another camera coupled with an additional display located in the cab, independent of the rear vision system.

[0006] However, this solution is impractical because it becomes difficult for the driver to monitor multiple displays when turning or steering.

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

[0008] To this end, the invention relates to a rear visibility system for a towing vehicle capable of cooperating with a trailer rotatably mounted on said towing vehicle, said rear visibility system comprising: two side cameras, each of the side cameras is configured to be mounted on a corresponding side of the tractor relative to a longitudinal axis of the tractor; Two side cameras and two rear cameras, each of the rear cameras is configured to be mounted in a corresponding rear region of the towing vehicle; each of the rear regions is located on a corresponding side of the longitudinal axis; each of the rear cameras is positioned lower than a load-bearing plate of the trailer when the towing vehicle and the trailer are rolling together on a flat, level ground; Two rear cameras and Two side displays, each of the side displays is configured to be mounted on the towing vehicle so as to be visible from the driver's seat of the towing vehicle; Two side displays and a control unit configured to display an image from each of the side cameras on a corresponding one of the side displays; The control unit When the rotatably mounted trailer extends in opposite directions relative to the longitudinal axis and the extension direction of the trailer forms a bending angle with respect to the longitudinal axis of the towing vehicle that is greater than a critical value, and further configured to display an image from the rear camera instead of an image from the side camera on one of the two sides. a control unit; Equipped with.

[0009] The control unit causes the side camera images to be displayed when the towing vehicle and trailer are aligned along their longitudinal axes and when the trailer deviates slightly.

[0010] In this case, the trailer does not obstruct the view because the side cameras image the side of the trailer on each side. Additionally, the front of the trailer facing the rear of the towing vehicle does not obstruct part of the field of view of the side cameras. Therefore, the rear camera is not used.

[0011] The field of view of each side camera corresponds to a side-to-rear viewing angle relative to the tug moving forward along its longitudinal axis.

[0012] When the towing vehicle turns or during maneuvering, a bend angle occurs between the extension of the trailer and the longitudinal axis of the towing vehicle.

[0013] When the bending angle on one side of the longitudinal axis exceeds a limit value, the control unit displays the rear camera image on the opposite side.

[0014] In fact, on the side of the turn, the side of the trailer remains in view and more space is available in the field of view of the side camera.

[0015] Conversely, on the opposite side, the side of the trailer becomes increasingly obscured until it eventually disappears from the view of the side camera. The front of the trailer above the load support plate may also partially obstruct the view of the side camera.

[0016] The control unit then changes the display so that the rear camera can see the field of view that was obscured by the front of the trailer and was not visible to the side cameras, and the rear camera also visualizes the area that the trailer would occupy if there was no bend.

[0017] If a pedestrian or other vehicle is within this area, it will be displayed on the corresponding side display. Switching between cameras by the control unit therefore increases safety and makes turning and steering easier.

[0018] When the turn or steering is completed and the turning angle is smaller than the limit value, the control unit stops displaying the image from the rear camera.

[0019] According to one embodiment, when the bending 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, when the bending angle becomes smaller than the limit value again, the control unit stops displaying the image from the rear camera and displays the image from the side camera again. According to this embodiment, the same display area of ​​each side display can display either the image from the rear camera or the image from the corresponding side camera.

[0020] According to another embodiment, when the bending angle is greater than the limit value, the control unit displays an image from the rear camera instead of a portion of the image from the corresponding side camera, which image is cropped compared to the image displayed when the bending angle is less than the limit value. When the bending angle is again less than the limit value, the control unit stops displaying the image from the rear camera and displays the uncropped image from the corresponding side camera again. According to this embodiment, when the bending angle is greater than the limit value, the same display area of ​​each side display can display both a cropped image from the side camera and an image from the rear camera.

[0021] According to yet another embodiment, when the bending angle is greater than a limit value, the control unit displays the image from the rear camera in addition to the image from the corresponding side camera, and when the bending angle is smaller than the limit value, the control unit simply stops displaying the image from the rear camera. According to this embodiment, each side display has a display area dedicated to the rear camera.

[0022] According to one aspect of the invention, the control unit includes an algorithm in memory for recognizing specific objects, such as pedestrians, other vehicles, or perceptible obstacles that are dangerous or vulnerable. The rear vision system may provide an audible and / or visual warning to notify the driver when at least one specific object is recognized. This configuration enhances safety.

[0023] The terms "front" and "rear" will be understood to be defined relative to the direction of travel of the towing vehicle and trailer as they move forward together. For the trailer, these terms are defined relative to the extension of the trailer, and for the towing vehicle, these terms are defined relative to the longitudinal axis.

[0024] According to one aspect of the invention, the control unit may optionally be configured such that at least one additional criterion must be met for image switching from the side camera to the rear camera.

[0025] Preferably, an additional criterion is that the towing vehicle is in reverse.

[0026] In this case, the rear vision system is reserved for reverse steering, and no camera switching occurs when driving forward, even during tight turns. This configuration has the advantage that when driving forward, the situation is the same for the driver, who always sees the image from the side camera.

[0027] An additional criterion may be a speed slower than the speed limit, preferably 30 km / h.

[0028] According to one aspect of the invention, the trailer includes a downwardly facing coupling pin attached to the load support plate, and the towing vehicle includes a fifth wheel configured to cooperate with the coupling pin.

[0029] The expression "located below the load support plate" means directly above the respective rear camera, i.e. the load support plate is above the rear camera.

[0030] The terms "horizontal" and "vertical," and their derivatives, are defined based on the towing vehicle and trailer as they roll together on level ground.

[0031] According to one aspect of the invention, the limit value is in the range of 5° to 30°. Preferably, the limit value can be changed by parameterizing the control unit.

[0032] According to one aspect of the invention, each side camera is located or provided on a side portion of the towing vehicle body, and each rear camera is located on a rear portion of the towing vehicle body, with each side portion extending substantially parallel to the longitudinal axis and each rear portion extending perpendicular to the longitudinal axis.

[0033] In this specification, an articulated vehicle is a vehicle that comprises a towing vehicle and a trailer that is rotatably attached to the towing vehicle. It may be a truck or any other type of articulated vehicle.

[0034] According to one aspect of the invention, each side display includes a user interface for displaying the rear camera image in addition to, or in place of, all or part of the side camera image, with this display switching being performed automatically by the control unit without user intervention.

[0035] According to one aspect of the invention, the control unit is configured to control the presence of a trailer from an image of the rear camera.

[0036] According to one aspect of the invention, the rear camera may be used by the control unit as a reversing camera when no trailer is present.

[0037] According to one aspect of the invention, when the towing vehicle and trailer are rolling together on level, flat ground and the bending angle is zero, the trailer extends between two parallel limiting planes that intersect at right angles to the extension direction of the trailer, with the rear region located between the two limiting planes.

[0038] This configuration helps reduce the area in the rear camera image that is obscured by the trailer, which is also closer to the rear end of the towing vehicle.

[0039] According to one aspect of the invention, each side display comprises a first display portion for a side camera image and / or a corresponding rear camera image, and at least one separate second display portion for an out-of-frame side camera image or a corresponding additional side camera image.

[0040] This display in at least two areas is preferred when the image from the side camera is not visible to the driver, i.e., exceeds a limit. The second display portion may provide an additional safety element by showing the rear side area at a wide angle.

[0041] Alternatively, each side display includes a third display portion that is dedicated to displaying images from the corresponding rear camera.

[0042] 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.

[0043] In other words, the side camera has a sufficiently wide angle of view so that the control unit can process an image with only a small angle of view for the first display portion and a cropped image with a non-reduced angle of view for the second display portion.

[0044] This configuration allows for the use of only one camera per side, thus obtaining two differently framed images.

[0045] According to one aspect of the invention, the rear visibility system includes two additional side cameras, each configured to be mounted on a corresponding side of the towing vehicle relative to a longitudinal axis of the towing vehicle.

[0046] Preferably, the field of view of each additional side camera is different from the field of view of each corresponding side camera.

[0047] According to one aspect of the invention, the image from each side camera corresponds to a conventional rearview mirror image, and the image from each additional side camera corresponds to an additional rearview mirror image oriented in a different direction, particularly as required for an articulated vehicle.

[0048] Therefore, when the bending angle is smaller than the limit value, the rear visibility system is sufficient by itself and only the side display is required by the driver.

[0049] According to one aspect of the present invention, a rear visibility system includes two side housings, each of which includes a side camera and a corresponding additional side camera, and each of which can be mounted to a corresponding side region of the towing vehicle body.

[0050] Combining the two cameras into one housing makes it easier to integrate them while keeping the footprint small.

[0051] Alternatively, the same type of side housing can be used for one side camera even if there are no additional side cameras.

[0052] According to one aspect of the invention, the two rear cameras are located in the same vertical aft plane of the towing vehicle and are oriented substantially parallel to the longitudinal axis.

[0053] Preferably, the posterior plane is perpendicular to the longitudinal axis.

[0054] According to one aspect of the invention, the control unit is capable of determining the distance of objects appearing in the images of the two rear cameras by comparing the two images and using the principles of stereoscopic vision.

[0055] This configuration is useful when an object is detected while steering, since its distance from the rear camera can be determined.

[0056] Preferably, the rear cameras are wide-angle cameras so that their fields of view overlap to a large extent.

[0057] According to one aspect of the invention, the control unit is configured to be mounted on the towing vehicle, and preferably the control unit is connected to a central unit of the towing vehicle.

[0058] According to one aspect of the invention, the central unit provides the value of the bend angle to the control unit.

[0059] According to an embodiment of the invention, the control unit can estimate the value of the bend angle by analyzing images from the side and / or rear cameras.

[0060] According to a particularly preferred embodiment, the control unit is able to estimate the value of the bending angle by combining a method using a geometric model based on a calculation algorithm and an image analysis method.

[0061] According to this particularly preferred embodiment, the image analysis method is based on images as input, captured by various cameras of the vehicle, in particular by the side cameras. The received images are processed by the control unit, in particular by at least one depth estimation method. This processing allows the control unit to determine the vehicle geometry, in particular a geometric model of the trailer, and thereby to make a first estimate of the trailer end position, i.e., where the trailer end is located.

[0062] This image analysis method is preferably supplemented by a method that uses a geometric model to determine the position of the trailer's edges and thus to estimate the bend angle.

[0063] The geometric model method is based on predetermined data such as trailer size, particularly a predetermined trailer length, as well as dynamic data such as vehicle speed, wheel and / or steering angle. Based on these different data, the control unit makes a second estimate of the trailer end position.

[0064] The first and second estimates of the 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 perform a further estimate of the trailer end position based on the method using the geometric model. More precisely, the first estimate is used to redefine the trailer length value used when the method using the geometric model is performed, which makes it possible to calibrate the geometric model and the data associated therewith, in particular the data related to the predetermined length of the trailer.

[0065] A second further estimate of the trailer end position based on the method using the geometric model is then made and then compared with the first estimate obtained by image analysis. As long as the difference is too large, i.e., the obtained estimates disagree with each other, a new second estimate is made based on the method using the geometric model.

[0066] When the first and second estimates are close enough to be considered consistent with one another, the control unit derives a final estimate of the trailer end position, which is then used to estimate the angle of the trailer extension relative to the longitudinal axis of the towing vehicle.

[0067] In addition, in certain specific cases, the second estimate obtained by the method using geometric models makes it possible to detect and correct particularly large discrepancies in the first estimate obtained by image analysis, which may correspond, for example, to particularly poor visibility conditions.

[0068] Thus, the image analysis method and the method using the geometric model complement each other, allowing the obtained trailer end position to be gradually refined until a final estimate is reached that is used to estimate the value of the bend angle.

[0069] Thus, by utilizing images captured by the towing vehicle's camera and certain data received from the towing vehicle's central unit, this particularly preferred embodiment is able to perform accurate and reliable bend angle estimation based solely on image analysis and geometric models, without the need for one or more additional sensors such as a yaw angle detector or ultrasonic sensor.

[0070] According to one aspect of the invention, each rear camera is configured to be mounted to or positioned within the rear skirt of the towing vehicle.

[0071] The rear skirt is a fixed vertical exterior element of the towing vehicle that forms the rear partition.

[0072] Preferably, each rear camera is positioned so as to be vertically at the same height as the towing vehicle axles and / or behind the axles along the longitudinal axis.

[0073] According to one aspect of the invention, each rear camera is an independent element capable of communicating with the control unit by wired or wireless communication.

[0074] Preferably, each rear camera includes a mounting bracket that can cooperate with the rear skirt, so that the rear cameras can be fitted to a variety of towing vehicles during manufacture or retrofit.

[0075] By separate element it is understood that it is meant that each rear camera is contained within its own housing, separate from other parts of the tow vehicle.

[0076] According to one aspect of the invention, each rear camera includes a component for mounting to a complementary component on the towing vehicle.

[0077] Similarly, each side camera and the additional side camera may communicate with the control unit by wired or wireless communication.

[0078] According to one possible example, the present invention also relates to a rear vision and lighting system comprising the above-mentioned rear vision system, which further comprises side rear lamps on each side, each corresponding rear camera being capable of communicating with a control unit.

[0079] This configuration facilitates the integration of rear cameras for new towing vehicles. By integrating the rear camera into the side rear lamp, the space taken up by the rear camera can be reduced and the appearance is more aesthetically pleasing.

[0080] According to one aspect of the invention, side rear lamps refer to lamps for rear lighting of a towing vehicle and brake lamps.

[0081] According to one aspect of the invention, each side rear lamp includes a support for the bulb and for a corresponding rear camera, and a transparent protective capsule attached to the support and surrounding the bulb and rear camera, the protective capsule having an opening for the lens of the rear camera to pass through.

[0082] The rear camera is thus protected by leaving only the lens exposed, this opening being provided in a recess in the protective capsule towards the inside of the side rear lamp.

[0083] Preferably, the protective capsule is attached to the bracket, thereby sealing the interior of the protective capsule and the bracket.The side rear lamp includes a sealing device, such as a lens seal.

[0084] According to one aspect of the present invention, the support includes a printed circuit board extending perpendicular to the direction in which the bulb and the rear camera are facing, and the bulb and the rear camera are attached to the printed circuit board.

[0085] The present invention also relates to a towing vehicle equipped with the above-described rear visibility system or rear visibility and lighting system.

[0086] The invention also relates to an articulated vehicle comprising a towing vehicle and a trailer.

[0087] The various aspects defined above may be combined unless they are inconsistent. [Brief explanation of the drawings]

[0088] The present invention will be better understood from the detailed description set forth below when taken in conjunction with the accompanying drawings. [Figure 1] 1 is a schematic side view of a trailer and towing vehicle equipped with a rear visibility system. [Figure 2] 1 is a schematic top view of a trailer and a towing vehicle during a turn or steering operation; [Figure 3] 1 is a schematic top view of a tractor including a rear visibility system. [Figure 4] FIG. 1 is a schematic diagram of the elements that make up the rear visibility system. [Figure 5] FIG. 1 is a schematic rear view of a side rear lamp including a rear view camera of the rear visibility system. [Figure 6] FIG. 1 is a schematic cross-sectional view of a side rear lamp including a rear camera. [Figure 7] FIG. 1 is a block diagram illustrating a method for estimating a bending angle. DETAILED DESCRIPTION OF THE INVENTION

[0089] In the detailed description that follows the figures defined above, the same elements or groups of elements that perform the same function may be given the same reference numerals to facilitate understanding of the invention.

[0090] As shown in Figures 1-4, the rear vision system 1 is intended for use with a towing vehicle 3 that is capable of cooperating with a trailer 5 that is connected to and rotatably mounted on the towing vehicle 3.

[0091] The rear vision system 1 comprises two side cameras 7, each configured to be mounted on a corresponding side of the towing vehicle 3 with respect to a longitudinal axis 9 of the towing vehicle 3.

[0092] The rear visibility system 1 comprises two rear cameras 7 , each configured to be mounted in a corresponding rear region 13 of the towing vehicle 3 .

[0093] Each rear area 13 is located on a corresponding side of the longitudinal axis 9, and each rear camera 11 is located lower than the load-bearing plate 15 of the trailer 5 when the towing vehicle 3 and trailer 5 roll together on a flat, horizontal ground.

[0094] The rear visibility system 1 includes two side displays 17, each configured to be mounted on the towing vehicle 3 so as to be visible from a driver's seat 19 of the towing vehicle 3.

[0095] The rear visibility system 1 includes a control unit 21 configured to display images from each side camera 7 on a corresponding side display 17 .

[0096] The control unit 21 is further configured to display the image of the rear camera 11 instead of all or part of the image of the side camera 7 on one of the two sides when the rotatably mounted trailer 5 extends in the opposite direction relative to the longitudinal axis 9.

[0097] This occurs when the extension direction 23 of the trailer 5 has a bending angle 25 relative to the longitudinal axis 9 of the towing vehicle 3 that is greater than a critical value.

[0098] The control unit 21 enables the side camera 7 to display when the towing vehicle 3 and trailer 5 are aligned along the longitudinal axis 9 and when the trailer 5 is slightly offset therefrom.

[0099] In this case, the trailer 5 does not obstruct the view, since the side cameras 7 can capture images of both sides of the trailer 5. In addition, the front of the trailer 5 facing the rear of the towing vehicle 3 does not omit any part of the field of view of the side cameras 7. Therefore, the rear camera 11 is not used.

[0100] The field of view of each lateral camera 7 corresponds to a viewing angle from the side looking backwards relative to the towing vehicle 3 moving forward along its longitudinal axis 9 .

[0101] When the towing vehicle 3 turns or during driving, a bending angle 25 occurs between the extension direction 23 of the trailer 5 and the longitudinal axis 9 of the towing vehicle 3 .

[0102] As shown in Figures 2 and 4, when the bending angle 25 on one side of the longitudinal axis 9 exceeds a limit value, the control unit 21 displays the image of the rear camera 11 on the opposite side.

[0103] Indeed, inside the bend, the side of the trailer 5 remains visible and as the bend angle increases it takes up more space in the field of view of the side camera 7 .

[0104] Conversely, on the opposite side, as the bend angle increases, the side of the trailer 5 becomes increasingly less visible and eventually disappears from the field of view of the side camera 7. The front of the trailer 5 above the load bearing plate 15 may also partially obstruct the field of view of the side camera 7.

[0105] The control unit 21 then changes the display so that the rear camera 11 can see the field of view that was obscured by the front of the trailer 5 and was not visible to the side camera 7. The rear camera 11 also visualizes the area that the trailer 5 would occupy if there was no bend.

[0106] If a pedestrian 27 or other vehicle is within this area, it will be displayed on the corresponding side display 17 .

[0107] Once the turn or steering is completed and the deviation angle 25 is again less than the limit value, the control unit 21 replaces the image from the rear camera 11 with the image from the side camera 7 .

[0108] The terms "front" and "rear" should be understood as being defined relative to the forward direction of the tractor 3 and trailer 5 as they operate together. For the trailer 5, these terms are defined relative to the extension direction 23 of the trailer 5, and for the tractor 3, they are defined relative to the longitudinal axis 9.

[0109] Optionally, the control unit 21 can also be configured so that in order to switch the image from the side camera 7 to the rear camera 11, at least one additional condition must be fulfilled.

[0110] An additional condition that is preferably used is that the towing vehicle 3 is driving in reverse.

[0111] In this case, the rear vision system 1 is specialized for reversing, and camera switching does not occur when driving forward, even when making sharp turns. This configuration is interesting in that the driver can always see the image from the side camera 7 as long as the vehicle is driving forward.

[0112] An additional condition is that the speed limit must be less than 30 km / h.

[0113] The trailer 5 is attached to the load bearing plate 15 and includes a downwardly directed hitch pin 29. The towing vehicle 3 includes a fifth wheel 31 configured to cooperate with the coupling pin 29.

[0114] The expression "located below the load support plate 15" means that the load support plate 15 is located above the rear camera 11, directly above each rear camera 11.

[0115] The terms "horizontal" and "vertical," and their derivatives, are defined as the towing vehicle 3 and trailer 5 operating together as they roll on level, flat ground.

[0116] The limit value is in the range of 5° to 30° depending on the towing vehicle 3 and trailer 5 used. This limit value can be changed by setting the control unit.

[0117] Each side camera 7 is arranged or provided at a side portion of the body of the towing vehicle 3. Each rear camera 11 is provided at a rear portion of the body of the towing vehicle 3. Each side portion extends substantially parallel to the longitudinal axis 9, and each rear portion extends perpendicular to the longitudinal axis 9.

[0118] In this context, an articulated vehicle 33 is a vehicle comprising a towing vehicle 3 and a trailer 5 rotatably connected to the towing vehicle 3. The vehicle may be a truck or any other kind of articulated vehicle.

[0119] Each side display 17 includes a user interface 35 for switching images between the side camera 7 and the rear camera 11. In the absence of user intervention, the display switching is performed automatically by the control unit 21.

[0120] The control unit 21 is configured to monitor the presence of a trailer 5 from the image of the rear camera 11. The rear camera 11 can be used by the control unit 21 as a reversing camera when a trailer 5 is not present.

[0121] When the towing vehicle 3 and trailer 5 roll together on flat, level ground and the bending angle 25 is zero, the trailer 5 extends between two parallel vertical limiting planes 37 .

[0122] The two limiting planes 37 also intersect the extension direction 23 of the trailer 5 at right angles, and the rear area 13 is located between the two limiting planes 37 .

[0123] The rear camera 11 is also near the rear end of the towing vehicle 3 .

[0124] The rear vision system 1 comprises two additional side cameras 39, each configured to be mounted on a corresponding side of the towing vehicle 3 relative to the longitudinal axis 9 of the towing vehicle 3.

[0125] Each side display 17 comprises a first display portion 41 for images from the corresponding side camera 7 or rear camera 11 and a second display portion 43 separate from the first display portion 41 for images from the corresponding additional side camera 39.

[0126] The field of view of each additional side camera 39 is different from that of each corresponding side camera 7. The two fields of view may cover a common area.

[0127] The image of each side camera 7 corresponds to the image of a conventional rearview mirror, and the image of each additional side camera 39 corresponds to the image of an additional rearview mirror facing in a different direction, particularly as may be required for articulated vehicles.

[0128] The rear vision system 1 comprises two side housings 45, each of which comprises a corresponding side camera 7 and an additional side camera 39.

[0129] Each side housing 45 may be attached to a corresponding side area of ​​the cab of the towing vehicle 3 .

[0130] Alternatively, the rear visibility system 1 may not include the additional side camera 39. The same type of side housing 45 may be used, but with only the side camera 7.

[0131] In this case, the second display part 43 broadcasts a cropped image obtained from the side camera 7. This image is cropped by the control unit 21 with a wider angle of view than the image from the side camera 7, for display on the first display part 41.

[0132] In other words, the side camera 7 has a sufficiently wide angle of view so that, by processing in the control unit 21, a narrow angle of view image can be obtained for the first display portion 41 and a non-narrowed angle of view image for the second display portion 43.

[0133] This configuration allows the use of only one camera per side, specifically only one side camera 7, to obtain images with two different angles of view.

[0134] The two rear cameras 11 are located in the same vertical rearward plane 47 of the towing vehicle 3 and are oriented substantially parallel to the longitudinal axis 9. The rearward plane 47 intersects the longitudinal axis 9 at a right angle.

[0135] By comparing the two images and using the principles of stereoscopic vision, the control unit 21 is able to determine the distance of objects appearing in the images of the two rear cameras 11 .

[0136] The rear cameras 11 are wide-angle cameras and their fields of view overlap significantly. The control unit 21 is configured to be mounted on the towing vehicle 3. The control unit 21 is connected to a central unit of the towing vehicle 3.

[0137] This central unit provides the control unit 21 with the value of the bend angle 25. The control unit 21 can also estimate the value of the bend angle 25 by analysing images from the side camera 7 or the rear camera 11.

[0138] As shown in Figure 7, the control unit 21 can further estimate the value of the bend angle by using image analysis methods in conjunction with methods using geometric models. These image analysis methods are based as input on images captured by various side and rear cameras of the towing vehicle 3. The received images are processed by the control unit 21, in particular by means of depth estimation. This processing enables the control unit 21 to determine the geometry of the articulated vehicle 33, in particular of the trailer 5, and to make a first estimate of the position of the ends of the trailer 5, i.e. where the ends of the trailer 5 are located.

[0139] This image analysis method is preferably supplemented by a method using geometric models that allows the position of the trailer's edges to be determined.

[0140] This method using a geometric model is based on predetermined data such as the size of the trailer, in particular a predetermined length of the trailer, as well as dynamic data such as the speed, wheel and / or steering angle of the towing vehicle 3 provided by the central unit of the towing vehicle 3. Based on these different data, and by means of the geometric model, the control unit 21 makes a second estimate of the trailer end position.

[0141] The first and second estimates of the 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 perform a further estimate of the trailer end position based on the method using a geometric model. More precisely, the first estimate is used to redefine the value of the trailer length. More precisely, the first estimate serves to redefine the value of the trailer length, on the basis of which the method using a geometric model is performed, which makes it possible to perform a calibration of the geometric model and the related data, in particular data related to a predetermined length of the trailer.

[0142] Thus, a second further estimate of the trailer end position based on a method using a geometric model is made and compared with the first estimate obtained by image analysis.

[0143] When the first and second estimates are close enough to be considered consistent with each other, the control unit 21 deduces a final estimate of the trailer end position, which is used to estimate the angle of articulation between the longitudinal axis of the towing vehicle 3 and the extension direction of the trailer 5.

[0144] In addition, in certain cases, the second estimate obtained by the method using geometric models makes it possible to detect and correct particularly large discrepancies in the first estimate obtained by image analysis, which may occur, for example, when visibility conditions are particularly poor.

[0145] The programming of the control unit 21 can be modified to adapt the limit value of the bend angle 25 .

[0146] Each rear camera 11 is attached to or configured to be mounted on the rear skirt of the towing vehicle 3 .

[0147] The rear skirt is a fixed vertical exterior element of the towing vehicle 3 and forms the rear partition. Each rear camera 11 is arranged to be vertically at the same height as the axles of the towing vehicle 3 and behind the axles along the longitudinal axis 9.

[0148] As shown in FIG. 4, each rear camera 11 is an independent element that can communicate with the control unit 21 by wired or wireless communication.

[0149] 4, only the side camera 7 associated with a single side, the additional side camera 39, the rear camera 11, and the side displays 17 are shown. The left side display 17 shows the situation before the rear camera 11 display, and the right side display 17 shows this same screen when the rear camera 11 is displayed.

[0150] Each rear camera 11 includes a fixing hook that can cooperate with the rear skirt, so that rear cameras 11 can be fitted to multiple towing vehicles 3 during manufacture or refurbishment.

[0151] By independent element it is understood that each rear camera 11 is contained within its own housing, independent of other parts of the towing vehicle 3 .

[0152] Each rear camera 11 includes components for mounting to complementary components on the towing vehicle 3 .

[0153] Similarly, each of the side cameras 7 and the additional side camera 39 can communicate with the control unit 21 by wired or wireless communication.

[0154] As an alternative to rear cameras 11 as separate elements, each rear camera 11 may be included within a corresponding side rear lamp 49, as shown in FIGS.

[0155] In that case, a rear vision and lighting system 51 similar to the rear vision system 1 described above is obtained, further comprising a side rear lamp 49 on each side.

[0156] Each rear camera 11 is capable of communicating with a control unit 21 .

[0157] This configuration facilitates integration of the rear camera 11 for new towing vehicles 3. By integrating the rear camera 11 into the side rear lamp 49, the space occupied by the rear camera 11 can be reduced and the appearance can be improved.

[0158] The side rear lamps 49 refer to lamps for rear lighting of the towing vehicle 3 and brake lamps.

[0159] Each side rear lamp 49 includes a support 53 for a bulb 55 and for a corresponding rear camera 11, and a transparent protective 57 capsule attached to the support 53 and surrounding the bulb 55 and rear camera 11.

[0160] The protective capsule 57 has an opening 59 for the lens 61 of the rear camera 11 to pass through.

[0161] The rear camera 11 is thus protected by only exposing the lens 61. An opening 59 is provided in a recess 63 of the protective capsule 57 facing the inside of the lateral rear lamp 49.

[0162] Mounting the protective capsule 57 on the support 53 ensures a seal inside the protective capsule 57 and the support 53. The side rear lamp 49 is provided with a sealing device, such as a seal for the objective lens 61.

[0163] The support 53 is provided with a printed circuit board 65 that extends perpendicular to the direction in which the valve 55 and rear camera 11 are facing, and the valve 55 and rear camera 11 are attached to the printed circuit board 65.

[0164] The present invention also relates to a towing vehicle 3 equipped with the above-described rear visibility system 1 or rear visibility and lighting system 51.

[0165] The invention also relates to an articulated vehicle 33 comprising a towing vehicle 3 and a trailer 5 .

[0166] Emphasis is made here on the fact that camera switching operated by the control unit 21 can improve safety and facilitate turning and steering of the articulated vehicle 33. Areas not visible by the trailer 5 are limited by the image from the opposite rear camera.

[0167] Furthermore, the rear vision system 1 or rear vision and lighting system 51, as applicable, is sufficient on its own: the driver does not need to look at any additional screens to ensure safety while steering or turning.

[0168] It goes without saying that the present invention is not limited to the embodiments described above, for example, but rather encompasses all modified embodiments.

Claims

1. A rear visibility system (1) for a towing vehicle (3) capable of cooperating with a trailer (5) rotatably mounted on the towing vehicle (3), the rear visibility system (1) comprising: Two side cameras (7), Each of the side cameras (7) is configured to be mounted on a corresponding side of the towing vehicle (3) relative to a longitudinal axis (9) of the towing vehicle (3). Two side cameras (7), Two rear cameras (11), Each of the rear cameras (11) is configured to be mounted in a corresponding rear area (13) of the towing vehicle (3); Each of the rear regions (13) is located on a corresponding side of the longitudinal axis (9), Each of the rear cameras (11) is positioned lower than a load-bearing plate (15) of the trailer (5) when the towing vehicle (3) and the trailer (5) roll together on a flat, horizontal ground. Two rear cameras (11); Two side displays (17), Each of the side displays (17) is configured to be attached to the towing vehicle (3) so as to be visible from a driver's seat (19) of the towing vehicle (3). two side displays (17); a control unit (21) configured to display an image from each of the side cameras (7) on a corresponding one of the side displays (17), The control unit (21) When the rotatably mounted trailer (5) extends in opposite directions relative to the longitudinal axis (9) and the extension direction (23) of the trailer (5) has a bending angle (25) with respect to the longitudinal axis (9) of the towing vehicle (3) that is greater than a limit value, further configured to display an image of the rear camera (11) instead of an image of the side camera (7) on one of the two sides; a control unit (21); Equipped with Rear Vision System (1).

2. When the towing vehicle (3) and the trailer (5) roll together on a horizontal and flat ground and the bending angle (25) is zero, the trailer (5) extends between two parallel and vertical limiting planes (37), the two limiting planes (37) intersect perpendicularly with the extension direction (23) of the trailer (5), and the rear region (13) is located between the two limiting planes (37). A rear visibility system (1) according to claim 1.

3. Each of the side displays (17) a first display portion (41) for the image from the corresponding side camera (7) or rear camera (11); a second display (43) separate from the first display (41) for a cropped image from the side camera (7) or an image from a corresponding further side camera (39); Equipped with A rear visibility system (1) according to claim 1 or 2.

4. the cropped image from the side camera (7) is cropped by the control unit (21) with a wider angle of view than the image from the side camera (7) intended to be displayed on the first display portion (41); A rear visibility system (1) according to claim 3.

5. Two further side cameras (39), Each of the side cameras (39) is configured to be mounted on a corresponding side of the towing vehicle (3) relative to the longitudinal axis (9) of the towing vehicle (3). with two further side cameras (39), A rear visibility system (1) according to claim 3.

6. Two side housings (45), each of said side housings (45) comprises said side camera (7) and said further side camera (39); Each of the side housings (45) can be mounted in a corresponding horizontal area of ​​the cab of the towing vehicle (3). It comprises two side housings (45), A rear visibility system (1) according to claim 5.

7. the two rear cameras (11) are located in the same plane as the vertical rearward plane (47) of the towing vehicle (3) and are oriented substantially parallel to the longitudinal axis (9); A rear visibility system (1) according to any one of claims 1-6.

8. 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 stereoscopic vision. A rear visibility system (1) according to any one of claims 1 to 7.

9. Each of the two rear cameras (11) is configured to be mounted or provided on the rear skirt of the towing vehicle (3). A rear visibility system (1) according to any one of claims 1 to 8.

10. Each of the two rear cameras (11) is capable of communicating with the control unit (21) by wired or wireless communication. A rear visibility system (1) according to any one of claims 1 to 9.

11. A rear vision and lighting system (51) comprising a rear vision system (1) according to any one of claims 1 to 8, The rear visibility and lighting system (51) further comprises a side rear lamp (49) on each side, Each of the two rear cameras (11) is capable of communicating with the control unit (21). Rear visibility and lighting system (51).

12. Each of said side rear lamps (49) a support (53) for the bulbs (55) and the corresponding ones of the two rear cameras (11); a transparent protective capsule (57) mounted on the support (53) and surrounding the bulb (55) and the corresponding one of the two rear cameras (11); Equipped with The transparent protective capsule (57) has openings (59) for the passage of lenses (61) of the corresponding ones of the two rear cameras (11). A rear visibility and lighting system (51) according to claim 11.

13. the support (53) comprises a printed circuit (65) extending perpendicular to the orientation of the valve (55) and the corresponding ones of the two rear cameras (11); The valves (55) and the corresponding ones of the two rear cameras (11) are attached to the printed circuit (65). A rear visibility and lighting system (51) according to claim 12.

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