Camera monitoring system with trailer reverse parking assist function and graphic overlay

Abstract

The camera monitoring system (CMS) includes a plurality of cameras, including a first camera and a second camera, which provide a first field of view and a second field of view. At least one sensor provides a third field of view behind the trailer end to detect at least one object approaching the trailer end. The plurality of displays include a first display and a second display that depict at least a portion of the first field of view and the second field of view. One of the plurality of displays depicts a third field of view, which is provided by at least a graphic overlay. A controller communicating with the plurality of displays determines the distance from an object to the trailer end, and this distance is displayed on one of the plurality of displays as at least a portion of a graphic overlay.

Description

Technical Field

[0001] The present disclosure relates to a camera monitoring system (CMS) for use in commercial trucks or similar vehicles, and more particularly to a CMS having a display with a trailer reverse parking assist graphic overlay.

[0002] (Cross - Reference to Related Applications) The present disclosure claims priority to U.S. Provisional Patent Application No. 63 / 450,692, filed Mar. 8, 2023.

Background Art

[0003] Mirror replacement systems, and camera systems that complement the mirror view, are utilized in commercial vehicles to enhance the ability of the vehicle operator to view the surrounding environment. A camera monitoring system (CMS) utilizes one or more cameras to provide an enhanced view to the vehicle operator. In some examples, the CMS covers a larger field of view than a conventional mirror or includes a field of view that cannot be obtained entirely through a conventional mirror.

[0004] In a typical CMS, there are camera arms disposed on each side of the vehicle to provide Class II and Class IV views. Displays are provided on or near both the driver - side and passenger - side A - pillars and simulate the conventional mirrors by displaying the view of the camera arm on that side.

[0005] In the United States, it is desirable for a driver to be able to visually confirm directly behind a trailer that may be up to 53 feet long when towed by a tractor. Typical Class II and Class IV views do not provide such a view and can only provide a view of the side of the trailer. Reverse operations such as docking can be particularly difficult.

Summary of the Invention

[0006] In one exemplary embodiment, a camera monitor system (CMS) for a tractor with a trailer includes a plurality of cameras, including a first camera and a second camera configured to provide a first field of view and a second field of view, respectively, the first field of view along one side of the trailer and the second field of view along the other side of the trailer. At least one sensor is configured to provide a third field of view behind the trailer end of the trailer. The at least one sensor is configured to detect at least one object approaching the trailer end. A plurality of displays includes a first display and a second display configured to depict at least a portion of the first field of view and the second field of view, respectively. One of the plurality of displays is configured to depict a third field of view provided by at least a graphic overlay. A controller communicates with the plurality of displays. The controller is configured to determine the distance from an object to the trailer end. The distance is displayed on one of the plurality of displays as at least a portion of a graphic overlay.

[0007] In any further embodiment described above, the first and second fields of view capture the left and right sides of the vehicle, respectively. Each of the first and second fields of view includes at least a portion of a Class II and / or Class IV view.

[0008] In any further embodiment described above, one of the plurality of displays is different from the first display and the second display.

[0009] In any further embodiment described above, the at least one sensor includes a trailer camera configured to provide a third field of view directly behind and centrally to the end of the trailer.

[0010] In any further embodiment described above, the distance corresponds to the estimated distance from the trailer deck at the trailer end.

[0011] In any further embodiment described above, the at least one sensor includes a tilt sensor. The distance is the estimated distance of the roof of the trailer end overhanging the trailer deck in the horizontal plane.

[0012] In any further embodiment described above, the object is a trailer door at the end of the trailer, and the at least one sensor is configured to detect that the trailer door is in the open position. The distance corresponds to the estimated distance of the trailer door from the side wall of the trailer.

[0013] In any further embodiment described above, the at least one sensor includes a door switch.

[0014] In any further embodiment described above, the at least one sensor includes at least one of the first camera and the second camera.

[0015] In any further embodiment described above, the object corresponds to the trailer side wall at the trailer end, and the distance corresponds to the estimated position of the trailer side wall.

[0016] In another exemplary embodiment, a method for displaying information during a trailer reversing operation includes the steps of detecting an object approaching the trailer end of the trailer and determining the distance of the object from the trailer end. The distance corresponds to at least one of the following: the estimated distance from the trailer deck at the trailer end, the estimated distance from the trailer deck to the roof of the trailer end in the horizontal plane, the estimated distance from the trailer side wall to the trailer door, and the estimated position of the trailer side wall. The method also includes the step of displaying distance lines related to the distance.

[0017] In any further embodiment described above, the method includes the step of displaying first and second views corresponding to the left and right sides of the vehicle, respectively, each of which includes at least a portion of a Class II and / or Class IV view.

[0018] In any further embodiment described above, the step of displaying the distance lines is performed on one display, and the steps of displaying the first and second fields of view are performed on the other display.

[0019] In any further embodiment described above, the detection step is performed by capturing an image directly behind and in the center of the trailer end.

[0020] In any further embodiment described above, the distance corresponds to the estimated distance from the trailer deck at the trailer end.

[0021] In any further embodiment described above, the distance corresponds to the estimated distance of the roof of the trailer end from the trailer deck in the horizontal plane.

[0022] In any further embodiment described above, the distance corresponds to the estimated distance from the side wall of the trailer to the trailer door.

[0023] In any further embodiment described above, the detection step includes sensing whether the door is open using a door switch.

[0024] In any further embodiment described above, the detection step includes capturing an image of the side wall with a camera mounted on a tractor configured to tow the trailer.

[0025] In any further embodiment described above, the distance corresponds to the estimated position of the trailer side wall. [Brief explanation of the drawing]

[0026] The present disclosure can be further understood by referring to the following detailed description in conjunction with the accompanying drawings.

[0027] [Figure 1A] 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.

[0028] [Figure 1B] Schematic top view of a commercial truck equipped with a camera monitoring system that provides views of Class II, Class IV, Class V, Class VI, and Class VIII.

[0029] [Figure 2] Schematic diagram of a vehicle cab equipped with a CMS including various displays, cameras, and inputs.

[0030] [Figure 3] Showing a typical docking operation with a trailer.

[0031] [Figure 4] A method of displaying information during the backing operation of a trailer.

[0032] [Figure 5] Showing a display that provides a graphic overlay during the backing operation of a trailer.

[0033] [Figure 6] Showing another example of a display that provides a different graphic overlay during the backing operation of a trailer.

[0034] The embodiments, examples, and substitutes, claims, or the following descriptions and drawings in the paragraphs above may be adopted independently or in any combination, including any of their various aspects or their respective individual features. Features described in relation to one embodiment are applicable to all embodiments unless such features are incompatible. Similar reference numbers and symbols in the various drawings indicate similar elements. [Modes for carrying out the invention]

[0035] A schematic diagram of a commercial vehicle 10 is shown in Figures 1A and 1B. The vehicle 10 includes a cab or tractor 12 for towing a trailer 14. It should be understood that the cab 12 and / or trailer 14 may be in any configuration. Although a commercial truck is intended in this disclosure, the invention can be applied to other types of vehicles. The vehicle 10 incorporates a camera monitor system (CMS) 15 (Figure 2), which includes camera arms 16a and 16b on the driver's and passenger's sides mounted on the outside of the cab 12. If necessary, the camera arms 16a and 16b may also include conventional mirrors integrated with them, but in some examples the CMS 15 can completely replace the mirrors. In additional examples, multiple camera arms may be included on each side, each arm housing one or more cameras and / or mirrors.

[0036] Each camera arm 16a, 16b includes a base fixed to, for example, the driver's cab 12. A swivel arm is supported by a base and may be articulated to it. At least one rear-facing camera 20a, 20b is positioned within each camera arm 16a, 16b. Each arm 16a, 16b may also provide a housing surrounding electronic equipment, such as a controller, configured to provide various features of the CMS 15.

[0037] External cameras 20a and 20b each have an external field of view (FOV) that includes at least one of the Class II view and Class IV view (Figure 1b), which are legally defined views in the commercial truck industry. EX1FOV EX2 The following is provided: A Class II view of a given side of vehicle 10 is a subset of the Class IV views of the same side of vehicle 10. If necessary, multiple cameras may be used in each camera arm 16a, 16b to provide these views. For example, Class II and Class IV views are defined in the European R46 Act, and the United States and other countries also have similar driver visibility requirements for commercial trucks. The reference to “Class” views is not intended to be limiting, but rather to illustrate the types of views that may be provided to the display by a particular camera.

[0038] The first and second video displays 18a and 18b are located on or near the A-pillars 19a and 19b (generally A-pillar 19, Figure 2) in the driver's seat 12, on the driver's side and passenger's side, respectively, and display Class II and Class IV views on each side of the vehicle 10, which provide a rear view along the vehicle 10 captured by the external cameras 20a and 20b.

[0039] If video of Class V and / or Class VI views is also required, a camera housing 16c and camera 20c may be positioned in front of or near the front of the vehicle 10 to provide these views (Figure 1B). A third display 18c, located in the driver's cab 12 (Figure 2) near the upper center, left, or right of the windshield, can be used to display Class V and Class VI views forward of the vehicle 10 to the driver.

[0040] Alternatively or additionally, other displays may be added near the first, second, and third displays 18a, 18b, and 18c to provide dedicated displays for providing a Class VIII view. If video of the Class VIII view is required, a camera housing may be positioned on the side and / or rear of the vehicle 10 to provide a field of view that includes part or all of the Class VIII zone of the vehicle 10. In such an example, a fourth display 18d, separated or integrated into another display, may include one or more frames displaying the Class VIII view.

[0041] The displays 18a, 18b, 18c, and 18d (generally, display 18) are directed towards the driver area 24 within the driver's cab 22 where the vehicle operator is seated in the driver's seat 26. The position, size, and (multiple) fields of view streamed to a particular display may differ from the configuration described herein, but still constitute the invention of this disclosure.

[0042] Referring to Figure 2, each display 18a, 18b (and others as needed), display 18 is mounted, for example, to the respective A-pillar 19 by a bracket or integrated into the vehicle trim. Display 18 may include any suitable screen such as TFT, LCD, LED, OLED and others. Each type of screen typically employs some approach to adjust the perceived brightness.

[0043] An example of a rear-view display configuration is described in U.S. Provisional Patent Application No. 63 / 430,701, filed on December 7, 2022, entitled “TRAILER CAMERA DISPLAY SYSTEM,” which is incorporated herein by reference in its entirety. In one example, the rear-view display 18d is located on or near the respective A-pillar, close to the corresponding side-view display 18a or 18b (e.g., a Class II / IV view display).

[0044] A schematic representation of an example vehicle driver's cab 22 is shown in Figure 2. The driver's cab 22 typically includes an instrument cluster display 29 that operates to display vehicle information such as speed, engine RPM, and other common vehicle and / or engine operating parameters. The vehicle in this example also includes a central console display 28 and camera monitoring system (CMS) displays 18a, 18b, respectively, located on A-19a, 19b. A Class V / Class VI display 18c may also be located near the top of the windshield.

[0045] In this example, a rearview display 18d is also mounted on one of the A-pillars (for example, 19a, located on the driver's side). The rearview display 18d is configured to replace a conventional rearview mirror for vehicles where the rearview mirror is not always functional, such as vehicles used for towing trailers. In other examples (not shown), a second rearview display may be located on the passenger-side A-pillar 19b. In alternative examples, in addition to the rearview display 18d located on the A-pillar 19a, another rearview monitor may be located in a conventional position (the position of display 18c or nearby). In each of the alternative examples, all rearview displays may depict the same view.

[0046] By mounting the rear-view display 18d adjacent to the display 18a and A-pillar 19a, the rear-view display 18d remains within the driver's peripheral vision during all vehicle operations, eliminating the need to shift gaze to check the rear view, as is required with conventional rearview mirrors. Examples where redundant monitors are used in additional locations such as the passenger-side A-pillar 19b and the upper center of the windshield further ensure that the driver is always presented with a rear view while driving, regardless of the direction in which their gaze shifts.

[0047] The rearview display 18d may be contained within the same display housing as the corresponding displays 18a, 18b, and / or 18c. In an alternative configuration, the rearview display 18d may be housed in a separate housing, the housing of the rearview display 18d being positioned adjacent to one of the corresponding housings of the displays 18a, 18b, and / or 18c.

[0048] Continuing to refer to Figure 2, the CMS 15 includes, for example, a controller 30 that communicates with displays 18a, 18b, 18c, 18d, 28, and 29, cameras 20a, 20b, 20c, and 20d, and various inputs 48-51. Examples of inputs include, but are not limited to, a tilt sensor 48, a transmission sensor 49, a trailer door switch 50, and a vehicle speed sensor 51. The controller 30 may access the inputs via a CAN bus, a LIN bus, or other communication configuration.

[0049] Inputs and / or sensors located on the trailer 14 (e.g., a rearview camera 20d, a tilt sensor 48, and / or a trailer door switch 50) may be broadcast via a trailer wiring harness in accordance with International Patent Application No. PCT / US22 / 34710, filed on June 23, 2022, which is titled “TRAILER CAMERA COMMUNICATIONS SYSTEM” and is incorporated herein by reference in its entirety.

[0050] As described above, the controller 30 ("controller" may generally be referred to as "30") communicates with the first display 18a and the second display 18b. Note that the controller 30 described herein can be used to perform various functions disclosed herein. The controller 30 may include one or more individual units.

[0051] With respect to the hardware architecture, such a computer device may include a processor, memory, and one or more input / output (I / O) device interfaces, which are communicatively coupled via a local interface. The local interface may include, 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, although these are omitted for simplicity. Furthermore, the local interface may include address, control, and / or data connections to enable proper communication between the aforementioned components.

[0052] The controller 30 may be a hardware device for executing software, particularly software stored in memory. The controller 30 may be a custom-made 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 executing software instructions in a general-purpose manner.

[0053] Memory 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 drives, tapes, CD-ROMs, etc.). Furthermore, memory may incorporate electronic, magnetic, optical, and / or other types of storage media. Memory may have a distributed architecture in which various components are located remotely from one another but can be accessed from the processor.

[0054] Software in memory may contain one or more separate programs, each containing an ordered list of executable instructions for implementing logical functions. System components embodied as software may be constructed as source programs, executable programs (object code), scripts, or any other entity containing a set of instructions to be executed. If constructed as a source program, the program is translated through compilers, assemblers, interpreters, etc., which may or may not be contained in memory.

[0055] The input / output devices of this disclosure, which can be coupled to (multiple) system I / O interfaces, may include, but are not limited to, input devices such as keyboards, mice, scanners, microphones, cameras, mobile devices, and proximity devices. They may also include, but are not limited to, output devices such as printers and displays. Finally, the input / output devices may further include, but are not limited to, devices that communicate as both inputs and outputs, such as modulators / demodulators (modems, i.e., for accessing another device, system, or network), radio frequency (RF) or other transceivers, telephone interfaces, bridges, routers, etc.

[0056] When the controller 30 is operating, the processor may be configured to execute software stored in memory, communicate data with memory, and generally control the operation of the computer device according to the software. The software in memory is read in whole or in part by the processor, and is often buffered within the processor before being executed.

[0057] This disclosure relates to a CMS and method for providing a graphic overlay for use with rearview camera applications during the reversing operation of various vehicle trailers. The primary purpose of the graphic overlay is to provide the driver with visual assistance in locating the position of the trailer and other surrounding objects during reversing. What differentiates this graphic overlay from others used for similar purposes is the addition of visual indication of the trailer edge, the approximate position of the trailer door (when open), and an additional indication of the upper edge of the trailer when the trailer is tilted relative to the mating dock to prevent trailer collision. The disclosed CMS 15 may provide some or all of the above functions.

[0058] Figure 3 shows an example of a typical docking operation in reverse. During a typical docking operation, vehicle 10 reverses so that the trailer end 38 approaches the cargo compartment 34 of building 32 for loading and unloading cargo. Often, trailer 14 descends the ramp 36 toward building 32 so that the deck 42 of trailer 14 is level with the floor of cargo compartment 34.

[0059] In the case of a closed trailer 14 having a roof 44 and side walls 46, the doors 40 of the trailer 14 typically need to be kept open before the vehicle 10 backs into the cargo compartment 34. This is usually required due to specific constraints that prevent the doors from opening inward and / or outward along the side walls 46. That is, the doors of the cargo compartment 34 are approximately the same size as the rear opening of the trailer 14, and the trailer 14 is often very close to other vehicles or structures on either side of the trailer during docking and parking operations.

[0060] The disclosed CMS 15 and method 100 (Figure 4) provide visibility to the driver during reversing operations and communicate useful information to the driver during these operations to prevent undesirable collisions between the trailer 14 and surrounding objects.

[0061] The CMS15 performs method 100 shown in Figure 4 by detecting an object approaching the trailer end 38 (block 102). The object may include a building 32, the door 40 of the trailer 14, or other object approaching the trailer end 38. The controller 30 determines at least one distance from the object to the trailer end 38 (block 104). The estimated distance is displayed as a distance line or recognition line graphically overlaid on the rearview display 18d to visually indicate the distance from the trailer end 38 to the object to the driver (block 106). An example of a reverse operation using this method is described further below, and an example of the associated graphic overlay is shown in Figure 5. The graphic overlay is superimposed on the image provided by the rearview camera 20d on the rearview display, but annotations such as those shown in Figure 5 may be omitted. Instead, different colors may be used for quick identification by the driver.

[0062] [Example 1] Reverse operation (trailer width) For example, a rearview camera 20d that captures an image directly behind and center-rear of the trailer end is used to determine the estimated distance position of the trailer sidewall edge of the sidewall 46. The trailer sidewall edge is represented as a graphic overlay of the trailer sidewall edge line 52. Alternatively or additionally, rearview cameras 20a, 20b and / or other sensors may be used to estimate the trailer sidewall edge. This information helps the driver visualize the width of the trailer 14 relative to objects in the view of the rearview camera 20d during reverse operations such as docking.

[0063] [Example 2] Reverse (trailer door open) Opening the trailer doors 40 when reversing is common practice, but this results in an increased overall width of the trailer. This can be problematic during reversing operations such as docking and parking. Therefore, it is desirable to estimate the distance of each trailer door 40 from the side wall 46 of the trailer 14.

[0064] A sensor or switch 50, such as a momentary switch, can be used to determine whether the door 40 is open. If necessary, one switch 50 may be provided for each door 40. The open state of the door can be confirmed by side-view cameras 20a, 20b, or these cameras may be used instead of the switch 50. The trailer door edge line 54 is graphically overlaid on the image displayed on the rear-view display 18d. The displayed line corresponds to the estimated distance of each trailer door 40 from each side wall 46. In the case of a switch 50 without verification or estimation, the trailer door edge line 54 is displayed with a standard offset from the trailer width (e.g., an offset from the trailer side wall edge line 52). It should be understood that, if necessary, only one of the trailer side wall edge line 52 or the trailer door edge line 54 may be shown. When side-view cameras 20a, 20b are used, the actual position of the door 40 may be used to graphically overlay the trailer door edge line 54. This can be done dynamically to change the trailer door edge line 54 when the door 40 is separated from the side wall 46 to which it is normally attached and is not fixed in place.

[0065] [Example 3] Docking at a building (trailer tilt / trailer roof overhang) The tilt angle of the trailer 14 may be determined using a tilt sensor 48 such as an accelerometer. The tilt angle during docking is generally such that the edge of the roof 44 overhangs the deck, as the ramp 36 to the building 32 is typically sloped downwards. As a result, the roof 44 may collide with the building 32 before the deck 42 makes contact with the floor of the cargo compartment 34. For this purpose, the upper edge of the trailer is determined. In one example, the controller 30 may calculate the overhang (the distance of the roof 44 at the trailer end 38 from the trailer deck 42 in the horizontal plane) based on the standard trailer height of the jurisdiction in which the trailer 14 is used. In the United States, the standard trailer height is 13 feet 6 inches (162 inches). The overhang equation is as follows: Overhang distance (inches) = 162 * sin(angle of inclination°) Equation 1

[0066] At a tilt angle of 12°, the overhang distance is 2 feet 9 inches (162 * sin(12°) = 33 inches). Therefore, the trailer upper edge line 56 corresponding to 2 feet 9 inches is graphically overlaid on the image displayed on the rearview display 18d.

[0067] [Example 4] Docking to a building (distance from the trailer deck) Recognition lines, such as the first and second distance lines 58, 60, may be overlaid on the image displayed on the rearview display 18d to visually indicate the distance of the trailer end 38 (deck 42 or roof 44) from an object (e.g., a building 32). In one example, the first distance line corresponds to 5 feet and the second distance line corresponds to 10 feet. These distances may be determined using a sensor, such as a rearview camera 20d, or other sensors such as ultrasound, LiDAR, IR and / or PIR. While the distance from an object can also be estimated in real time using sensors, another example of distance line placement is determined using the camera's orientation relative to the rear of the trailer (depth offset of the camera from the trailer end / rear) and its relationship to the ground (height of the camera relative to the ground). The distance lines may be statically calibrated during installation using the camera's orientation relative to the trailer end / rear and the ground (position plus direction) or a ground truth marker (calibration mat for overlay).

[0068] The above features may be used in conjunction with a trailer reverse path estimation algorithm. For example, the trailer edge lines in Examples 1 and 2 are useful during turning operations while reversing. By adding a kinematic model for trailer 14, the trailer edge lines can also respond to the calculated trailer trajectory and generate arcs that show the projected path (in the case of trailer reversing and turning left) as shown below. An example algorithm is disclosed in U.S. Provisional Application No. 63.426,391, filed November 18, 2022, entitled “TRAILER BACKUP TRAJECTORY OVERLAY USING TRAILER CAMERA DISPLAY SYSTEM,” which is incorporated herein by reference in its entirety.

[0069] Any of the graphic overlays described above may be used individually, with each other, or in combination with other graphic overlays. If additional, more prominent warnings to the driver are desired, the warning 64 may be displayed on either the display 28 or 29, for example, as shown in Figure 6. The warning 64 may, if necessary, depict the tilt angle and overhang in bold color and amount. In this way, illustrating the warning 64 on a display other than the rearview display 18d does not obstruct the rearview view provided to the rearview display 18d. For example, a small, inconspicuous warning 62 may be provided at the bottom of the rearview display 18d to convey any desired warning.

[0070] Furthermore, while specific configurations of components are disclosed in the exemplary embodiments, it should be understood that other configurations may also benefit from this disclosure. Although specific step sequences are shown, described, and described in the claims, it should be understood that, unless otherwise specified, the steps may be performed in any order, separated or combined, and still benefit from the present invention.

[0071] While different examples have specific components illustrated, embodiments of the present invention are not limited to any particular combination thereof. Some components or functions of one example may be used in combination with functions or components of another example.

[0072] While exemplary embodiments have been disclosed, those skilled in the art will recognize that certain modifications fall within the scope of the claims. Therefore, the following claims should be considered in order to determine their true scope and content.

Claims

1. A camera monitoring system (CMS) for a tractor with a trailer, A plurality of cameras, including a first camera and a second camera configured to provide a first field of view and a second field of view, respectively, wherein the first field of view is along one side of the trailer and the second field of view is along the other side of the trailer, At least one sensor configured to provide a third field of view behind the trailer end of the trailer, the at least one sensor configured to detect at least one object approaching the trailer end, A plurality of displays, including a first display and a second display, each configured to depict at least a portion of the first field of view and the second field of view, wherein one of the plurality of displays is configured to display a third field of view provided using at least a graphic overlay, A controller that communicates with the plurality of displays, wherein the controller is configured to determine the distance of the trailer end from the object, and the distance is displayed on one of the plurality of displays as at least part of the graphic overlay, and A camera monitoring system equipped with the following features.

2. The camera monitor system according to claim 1, wherein the first field of view and the second field of view capture the left and right sides of the vehicle, respectively, and each of the first field of view and the second field of view includes at least a portion of a Class II and / or Class IV view.

3. The camera monitor system according to claim 2, wherein one of the plurality of displays is different from the first display and the second display.

4. The camera monitoring system according to claim 1, wherein the at least one sensor includes a trailer camera configured to provide a third field of view centered and directly behind the end of the trailer.

5. The camera monitoring system according to claim 4, wherein the distance corresponds to the estimated distance from the trailer deck at the end of the trailer.

6. The camera monitoring system according to claim 5, wherein the at least one sensor includes a tilt sensor, and the distance is an estimated distance that the roof of the trailer end protrudes from the trailer deck in the horizontal plane.

7. The camera monitoring system according to claim 1, wherein the object is a trailer door at the end of the trailer, the at least one sensor is configured to detect that the trailer door is in the open position, and the distance corresponds to the estimated distance from the side wall of the trailer to the trailer door.

8. The camera monitoring system according to claim 7, wherein the at least one sensor includes a door switch.

9. The camera monitoring system according to claim 7, wherein the at least one sensor includes at least one of the first camera and the second camera.

10. The camera monitoring system according to claim 1, wherein the object corresponds to the trailer side wall at the trailer end, and the distance corresponds to the estimated position of the trailer side wall.

11. A method for displaying information while a trailer is reversing, A step of detecting an object close to the end of the trailer, A step of determining the distance from the trailer end to the object, wherein the distance corresponds to at least one of the following: the estimated distance from the trailer deck at the trailer end, the estimated distance from the trailer deck to the roof of the trailer end in the horizontal plane, the estimated distance from the trailer side wall to the trailer door, and the estimated position of the trailer side wall. A step of displaying a distance line related to the aforementioned distance. Methods that include...

12. The method according to claim 11, comprising the step of displaying a first field of view and a second field of view corresponding to the left and right sides of the vehicle, respectively, wherein each of the first field of view and the second field of view includes at least a portion of a Class II and / or Class IV view.

13. The method according to claim 12, wherein the step of displaying the distance line is performed on one display, and the steps of displaying the first field of view and the second field of view are performed on another display.

14. The method according to claim 11, wherein the detection step is performed by capturing an image at the center and directly behind the end of the trailer.

15. The method according to claim 11, wherein the distance corresponds to the estimated distance from the trailer deck at the end of the trailer.

16. The method according to claim 11, wherein the distance corresponds to the estimated distance from the trailer deck to the roof of the trailer end in a horizontal plane.

17. The method according to claim 11, wherein the distance corresponds to the estimated distance from the side wall of the trailer to the trailer door.

18. The method according to claim 17, wherein the detection step includes sensing whether the door is open using a door switch.

19. The method according to claim 17, wherein the detection step includes capturing an image of the side wall with a camera mounted on a tractor configured to tow the trailer.

20. The method according to claim 11, wherein the distance corresponds to the estimated position of the trailer side wall.

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