Tracking of the trailer end in a camera surveillance system

Abstract

To provide methods and systems for detecting and tracking a trailer end in an image of a camera monitoring system (CMS) for use in a commercial truck.SOLUTION: A method for tracking a trailer end in an image using a controller includes receiving an image from at least one camera, identifying a trailer end in the image, and tracking a motion of the trailer end through the image for a predetermined period. A motion model is generated based on the motion of the trailer end through the image, using the controller. The controller responds to the trailer end exiting the image by maintaining motion of the trailer end by the motion model for a delay period, and by establishing an estimated trailer end position dictated by the motion model at the end of the delay period in response to the period elapsing and the trailer end not being visible, using the controller.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a camera monitoring system (CMS) for use in commercial trucks, particularly a system for detecting trailer ends within the images of a camera monitoring system.

[0002] (Cross - reference to related applications) This application claims priority to U.S. Provisional Patent Application No. 63 / 257,165, filed Oct. 19, 2021.

Background Art

[0003] Mirror replacement systems, and camera systems that complement the view of mirrors, are utilized in commercial vehicles to enhance a vehicle driver's ability to view the surrounding environment. A camera monitoring system (CMS) utilizes one or more cameras to provide an enhanced field of view to a vehicle driver. In some examples, a mirror replacement system covers a wider field of view than a conventional mirror or includes views that are not fully obtainable via a conventional mirror.

[0004] In some examples, the CMS display includes visual enhancements that identify road features, detected objects, or other similar overlays that assist a vehicle driver in performing vehicle operations. In some cases, the visual enhancements may compensate for a loss of functionality from the camera (e.g., lack of depth perception), or may improve functionality (e.g., object identification, distance lines, etc.) over a conventional mirror. Knowing where one or more parts of a trailer are located is necessary for the placement of some visual enhancements within an image.

Summary of the Invention

[0005] An exemplary method for tracking a trailer end in an image using a controller includes the steps of: receiving an image from at least one camera; using the controller to identify the trailer end in the image and track the motion of the trailer end in the image for a predetermined period of time; using the controller to generate a motion model based on the motion of the trailer end in the image; and using the controller to respond to the trailer end leaving the image by maintaining the motion of the trailer end by the motion model for a delay period, and in response to the elapsed period and the trailer end being no longer visible, establishing an estimated trailer end position indicated by the motion model at the end of the delay period.

[0006] In another example of the above method of tracking the trailer end in an image using a controller, generating the motion model depends on at least one of the following: vehicle speed, measured trailer angle, trailer length, steering angle, truck yaw rate, transmission gear, and internal and external camera sensor information.

[0007] In another example of any of the methods described above for tracking the trailer end in an image using a controller, the delay period depends on at least one of the vehicle speed, the measured trailer angle, the trailer length, the steering angle, and the truck yaw rate, the transmission gear, and internal and external camera sensor information.

[0008] In another example of any of the above methods for tracking the trailer end in an image using a controller, the delay period is a predefined period.

[0009] In another example of any of the above methods for tracking the trailer end in an image using a controller, the motion model is a model of the tendency of the motion of the trailer end in the image.

[0010] In another example of any of the methods described above for tracking the trailer end in an image using a controller, the motion model is a model of the tendency of motion of the trailer end in a three-dimensional coordinate system, and the position of the trailer end in the three-dimensional coordinate system is determined at least partially based on the position of the trailer end in the image.

[0011] Another example of any of the above methods for tracking the trailer end in an image using a controller further includes the steps of providing the trailer end position to a human-machine interface (HMI) module of the controller, and using the HMI module to display visual enhancements based on the estimated trailer end position.

[0012] In another example of any of the methods described above for tracking the trailer end in an image using a controller, the visual enhancement includes a horizontal line extending from the trailer end location, and the visual enhancement is maintained when the trailer end is outside the view.

[0013] Another example of any of the above methods for tracking the trailer end in an image using a controller further includes the steps of converting the estimated trailer end position into a three-dimensional coordinate position and providing the three-dimensional coordinate position to at least one of an automated driving assistance system and a semi-autonomous driving assistance system.

[0014] In another example of any of the methods described above for tracking the trailer end in an image using a controller, generating the motion model involves determining the constant velocity (CV), constant acceleration (CA), and constant counter-rotational acceleration (CTCA) of the trailer end position in the image, respectively.

[0015] In one exemplary embodiment, a camera mirror system (CMS) for a vehicle includes at least one first camera positioned on a first side of the vehicle, defining a first field of view configured to include a trailer when the trailer is connected to the vehicle, and at least one second camera positioned on a second side of the vehicle, defining a second field of view configured to include the trailer when the trailer is connected to the vehicle, and a CMS controller communicatively coupled to each of the at least one first camera and the at least one second camera, which generates at least one image using images from the at least one first camera and the at least one second camera. The system includes a CMS controller configured as follows: a plurality of displays, each display facing the position of a vehicle driver and configured to display at least one of the at least one images; and a trailer end tracking module within the controller, configured to respond to the trailer end moving out of one of the first and second fields of view by the controller identifying the trailer end in the images from the at least one first camera and the at least one second camera, generating a motion model based on the motion of the identified trailer end in the images, and estimating a continuous trailer end position using the determined motion model.

[0016] In another example of the camera monitoring system (CMS) for the vehicle described above, estimating the continuous trailer end position using a determined motion model includes establishing a steady-state estimated trailer end position in response to the trailer end not entering either the first or second field of view within a delay period.

[0017] In any other example of the above-described camera monitoring system (CMS) for vehicles, the delay period is a predefined period stored in the controller.

[0018] In another example of any of the above-described camera monitoring systems (CMS) for vehicles, the motion model incorporates at least one measured vehicle parameter, and the delay period depends on the at least one measured vehicle parameter.

[0019] In any other example of the above-described camera monitoring system (CMS) for vehicles, the at least one measured vehicle parameter includes the vehicle speed, measured trailer angle, trailer length, steering angle, truck yaw rate, transmission gear, and at least one of internal and external camera sensor information.

[0020] In another example of any of the above-described camera monitoring systems (CMS) for vehicles, the controller includes a human-machine interface (HMI) module configured to superimpose visual enhancement features of the trailer end onto the at least one mirror replacement image.

[0021] In any other example of the above-described camera monitoring system (CMS) for vehicles, the visual enhancement feature of the trailer end is a horizontal line extending from the trailer end when the trailer end is in one of the first and second fields of view, and a horizontal line extending from the estimated trailer end position when the trailer end is not in one of the first and second fields of view.

[0022] In any other example of the above-described camera surveillance system (CMS) for vehicles, the first and second fields of view are Class IV fields of view.

[0023] In any other example of the camera monitoring system (CMS) for the vehicle described above, the controller is further configured to output the estimated trailer position to the vehicle's automatic or semi-automatic driving assistance system.

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

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

Brief Description of the Drawings

[0026] [Figure 1A] It 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. [Figure 1B] It is a schematic top view of a commercial truck equipped with a camera monitoring system that provides views of Class II, Class IV, Class V, and Class VI. [Figure 2] It is a schematic upper perspective view of a vehicle cab including a display and an interior camera. [Figure 3A] It schematically shows a commercial vehicle with a trailer angle of approximately 0 degrees. [Figure 3B] It schematically shows a commercial vehicle with a trailer angle of approximately 45 degrees. [Figure 4] It shows a method for estimating the trailer end position when the trailer end is not visible. [Figure 5A] It schematically shows a Class II view with the trailer positioned at a trailer angle such that the trailer end is visible. [Figure 5B] It schematically shows a Class II view with the trailer positioned at a trailer angle such that the trailer end is not visible.

Modes for Carrying Out the Invention

[0027] 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.

[0028] A schematic diagram of a commercial vehicle 10 is shown in Figures 1A and 1B. Figure 2 is a schematic upper perspective view of the cab of the vehicle 10, including a display and an interior camera. 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 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 vehicle cab 12. If necessary, the camera arms 16a and 16b may also include conventional mirrors integrated with them, but the mirrors can also be completely replaced using the CMS 15. In additional examples, multiple camera arms may be included on each side, each arm housing one or more cameras and / or mirrors.

[0029] Each camera arm 16a, 16b includes a base fixed to, for example, the driver's cab 12. A swivel arm is supported by the base and may be articulated thereto. At least one rear-facing camera 20a, 20b is positioned within each camera arm. The external cameras 20a, 20b each provide external field of view FOVEX1, FOVEX2, each including at least one of Class II and Class IV views (Figure 1B), which are legally defined views in the commercial truck industry. Multiple cameras may be used in each camera arm 16a, 16b to provide these views, if necessary. For example, Class II and Class IV views are defined in the European R46 Act, and the United States and other countries 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. Each arm 16a, 16b may also provide a housing enclosing electronics configured to provide various features of the CMS 15.

[0030] The first and second video displays 18a and 18b are located on or near the A-pillars 19a and 19b in the vehicle's 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.

[0031] If images of Class V and / or Class VI views are 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, positioned in the driver's seat 12 near the upper 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 are oriented towards the driver area 24 in the driver's seat 22 where the driver 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 configurations described herein, but still constitute the invention of this disclosure.

[0032] If a view of Class VIII is required, camera housings can be positioned on the sides and 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, the third display 18c may include one or more frames displaying the Class VIII view. Alternatively, additional displays can be added near the first, second, and third displays 18a, 18b, and 18c to provide dedicated displays for providing the Class VIII view.

[0033] Displays 18a, 18b, and 18c are directed towards the driver area 24 within the driver's seat 22 where the driver is seated in the driver's seat 26. Displays 18a, 18b, and 18c each provide a corresponding mirror replacement display. In some examples, the driver-side display 18a includes a first image of a Class II view and a second image of a Class IV view, each capable of replacing the view conventionally provided by the driver-side mirror. Similarly, the passenger-side display 18b can provide Class II and Class IV views of the passenger side of the vehicle 10. In some examples, a third display 18c is further utilized to provide an auxiliary view to the vehicle driver.

[0034] In some cases, Class II and Class IV views can be enhanced by providing a human-machine interface (HMI) overlay on top of the video feed. The HMI overlay provides the vehicle driver with additional information that may not be readily apparent from the image feed alone. Among the available HMI overlays is a trailer end line superimposed on the image. The trailer end line is a horizontal line drawn from the trailer end along the y-coordinate position of the trailer end line in the display, helping the vehicle driver identify the relative distance from the trailer end displayed on the display to an object.

[0035] To position trailer end lines, existing CMS systems rely on the vehicle driver for detection and identification of the trailer end lines. This is achieved by the driver placing markers within the field of view of each camera and manually adjusting a dial to move the horizontal line within the field of view until it aligns with the markers. Knowledge of trailer end positions can be further used to assist autonomous driving systems and / or partially automated driving systems. For example, knowledge of the rear end position can be used to improve the driver's situational awareness. In another example, for threat assessment purposes, knowledge of the rear end position may be used in combination with image-based object detection information. However, manually positioned trailer end lines may be unreliable or not accurate enough to be used for these purposes.

[0036] Continuing with reference to Figures 1A, 1B, and 2, Figures 3A and 3B show the vehicle 100 including the ego-partial trailer 110. In Figure 3A, the vehicle 100 is in the forward position (Figure 3A), and the trailer 110 is at an angle of approximately 0 degrees relative to the cab 120, i.e., aligned with the orientation of the cab 120. Alternatively, this angle 142 can also be expressed as 180 degrees relative to the cab 120. In Figure 3B, the vehicle 100 is turning, and the trailer 110 is at an angle relative to the cab 120 (Figure 3B), resulting in a trailer angle 142 where the rear of the trailer 110 is visible in a Class IV view. The particular inclination in Figure 3B is exaggerated for illustrative purposes compared to the most expected angle. A similar inclination as shown in Figure 3B also occurs when the vehicle 100 is performing a reverse maneuver.

[0037] In some examples, the CMS includes an HMI system that extends a trailer end line horizontally from the end of the trailer, identifiable within the image. The trailer end line helps the vehicle driver identify the position of an object in the field of view relative to the end 130 of the trailer 110. In further examples, the end 130 of the trailer 110 may be extrapolated to a three-dimensional spatial position, and the extrapolated point can be used for semi-automated or automated vehicle functions or other vehicle systems that may require the position of the trailer end 130.

[0038] While the vehicle 100 is in operation, the camera monitoring system (CMS) or other vehicle controller utilizes image analysis techniques to identify the trailer end 130 while the trailer 110 is visible in a given image, as in the example in Figure 3B. However, as in the example in Figure 3A, if the trailer end is not visible in the image, image analysis alone cannot identify the position of the trailer end 130. To facilitate the continuous operation of a system that utilizes the trailer end position, the vehicle 100's CMS includes a trailer end 130 estimation module within the CMS controller that estimates the position of the trailer end 130 when it is not visible.

[0039] To estimate the position of the trailer end 130, the CMS uses image analysis to track the trailer end 130 while it is visible. In one example, tracking is used to create a motion model that takes into account the motion of the trailer end 130 in the image. In another example, the position of the trailer end 130 is transformed from a position in a two-dimensional image to a three-dimensional coordinate position in a coordinate system defined by the CMS, and the trailer end 130 is tracked through the three-dimensional coordinate system. In yet another example, the estimated position in three-dimensional coordinates is transformed back to a two-dimensional position in order to place a human-machine interface (HMI) element in the image relative to the trailer end 130. When the vehicle 100 straightens or turns in the other direction, the angle 142 of the trailer decreases, and the trailer end 130 moves in an arc 132 relative to the tractor 120. This arc 132 causes the trailer end 130 to move out of the field of view of the CMS camera. In some examples where the CMS can access additional sensor information, the motion model can further consider data such as vehicle speed, measured trailer angle, trailer length, steering angle, truck yaw rate, transmission gear, and internal and external camera sensor information. The motion model of the trailer end 130 is a model of the motion trend such that the trend may be continued.

[0040] When the trailer angle 142 falls below a predetermined threshold angle (e.g., 15 degrees), the trailer end 130 becomes invisible in the Class II or Class IV view, and the CMS can no longer detect the position of the trailer end 130. As a result, the trailer end line cannot be overlaid on the image. To maintain the trailer end line overlay, or to maintain other systems that rely on the most up-to-date and accurate trailer end position, the CMS estimates the position of the trailer end 130 when it is not in view, using a motion model created while the trailer end 130 is in the Class II and Class IV view.

[0041] Continuing with reference to Figures 3A and 3B, Figure 4 shows a method 300 for maintaining a position indicator (end line) of the trailer end 130. First, the CMS identifies the trailer end 130 in either a Class II or Class IV view using known conventional image analysis techniques in step 310, “Determine End Position”. Once identified, the motion of the trailer end 130 is tracked in the image in step 320, “Track Trailer Motion”. The motion being tracked is the position of the trailer end 130 in the image. In some examples, the motion is translated into motion in three-dimensional space, and the three-dimensional motion is tracked as well as the motion of the trailer end 130 in the image.

[0042] The CMS creates a motion model of the trailer based on the motion of the trailer end 130 in the image, and on additional factors that are known or can be known to the CMS in step 330, “Create a motion model based on motion.” In some cases, the motion model is constant velocity (CV), constant acceleration (CA), and counter-rotation constant acceleration (CTCA). These three factors are combined to represent the trend of motion of the corner in the image. In other examples, a single motion model or alternative motion models can be used to provide similar functionality. For example, if the trailer end is moving downward in the image at a given velocity or acceleration, the trend of that motion (e.g., downward at a velocity of 3 pixels per second) is recorded as the motion model. The CMS assumes that after the trailer end 130 leaves the view, the motion of the trailer end 130 continues the trend defined by the motion model. In more complex configurations, the trends defined by the motion model may include dependencies on the motion in the image, such as steering angle, vehicle speed, yaw rate, transmission gear, trailer length, trailer angular velocity, and similar factors of vehicle 100.

[0043] As the trailer 110 straightens out (i.e., the trailer angle approaches 0 degrees), the trailer end 130 of the vehicle typically moves out of view, so the CMS assumes that after a set time, the trailer has reached a point of equilibrium and the vehicle 100 turns again, until the trailer end 130 has minimal motion.

[0044] When the trailer end 130 leaves the visible frame of the CMS, the CMS waits for a predefined period in “wait for a predetermined period”. During the wait period, the CMS performs Kalman filtering predictions based on a motion model to continue estimating the motion of the corner during the period when the corner is not visible. This period is long enough for the CMS to ensure that the trailer end 130 reaches equilibrium and does not return to view in the near future. In one example, the period may be set to approximately 2 seconds. In some examples, the period may depend on speed, yaw rate, gear, trailer length, steering angle, and / or similar characteristics of the vehicle 100. In other examples, the period may be a static, predetermined period stored within the CMS. In the example of an adaptive period, a larger yaw rate and a faster speed indicate that the trailer is also maneuvering, and it is understood that the trailer end will reach equilibrium sooner, so the wait time will be smaller.

[0045] If the trailer end 130 does not reappear in the CMS view after this period has elapsed, the CMS determines the estimated trailer end position in step 350, “Determine Trailer End Position”. Once determined, the CMS assumes that the trailer end 130 is maintained in a balanced and stable estimated position based on the established motion model, and the display includes an HMI overlay such as an end line based on the estimated trailer end position. In another example, the assumed position of the trailer end 130 may also be translated into a three-dimensional position relative to the cab and provided to a driver assistance system or other vehicle system that utilizes the position of the trailer end 130.

[0046] In one example, after determining the trailer end position 130, that position is maintained until the trailer end position 130 re-enters one of multiple fields of view. In an alternative example where the motion model depends on speed, steering angle, or any similar parameter of the vehicle 100, in step 360, “maintain and update motion model,” the motion model may be maintained after an initial period, and the estimated position of the trailer end may be updated each time a period elapses until the trailer end 130 re-enters the frame.

[0047] Continuing to refer to Figures 1A-4, Figures 5A and 5B schematically show Class II views of the trailer 110 with the trailer end 130 in view (Figure 5A) and with the trailer end not in view (Figure 5B). In each figure, the human-machine interface of the exemplary trailer end line 134 is positioned to extend horizontally from the end 130 of the trailer 110, or a hypothetical end.

[0048] 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 method for tracking the trailer end in an image using a controller, The steps include receiving an image from at least one camera, The steps include using the controller to identify the trailer end in the image and tracking the motion of the trailer end in the image for a predetermined period of time, The steps include: using the controller to generate a motion model based on the motion of the trailer end in the image; A step of using the controller to respond to the trailer end leaving the image, which is to maintain the motion of the trailer end by the motion model during a delay period, and in response to the elapsed period and the trailer end being out of sight, establish an estimated trailer end position indicated by the motion model at the end of the delay period. Methods that include...

2. The method according to claim 1, wherein generating the motion model depends on at least one of the following: vehicle speed, measured trailer angle, trailer length, steering angle, truck yaw rate, transmission gear, and camera sensor information including intrinsic and extrinsic parameters of the camera.

3. The method according to claim 2, wherein the delay period depends on at least one of the vehicle speed, the measured trailer angle, the trailer length, the steering angle, and the truck yaw rate, the transmission gear, and camera sensor information including internal and external parameters of the camera.

4. The method according to claim 1, wherein the delay period is a predefined period.

5. The method according to claim 1, wherein the motion model is a model of the motion tendency of the trailer end in the image.

6. The method according to claim 1, wherein the motion model is a model of the motion tendency of the trailer end in a three-dimensional coordinate system, and the position of the trailer end in the three-dimensional coordinate system is determined at least partially based on the position of the trailer end in the image.

7. The method according to claim 1, further comprising the steps of providing the trailer end position to the human-machine interface (HMI) module of the controller, and using the human-machine interface module to display visual enhancement features based on the estimated trailer end position.

8. A method for tracking the trailer end in an image using a controller, The steps include receiving an image from at least one camera, The steps include using the controller to identify the trailer end in the image and tracking the motion of the trailer end in the image for a predetermined period of time, The steps include: using the controller to generate a motion model based on the motion of the trailer end in the image; Using the controller, the steps include responding to the trailer end leaving the image by maintaining the motion of the trailer end by the motion model during a delay period, and in response to the elapsed period and the trailer end being out of sight, establishing an estimated trailer end position indicated by the motion model at the end of the delay period; The steps of providing the trailer end position to the human-machine interface (HMI) module of the controller, and using the human-machine interface module to display a visual enhancement feature based on the estimated trailer end position, wherein the visual enhancement feature includes a horizontal line extending from the trailer end position, and the visual enhancement feature is maintained when the trailer end is outside the view. Methods that include...

9. The method according to claim 1, further comprising the steps of: converting the estimated trailer end position into a three-dimensional coordinate position; and providing the three-dimensional coordinate position to at least one of an automated driving support system and a semi-autonomous driving support system.

10. The method according to claim 1, wherein generating the motion model includes determining the constant velocity (CV), constant acceleration (CA), and constant traverse acceleration (CTCA) of the trailer end position in the image, respectively.

11. At least one first camera positioned on a first side of the vehicle, defining a first field of view configured to include the trailer when the trailer is connected to the vehicle, and at least one second camera positioned on a second side of the vehicle, defining a second field of view configured to include the trailer when the trailer is connected to the vehicle, A CMS controller, which is communicably coupled to each of the at least one first camera and the at least one second camera, and is configured to generate at least one image using images from the at least one first camera and the at least one second camera, Multiple displays, each display facing the position of the vehicle driver and configured to display at least one of the at least one images, A trailer end tracking module within the controller, configured to respond to the trailer end leaving one of the first and second fields of view by the controller by identifying the trailer end in images from the at least one first camera and the at least one second camera, generating a motion model based on the motion of the identified trailer end in the images, and continuously estimating the position of the trailer end using the determined motion model. Equipped with, A camera monitoring system (CMS) for a vehicle, comprising: continuously estimating the trailer end position using a determined motion model; establishing an estimated trailer end position in response to the trailer end not entering one of the first and second fields of view within a delay period.

12. The camera monitoring system according to claim 11, wherein the delay period is a predefined period stored in the controller.

13. The motion model incorporates at least one measured vehicle parameter. The camera monitoring system according to claim 11, wherein the delay period depends on the at least one measured vehicle parameter.

14. The camera monitoring system according to claim 13, wherein the at least one measured vehicle parameter includes at least one of the following: vehicle speed, measured trailer angle, trailer length, steering angle, truck yaw rate, transmission gear, and camera sensor information including internal and external parameters of the camera.

15. The camera surveillance system according to claim 11, wherein the controller includes a human-machine interface (HMI) module configured to superimpose visual enhancement features of the trailer end onto the at least one image.

16. The camera monitoring system according to claim 15, wherein the visual enhancement feature of the trailer end is a horizontal line extending from the trailer end when the trailer end is in one of the first and second fields of view, and a horizontal line extending from the estimated trailer end position when the trailer end is not in one of the first and second fields of view.

17. The camera monitoring system according to claim 15, wherein the first field of view and the second field of view correspond to rear views along the vehicle captured by the first camera and the second camera, respectively.

18. The camera monitoring system according to claim 11, wherein the controller is further configured to output the estimated trailer position to the vehicle's automatic or semi-automatic driving support system.

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