Camera mirror system with variable field of view

Abstract

A camera mirror system for a vehicle includes a first camera (20a) generating a camera image having a camera field of view (FOVex1). A controller (24) is configured to receive the camera image and to output a display image (28, 30) having a first display field of view based upon the camera image. The controller (24) receives a trailer angle (26). The controller (24) is configured to modify the first display field of view based upon the trailer angle (26).

Description

CAMERA MIRROR SYSTEM WITH VARIABLE FIELD OF VIEWTECHNICAL FIELD

[0001] This disclosure relates to a camera mirror system (CMS) for use in a commercial truck and in particular to a CMS having an automatically variable field of view.BACKGROUND

[0002] Mirror replacement systems, and camera systems for supplementing mirror views, are utilized in commercial vehicles to enhance the ability of a vehicle operator to see a surrounding environment. Camera mirror systems (CMS) utilize one or more cameras to provide an enhanced field of view to a vehicle operator. In some examples, the mirror replacement systems cover a larger field of view than a conventional mirror or include views that are not fully obtainable via a conventional mirror.

[0003] Some known CMS provide both a Class II view and a Class IV adjacent one another on a single display inside the cab of the tractor. There is one display providing the Class II and Class IV views for the driver side of the vehicle and another display providing the Class II and Class IV views for the passenger side of the vehicle. The CMS may automatically pan the Class II view to track a rear edge of the trailer (for example) during a vehicle maneuver (such as turning). As is known, the Class IV view remains static during the vehicle maneuver because the Class IV view is significantly wider than the Class II view.

[0004] Class II and Class IV views are defined in European R46 legislation, for example, and the United States and other countries have similar drive visibility requirements for commercial trucks. Any reference to a “Class” view in the specification is not intended to be limiting, but is intended as exemplary for the type of view provided to a display by a particular camera.SUMMARY OF THE INVENTION

[0005] In some aspects, the techniques described herein relate to a method for providing a view for a commercial vehicle. A camera image from a camera is directed to an area adjacent a trailer, the camera image having a camera field of view. A trailer angle is received. A first display field of view within the camera field of view is determined based upon the trailer angle. The first display field of view of the camera image is sent to a display mounted to a vehicle connected to the trailer. These steps are iteratively performed. The first display field of view is enlarged based upon an increase in the trailer angle during such iterations in which the trailer angle increases. The first display field of view is reduced based upon the decrease in the trailer angle during iterations in which the trailer angle decreases.

[0006] In some aspects, the techniques described herein relate to a method further including enlarging the first display field of view based upon the increase in the trailer angle between a minimum first display field of view and a maximum first display field of view, wherein the minimum first display field of view is a smaller than the camera field of view.

[0007] In some aspects, the techniques described herein relate to a method wherein the minimum first display field of view is approximately 50 degrees.

[0008] In some aspects, the techniques described herein relate to a method wherein the maximum first display field of view is approximately 70 degrees.

[0009] In some aspects, the techniques described herein relate to a method wherein the maximum first display field of view is 70.9 degrees.

[0010] In some aspects, the techniques described herein relate to a method wherein the camera image is live video from the camera.

[0011] In some aspects, the techniques described herein relate to a method further including determining a second display field of view within the camera image and sending the second display field of view of the camera image to the display. The first display field of view of the camera image and the second display field of view of the camera image are simultaneously displayed on the display.

[0012] In some aspects, the techniques described herein relate to a method wherein the second display field of view is approximately 35 degrees.

[0013] In some aspects, the techniques described herein relate to a method wherein the first display field of view is a Class IV view and wherein the second display field of view is a Class II view.

[0014] In some aspects, the techniques described herein relate to a method further including determining the trailer angle.

[0015] In some aspects, the techniques described herein relate to a method wherein the camera field of view is more than 70 degrees.

[0016] In some aspects, the techniques described herein relate to a camera mirror system for a vehicle including a first camera generating a camera image having a camera field of view. A controller is configured to receive the camera image and to output a display image having a first display field of view based upon the camera image. The controller receives a trailer angle and is configured to modify the first display field of view based upon the trailer angle.

[0017] In some aspects, the techniques described herein relate to a camera mirror system wherein the controller is configured to increase the first display field of view from a minimum first display field of view to a maximum first display field of view based upon the trailer angle increasing from zero to a maximum trailer angle, respectively.

[0018] In some aspects, the techniques described herein relate to a camera mirror system wherein the minimum first display field of view is approximately 50 degrees.

[0019] In some aspects, the techniques described herein relate to a camera mirror system wherein the maximum first display field of view is approximately 70 degrees.

[0020] In some aspects, the techniques described herein relate to a camera mirror system wherein the controller is configured to modify the first display field of view based upon changes in the trailer angle.

[0021] In some aspects, the techniques described herein relate to a camera mirror system wherein the camera image is live video.

[0022] In some aspects, the techniques described herein relate to a camera mirror system wherein the controller is further configured to output the display image such that the display image further includes a second display field of view based upon the camera image, wherein the second display field of view is smaller than the first display field of view and wherein display image includes the first display field of view adjacent to the second display field of view.

[0023] In some aspects, the techniques described herein relate to a camera mirror system wherein the second display field of view is approximately 35 degrees.

[0024] In some aspects, the techniques described herein relate to a camera mirror system wherein the first display field of view is a Class IV view and wherein the second display field of view is a Class II view.

[0025] In some aspects, the techniques described herein relate to a camera mirror system wherein the controller is further configured to determine the trailer angle.

[0026] In some aspects, the techniques described herein relate to a camera mirror system wherein the camera field of view is more than 70 degrees.

[0027] In some aspects, the techniques described herein relate to a camera mirror system further including a first display receiving the display image and configured to display the display image.

[0028] In some aspects, the techniques described herein relate to a camera mirror system wherein the first camera and the first display are mounted to a tractor connected to a trailer and wherein the trailer is pivotable relative to the tractor to define the trailer angle.

[0029] In some aspects, the techniques described herein relate to a camera mirror system for a vehicle including a first camera generating a first camera video signal having a first camera field of view. A second camera generates a second camera video signal having a second camera field of view. The system includes a first display and a second display. A controller is configured to receive the first camera video signal and the second camera video signal and to output a first display video signal based upon the first camera video signal and to output a second display video signal based upon the secondcamera video signal. Each of the first display video signal and the second video signal includes a first display portion displaying a first field of view and a second display portion displaying a second field of view. The controller receives a trailer angle and the controller configured to modify the first fields of view based upon the trailer angle.

[0030] In some aspects, the techniques described herein relate to a camera mirror system wherein the controller is further configured to modify the second field of view based upon the trailer angle.

[0031] In some aspects, the techniques described herein relate to a camera mirror system wherein the controller is configured to increase each of the first fields of view from a minimum first field of view to a maximum first field of view based upon the trailer angle increasing from zero to a maximum trailer angle.

[0032] In some aspects, the techniques described herein relate to a camera mirror system wherein the second field of view is smaller than the first field of view.

[0033] In some aspects, the techniques described herein relate to a camera mirror system wherein the first display video signal and the second display video signal each includes the first field of view adjacent to the second field of view.

[0034] In some aspects, the techniques described herein relate to a camera mirror system wherein the second field of view is approximately 35 degrees.

[0035] In some aspects, the techniques described herein relate to a camera mirror system wherein the first field of view is a Class IV view and wherein the second field of view is a Class II view.

[0036] In some aspects, the techniques described herein relate to a camera mirror system wherein the controller is further configured to determine the trailer angle.

[0037] In some aspects, the techniques described herein relate to a camera mirror system wherein the first camera field of view is more than 70 degrees.

[0038] In some aspects, the techniques described herein relate to a camera mirror system further including a first display receiving the first display video signal and configured to display the first display portion and the second display portion.

[0039] In some aspects, the techniques described herein relate to a camera mirror system wherein the first camera and the first display are mounted to a tractor connected to a trailer and wherein the trailer is pivotable relative to the tractor to define the trailer angle.

[0040] These and other features of the present invention can be best understood from the following specification and drawings, the following of which is a brief description.BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The disclosure can be further understood by reference to the following detailed description when considered in connection with the accompanying drawings wherein:

[0042] Figure 1 is a simplified front perspective view of a commercial truck with a camera mirror system (CMS) used to provide at least Class II and Class IV views.

[0043] Figure 2 is a schematic top elevational view of a commercial truck with a camera mirror system providing Class II and Class IV views.

[0044] Figure 3 is a schematic view of the camera monitoring system of Figures 1 and 2.

[0045] Figure 4 illustrates the vehicle during a turning maneuver with a high trailer angle.

[0046] Figure 5 is a graph showing an example relationship between trailer angle and field of view.

[0047] The embodiments, examples and alternatives of the preceding paragraphs, the claims, or the following description and drawings, including any of their various aspects or respective individual features, may be taken independently or in any combination. Features described in connection with one embodiment are applicable to all embodiments, unless such features are incompatible.DETAILED DESCRIPTION

[0048] A commercial vehicle 10 is illustrated in Figures 1 and 2. The vehicle 10 includes a vehicle cab or tractor 12 and a trailer 14 pulled by the tractor 12. Although a commercial truck is contemplated in this disclosure, the invention may also be applied to other types of vehicles. The vehicle 10 incorporates a camera mirror system (CMS) that has driver and passenger side camera arms 16a, 16b mounted to the outside of the vehicle cab 12. If desired, the camera arms 16a, 16b may include conventional mirrors integrated with them as well, although the CMS can be used to entirely replace mirrors. In additional examples, each side can include multiple camera arms, each arm housing one or more cameras and / or mirrors.

[0049] Each of the camera arms 16a, 16b includes a base that is secured to, for example, the cab 12. A pivoting arm is supported by the base and may articulate relative thereto. At least one rearward facing camera 20a, 20b is arranged respectively within camera arms. The exterior cameras 20a, 20b respectively provide an exterior field of view FOVEXI, FOVEX2 that each include at least one of the Class II and Class IV views (Fig. 2), which are legal prescribed views in the commercial trucking industry. Class II and Class IV views are defined in European R46 legislation, for example, and the United States and other countries have similar drive visibility requirements for commercial trucks. Any reference to a “Class” view is not intended to be limiting, but is intended as exemplary for the type of view provided to a display by a particular camera. The Class II view on a given side of the vehicle 10 is a subset of the Class IV view of the same side of the vehicle 10. Multiple cameras also may be used in each camera arm 16a, 16b to provide these views, if desired. Each arm 16a, 16b may also provide a housing that encloses electronics that are configured to provide various features of the CMS.

[0050] In the example shown, the camera fields of view FOVEXI, FOVEX2 are more than 70 degrees. For example, the camera fields of view FOVEXI, FOVEX2 may be 75 degrees to 80 degrees. In another example, the camera fields of view FOVEXI, FOVEX2 are 70.9 degrees. In Fig. 2, the Class IV view is approximately 50 degrees, but may change as explained below. The Class IV views are each included within (i.e. a subsetof) the respective camera fields of view FOVEXI, F0VEX2-The Class II views in this example are each approximately 35 degrees and are each included within (i.e. a subset of) the respective Class IV view. In the examples given herein, the fields of view are all described with respect to the horizontal field of view. The vertical field of view would be maintained proportional to the horizontal field of view.

[0051] First and second video displays 18a, 18b are arranged on each of the driver and passenger sides within the vehicle cab 12 on or near the A-pillars 19a, 19b to display Class II and Class IV views on its respective side of the vehicle 10, which provide rear facing side views along the vehicle 10 that are captured by the exterior cameras 20a, 20b.

[0052] Referring to Figures 2 and 3, the CMS includes a video unit 24 that receives an image, more particularly a live video signal, from each of the cameras 20a, 20b and outputs a video signal to each of the first and second video displays 18a, 18b. The video unit 24 includes at least one processor and electronic storage storing instructions which when executed by the at least one processor cause the CMS to perform the functions described herein. These functions include providing the Class II and Class IV views to the first and second video displays 18a, 18b based upon the video signals from the exterior cameras 20a, 20b, as described below.

[0053] The video unit 24 may receive a trailer angle signal from a trailer angle sensor 26 which is a mechanical sensor indicating the angle of the trailer 14 relative to the tractor 12. Alternatively, the video unit 24 may use known techniques to determine the trailer angle based upon the video signals from one or both of the cameras 20a, 20b, such as by tracking a reference point on the trailer 14, such as the rear edge of the trailer or a wheel of the trailer. Briefly, if the distance to the rear edge (or wheel) of the trailer 14 is known, then the trailer angle can be calculated using basic geometry based upon the position of the rear edge (or wheel) in the video signal. Any other source of the trailer angle can be supplied to the video unit 24 as the invention is not limited to any particular source of the trailer angle.

[0054] Figure 3 is a schematic of the camera monitoring system. As is known, the Class IV view on each side of the vehicle may be displayed on a first portion 28 of the associated display 18a, 18b and the Class 11 view on the same side of the vehicle 10 may be displayed on a second portion 30 of the same display 18a, 18b. The first portion 28 may be approximately 1 / 3 of each display 18a, 18b and the second portion 30 may be approximately 2 / 3 of each display 18a, 18b. In the example shown, the second portion 30 is above the first portion 28.

[0055] In the example shown, the video unit 24 generates the Class IV field of view and the Class II field of view from the first camera 20a and combines them into a single video signal sent to the first display 18a, with the Class IV field of view occupying the bottom third of the single video signal and the Class II field of view occupying the upper 2 / 3 of the single video signal. The video unit 24 likewise receives a live video signal from the second camera 20b and provides a similar single video signal to second display 18b. In this example, each video signal includes both the Class IV field of view and the Class II field of view digitally separated into the first portion 28 of the display and the second portion 30 of the display, respectively.

[0056] Alternatively, the Class II and Class IV fields of view can be provided from the video unit 24 each as a separate video signal if each first portion 28 is a physically separate display from the adjacent second portion 30, or if the display itself provides the separation of the two inputs into the first portion 28 and the second portion 30.

[0057] Other views can be provided by additional cameras and / or displays (such as Class V, Class VI, Class VIII, etc). The inventions described herein could be used for any of these views (or other views altogether) but will be described with respect to the Class IV view and the Class II view.

[0058] Figure 4 illustrates the vehicle 10 in the process of executing a turning maneuver. In the initial position (Figure 2) the trailer 14 has an initial angle of approximately zero degrees relative to the cab 12, meaning that the longitudinal axis of the trailer 14 is aligned with the longitudinal axis of the cab 12. During the process of turning (while traveling either forward or in reverse), the trailer 14 skews relative to thecab 12 (Figure 4) increasing the trailer angle. The trailer angle sensor 26 may detect the angle of the trailer 14 relative to the tractor 12 and report the angle to the video unit 24. Again, alternatively the video unit 24 may calculate the trailer angle based upon the video signals from one or both of the cameras 20a, 20b.

[0059] In order to provide an improved view to the driver, the field of view provided to either or both of the first portion 28 and the second portion 30 of each the displays 18a, 18b is changed based upon changes in the trailer angle. In one example, the Class IV field of view provided to the first portion 28 is changed based upon changes in the trailer angle.

[0060] In one example, the Class IV field of view is increased as the angle of the trailer 14 relative to the tractor 12 increases (“increases” is defined herein in that the trailer angle of FIG. 2 is considered zero and the trailer angle of FIG. 4 (approximately 50 degrees) is larger than the trailer angle of FIG. 2). In Fig. 4, as shown, the Class IV field of view is larger than in Fig. 2, but only on the side of the vehicle 10 to which the trailer 14 is angled. Alternatively, both Class IV fields of view could be increased together, whichever direction the trailer is angled. In FIG. 4, the Class IV field of view is equal to or almost equal to the camera field of view FOVeX2.

[0061] The Class IV field of view extends from an inner boundary near a rear edge of the tractor to an outer boundary away from the vehicle 10. As the Class IV field of view is changed, the field of view still extends to same inner boundary, and only the outer boundary is adjusted (FIG. 4). This would also be true if the Class II field of view were changed. If other views were changed, it is possible than an associated inner boundary would change or that both the associated inner and outer boundaries would change as the field of view changed.

[0062] FIG. 4 shows the trailer 14 angle at a maximum trailer angle of 50 degrees and the Class IV field of view at the maximum field of view of 70.9 degrees. The Class IV field of view of FIG. 4 would be displayed in the first portion 28 of the display 18a. If the vehicle 10 turns the other direction such that the trailer angles the oppositedirection, then the Class IV view on the other side of the vehicle 10 would be increased as displayed in the first portion 28 of the display 18b.

[0063] The video unit 24 processes the video signals from the cameras 20a, 20b to output the calculated fields of view (e.g. by cropping to the calculated field of view angle) based upon the current trailer angle and provides those fields of view to the first portions 28 of the respective displays 18a, 18b. Video from camera 20a is only provided to display 18a and video from camera 20b is only provided to display 18b. Only the field of view to which side the trailer 14 is angled is increased while the field of view on the opposite side is maintained at the minimum field of view.

[0064] Simultaneously, in a known manner, the video unit 24 also continuously provides the Class II field of view to the second portion 30 of each display 18a, 18b by selecting a subset of the field of view of the camera 20a, 20b, respectively. For example, the Class II field of view may be a constant 35 degrees. Alternatively, the Class II field of view could also be increased as the trailer angle increases.

[0065] Increasing the field of view with the trailer angle ensures that the trailer remains in the field of view during turning maneuvers. The field of view could be increased or decreased based upon other information in addition to or instead of the trailer angle.

[0066] FIG. 5 shows one example graph of the displayed field of view (in this example, the Class IV field of view) increasing based upon the increase in the trailer angle. The Class IV field of view may be increased continuously from a minimum field of view to a maximum field of view as the trailer angle increases from zero to a maximum trailer angle. The maximum trailer angle may be 50 degrees. The increase in the Class IV field of view may be proportional to the increase in the trailer angle. Alternatively, as shown, the increase in the Class IV field of view may increase as a function (geometric, exponential, etc) that never reaches the maximum field of view (which would be the asymptote).

[0067] In this example, the minimum field of view for the Class IV field of view may be approximately 50 degrees and the maximum field of view of the Class IVfield of view may be 70.9 degrees, i.e. the camera field of view. The Class IV field of view will always be a subset of the camera field of view or 100% of the camera field of view.

[0068] In accordance with the provisions of the patent statutes and jurisprudence, exemplary configurations described above are considered to represent a preferred embodiment of the invention. However, it should be noted that the invention can be practiced otherwise than as specifically illustrated and described without departing from its spirit or scope. Alphanumeric labels on method steps are for ease of reference in dependent claims and do not signify a required sequence of performance unless such claim explicitly recites one.

Claims

CLAIMSWhat is claimed is:1 . A method for providing a view for a commercial vehicle having a trailer, the method comprising: a) receiving a camera image from a camera directed to an area adjacent the trailer, the camera image having a camera field of view; b) receiving a trailer angle; c) determining a first display field of view within the camera field of view based upon the trailer angle received in step c); d) sending the first display field of view of the camera image to a display mounted to the vehicle; and e) iteratively performing steps a) through d), and enlarging the first display field of view based upon an increase in the trailer angle during iterations of step c) in which the trailer angle increases and reducing the first display field of view based upon a decrease in the trailer angle during iterations of step c) in which the trailer angle decreases.

2. The method of claim 1 , wherein step e) includes enlarging the first display field of view based upon the increase in the trailer angle between a minimum first display field of view and a maximum first display field of view, wherein the minimum first display field of view is a smaller than the camera field of view.

3. The method of claim 2, wherein the minimum first display field of view is approximately 50 degrees.

4. The method of claim 2 or 3, wherein the maximum first display field of view is approximately 70 degrees.

5. The method of claim 2 or 3, wherein the maximum first display field of view is 70.9 degrees.

6. The method of any preceding claim, wherein the camera image is live video from the camera.

7. The method of any preceding claim, further including: f) determining a second display field of view within the camera image; g) sending the second display field of view of the camera image to the display; and h) displaying the first display field of view of the camera image and the second display field of view of the camera image simultaneously on the display during step e).

8. The method of claim 7, wherein the second display field of view is approximately 35 degrees.

9. The method of claim 7 or 8, wherein the first display field of view is a Class IV view and wherein the second display field of view is a Class II view.

10. The method of any preceding claim, further including determining the trailer angle.

11. The method of any preceding claim, wherein the camera field of view is more than 70 degrees.

12. A camera mirror system for a vehicle comprising: a first camera generating a camera image having a camera field of view; a controller configured to receive the camera image and to output a display image having a first display field of view based upon the camera image, the controller configured to receive a trailer angle; andthe controller configured to modify the first display field of view based upon the trailer angle.

13. The camera mirror system of claim 12, wherein the controller is configured to increase the first display field of view from a minimum first display field of view to a maximum first display field of view based upon the trailer angle increasing from zero to a maximum trailer angle, respectively.

14. The camera mirror system of claim 13, wherein the minimum first display field of view is approximately 50 degrees.

15. The camera mirror system of claim 13 or 14, wherein the maximum first display field of view is approximately 70 degrees.

16. The camera mirror system of any one of claims 12 to 15, wherein the controller is configured to modify the first display field of view based upon changes in the trailer angle.

17. The camera mirror system of any one of claims 12 to 16, wherein the camera image is live video.

18. The camera mirror system of any one of claims 12 to 17, wherein the controller is further configured to output the display image such that the display image further includes a second display field of view based upon the camera image, wherein the second display field of view is smaller than the first display field of view and wherein display image includes the first display field of view adjacent to the second display field of view.

19. The camera mirror system of claim 18, wherein the second display field of view is approximately 35 degrees.

20. The camera mirror system of claim 18 or 19, wherein the first display field of view is a Class IV view and wherein the second display field of view is a Class II view.

21. The camera mirror system of any one of claims 12 to 20, wherein the controller is further configured to determine the trailer angle.

22. The camera mirror system of any one of claims 12 to 21 , wherein the camera field of view is more than 70 degrees.

23. The camera mirror system of any one of claims 12 to 22, further including a first display receiving the display image and configured to display the display image.

24. The camera mirror system of claim 23, wherein the first camera and the first display are mounted to a tractor connected to a trailer and wherein the trailer is pivotable relative to the tractor to define the trailer angle.

25. A camera mirror system for a vehicle comprising: a first camera generating a first camera video signal having a first camera field of view; a second camera generating a second camera video signal having a second camera field of view; a first display; a second display; a controller configured to receive the first camera video signal and the second camera video signal, the controller configured to output a first display video signal based upon the first camera video signal and to output a second display video signal based uponthe second camera video signal, wherein each of the first display video signal and the second video signal includes a first display portion displaying a first field of view and a second display portion displaying a second field of view, the controller receiving a trailer angle; and the controller configured to modify the first fields of view based upon the trailer angle.

26. The camera mirror system of claim 25 wherein the controller is further configured to modify the second fields of view based upon the trailer angle.

27. The camera mirror system of claim 25 or 26 wherein the controller is configured to increase each of the first fields of view from a minimum first field of view to a maximum first field of view based upon the trailer angle increasing from zero to a maximum trailer angle.

28. The camera mirror system of claim 27 wherein the minimum first field of view is approximately 50 degrees.

29. The camera mirror system of claim 27 or 28 wherein the maximum first field of view is approximately 70 degrees.

30. The camera mirror system of any one of claims 25 to 29 wherein the second field of view is smaller than the first field of view.31 . The camera mirror system of any one of claims 25 to 30 wherein the first display video signal and the second display video signal each includes the first field of view adjacent to the second field of view.

32. The camera mirror system of any one of claims 25 to 31 , wherein the second field of view is approximately 35 degrees.

33. The camera mirror system of any one of claims 25 to 32, wherein the first field of view is a Class IV view and wherein the second field of view is a Class II view.

34. The camera mirror system of any one of claims 25 to 33, wherein the controller is further configured to determine the trailer angle.

35. The camera mirror system of any one of claims 25 to 34, wherein the first camera field of view is more than 70 degrees.

36. The camera mirror system of any one of claims 25 to 35, further including a first display receiving the first display video signal and configured to display the first display portion and the second display portion.

37. The camera mirror system of claim 36 wherein the first camera and the first display are mounted to a tractor connected to a trailer and wherein the trailer is pivotable relative to the tractor to define the trailer angle.

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