Systems and methods for camera monitor system with picture-in-picture features

Abstract

A method for a camera monitor system (CMS) includes obtaining image feeds from a plurality of cameras that depict an environment surrounding a commercial vehicle; displaying a first image feed from a first camera of the plurality of cameras on an electronic display as a primary image feed; and displaying a second image feed from a second camera of the plurality of cameras, which has a different field of view than the first camera, as a picture-in-picture image feed on top of the first image feed on the electronic display. The primary image feed occupies a greater area of the electronic display than the picture-in-picture image feed. A camera monitor system (CMS) is also disclosed.

Description

SYSTEMS AND METHODS FOR CAMERA MONITORSYSTEM WITH PICTURE-IN-PICTURE FEATURESCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Application No.63 / 742,267, filed January 6, 2025, and U.S. Provisional Application No. 63 / 721,645, filed November 18, 2024, the disclosures of each of which are incorporated herein by reference in their entirety.TECHINCAL FIELD

[0002] This disclosure relates to camera monitor systems (CMS), and more particularly to systems and methods for a CMS with picture-in-picture features.BACKGROUND

[0003] Vehicle camera systems for mirror replacement or for supplementing mirror views are utilized in vehicles, and in particular commercial vehicles, to enhance the ability of a vehicle operator to see a surrounding environment of the vehicle. These systems are known as “camera monitor systems” (CMS), and in the example of commercial vehicles they utilize one or more cameras mounted to a tractor of the commercial vehicle to provide an enhanced field of view to a vehicle operator of an area surrounding the commercial vehicle. CMS may also include cameras in locations not typically associated with a mirror, such as a rear camera (e.g., a trailer camera) that records images of an area behind a vehicle, a camera that records an area in front of a vehicle, etc. CMS are also sometimes also used for non-commercial vehicles (e.g., consumer vehicles like sedans, SUVs, etc.).SUMMARY

[0004] A method for a camera monitor system (CMS) according to an example embodiment of the present disclosure includes obtaining image feeds from a plurality of cameras that depict an environment surrounding a commercial vehicle; displaying a first image feed from a first camera of the plurality of cameras on an electronic display as a primary image feed; and displaying a second image feed from a second camera of the plurality of cameras, which has a different field of view than the first camera, as a picture-in-picture image feed on top of the first image feed on the electronic display. The primary image feed occupies a greater area of the electronic display than the picture-in-picture image feed.155652081-1

[0005] In a further embodiment of the foregoing embodiment, one of the first camera and the second camera is mounted to a tractor of the commercial vehicle on a first side of the commercial vehicle, and the other of the first camera and the second camera is mounted to a trailer of the commercial vehicle on the second side of the commercial vehicle.

[0006] In a further embodiment of any of the foregoing embodiments, the displaying the image feed from a second camera of the plurality of cameras as a picture-in-picture on top of the first image feed on the electronic display is performed based on occurrence of at least one trigger event.

[0007] In a further embodiment of any of the foregoing embodiments, the first camera and the second camera both have rearward-facing fields of view, and the at least one trigger event includes the trailer occluding a predefined portion of the first image feed on the electronic display.

[0008] In a further embodiment of any of the foregoing embodiments, the at least one trigger event further comprises the commercial vehicle having a non-zero trailer angle that exceeds a predefined trailer angle threshold. The displaying the image feed from a second camera as the picture-in-picture image feed is performed based on both the commercial vehicle having the non-zero trailer angle and the trailer occluding the predefined portion the first image feed on the electronic display.

[0009] In a further embodiment of any of the foregoing embodiments, the displaying the first image feed as the primary image feed and the displaying the second image feed as the picture-in-picture image feed is performed in a first mode. The method includes in a second mode, switching the first image feed and the second image feed such that the second image feed is displayed as the primary image feed and the first image feed is displayed as the picture-in-picture image feed. The method also includes switching between the first mode and the second mode based on occurrence of at least one trigger event.

[0010] In a further embodiment of any of the foregoing embodiments, the first camera is a backup camera that provides a rearward field of view from a rear of the commercial vehicle. The second camera provides a rearward field of view along a side of the commercial vehicle. The method includes entering the second mode based on a speed of the commercial vehicle exceeding a predefined speed threshold.

[0011] In a further embodiment of any of the foregoing embodiments, the method includes entering the first mode based on the vehicle being parked.255652081-1

[0012] In a further embodiment of any of the foregoing embodiments, the method includes entering the first mode based on the vehicle driving forward and a speed of the commercial vehicle being below a predefined speed threshold.

[0013] In a further embodiment of any of the foregoing embodiments, the method includes displaying a third image feed from a third camera of the plurality of cameras, which has a different field of view than the first camera and the second camera, as an additional picture-in-picture image feed on top of the first image feed on the electronic display, but not on top of the second image feed.

[0014] A camera monitor system (CMS) according to an example embodiment of the present disclosure includes a plurality of cameras mounted to a commercial vehicle and configured to provide respective image feeds that depict an environment surrounding a commercial vehicle. The camera monitor system also includes processing circuitry operatively connected to memory, and configured to: obtain image feeds from a plurality of cameras that depict an environment surrounding a commercial vehicle; display a first image feed from a first camera of the plurality of cameras on an electronic display as a primary image feed; and display a second image feed from a second camera of the plurality of cameras, which has a different field of view than the first camera, as a picture-in-picture image feed on top of the first image feed on the electronic display. The primary image feed occupies a greater area of the electronic display than the picture-in-picture image feed.

[0015] In a further embodiment of the foregoing embodiment, one of the first camera and the second camera is mounted to a tractor of the commercial vehicle on a first side of the commercial vehicle, and the other of the first camera and the second camera is mounted to a trailer of the commercial vehicle on the second side of the commercial vehicle.

[0016] In a further embodiment of any of the foregoing embodiments, the processing circuitry is configured to display the image feed from a second camera of the plurality of cameras as a picture-in-picture on top of the first image feed on the electronic display based on occurrence of at least one trigger event.

[0017] In a further embodiment of any of the foregoing embodiments, the first camera and the second camera both have rearward-facing fields of view, and the at least one trigger event includes the trailer occluding a predefined portion of the first image feed on the electronic display.

[0018] In a further embodiment of any of the foregoing embodiments, the at least one trigger event further comprises the commercial vehicle having a non-zero trailer angle that exceeds a predefined trailer angle threshold. The processing circuitry is configured to display355652081-1the image feed from a second camera as the picture-in-picture image feed based on both the commercial vehicle having the non-zero trailer angle and the trailer occluding the predefined portion the first image feed on the electronic display.

[0019] In a further embodiment of any of the foregoing embodiments, the processing circuitry is configured to display the first image feed as the primary image feed and display the second image feed as the picture-in-picture image feed in a first mode; in a second mode, switch the first image feed and the second image feed such that the second image feed is displayed as the primary image feed and the first image feed is displayed as the picture-in-picture image feed; and switch between the first mode and the second mode based on occurrence of at least one trigger event.

[0020] In a further embodiment of any of the foregoing embodiments, the first camera is a backup camera that provides a rearward field of view from a rear of the commercial vehicle. The second camera provides a rearward field of view along a side of the commercial vehicle. The processing circuitry is configured to enter the second mode based on a speed of the commercial vehicle exceeding a predefined speed threshold.

[0021] In a further embodiment of any of the foregoing embodiments, the processing circuitry is configured to enter the first mode based on the vehicle being parked.

[0022] In a further embodiment of any of the foregoing embodiments, the processing circuitry is configured to enter the first mode based on the vehicle driving forward and a speed of the commercial vehicle being below a predefined speed threshold.

[0023] In a further embodiment of any of the foregoing embodiments, the processing circuitry is configured to display a third image feed from a third camera of the plurality of cameras, which has a different field of view than the first camera and the second camera, as an additional picture-in-picture image feed on top of the first image feed on the electronic display, but not on top of the second image feed.

[0024] 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.455652081-1BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The disclosure can be further understood by reference to the following detailed description when considered in connection with the accompanying drawings wherein:

[0026] Figure 1 is a schematic perspective front view of a commercial vehicle with a camera monitor system (CMS).

[0027] Figure 2 is a schematic birds-eye view of the commercial vehicle of Figure 1.

[0028] Figure 3 is another schematic birds-eye view of the commercial vehicle of Figure 1.

[0029] Figure 4 is another schematic birds-eye view of the commercial vehicle of Figure 1.

[0030] Figure 5 is a schematic top view of an example vehicle cabin interior of the commercial vehicle of Figure 1.

[0031] Figure 6 is a perspective view of the vehicle cabin interior of Figure 5.

[0032] Figure 7 is a schematic view of an example sleeper compartment.

[0033] Figure 8 is a schematic view of an example tractor nose camera.

[0034] Figure 9A is a schematic view of an example picture-in-picture (PIP) display configuration.

[0035] Figure 9B is a schematic view of another example PIP display configuration.

[0036] Figure 10 is a flowchart of an example method for a CMS.

[0037] The embodiments, examples, and alternatives of the claims, and / 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

[0038] Schematic views of a commercial vehicle 10 are provided in Figures 1-7. Figure 1, which provides a perspective view of the commercial vehicle 10, and Figures 2-4, which each provide birds-eye views of the commercial vehicle 10, will be discussed first. As shown in Figures 1-4, the commercial vehicle 10 includes a vehicle cab or “tractor” 12 for pulling a trailer 14, where the trailer 14 pivots with respect to the tractor 12 during turns. During such pivots, a central longitudinal axis A1 of the tractor 12 is angled with respect to a central555652081-1longitudinal axis A2 of the trailer 14 to form a trailer angle (see Figure 4). Otherwise, during straight driving (as shown in Figure 4), the trailer angle is zero. Although the commercial vehicle 10 is depicted as a commercial truck with a single trailer 14 in this disclosure, it is understood that other commercial vehicle configurations may be used (e.g., different types or quantities of trailers).

[0039] A first pair of camera arms 16A-B are mounted to the tractor 12, and a second pair of camera arms 16C-D are mounted to the trailer 14. One, all, or a subset of the camera arms 16A-D may articulate relative to their base between a retracted position and an extended position (shown, e.g., in Figure 2). Each camera arm 16A-D includes at least one respective rearward facing camera 20A-D on or within the arm 16. The cameras 20A-B respectively provide an exterior fields of view FOVEXI, FOVEX2 that each include at least one of Class II and Class IV views (see Fig. 2), which are legally prescribed views in the commercial trucking industry. The exterior cameras 20C-D respectively provide exterior fields of view FO EXS, FO EX4 that have some overlap with the Class II and Class IV views. The fields of view FOVEXI, FOVEXS extend rearward along the trailer 14 of the commercial vehicle 10 along a first side 21A of the commercial vehicle 10. The fields of view FOVEX2, FOVEX4 extend rearward along the trailer 14 of the commercial vehicle 10 along a second side 21 B, opposite the first side 21 A, of the commercial vehicle 10. The various cameras 20 discussed herein provide image feeds for display, which may be video feeds.

[0040] Although an example location for each of camera arms 16C-D is shown, it is understood that this is a non-limiting example, and that the cameras arms 16C-D and / or their associated cameras 20C-D may be mounted in other locations, even without an arm. For example, the cameras 20C-D may be mounted proximate to the lower front corners of the trailer 14 (see, e.g., location 40A in Figure 1) or approximately halfway between a front end 22A and rear end 22B of the trailer 14 (see, e.g., location 40B in Figure 1). As shown, the cameras 20C-D are aft of the cameras 20A-B.

[0041] As shown in Figure 2, the commercial vehicle 10 has a first side 21 A (driver’s side) and a second side 21 B (passenger side) that is opposite the first side 11. The commercial vehicle 10 also has the front end 22A and the rear end 22B that is opposite the front end 22A. The tractor 12 also has a first front corner 23A and a second front corner 23B that is opposite the first front corner 23A.

[0042] The Class II view on a given side of the commercial vehicle 10 is a subset (e.g., a cropped version) of the class IV view of the same side of the commercial vehicle 10. Multiple cameras may be used in each camera arm 16A-B to provide these views, if desired.655652081-1Class II (narrow) and Class IV (wide angle) 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 rather is intended as an example of the type of view provided to a display from a particular camera.

[0043] Each camera arm 16A-16D may provide a housing that encloses electronics, e.g., a controller / processing circuitry, configured to provide various features of a camera monitor system (CMS) 15 (see Figure 5). The camera arms 16A-B may be mounted either at a roof-mount location over the cab door (as shown), or on a door-mounted bracket or station, for example. Similarly, the camera arms 16C-D may be mounted at a roof-mount location of the trailer 14, for example.

[0044] A backup camera 20F provides a field of view FOVEXS of rear area 28C behind the commercial vehicle 10, which overlaps the fields of view FO EXI, FO EX2, FO EXS, FOVEX4. Thus, the field of view FOVEXS includes an external environment of the rear of the commercial vehicle 10. The backup camera 20F may be mounted at a top / centerline of the trailer, at a bumper / bed level of the trailer, or at a top-corner of the back of the trailer, for example.

[0045] Alternatively, or in addition to the rear trailer camera, a “fifth wheel camera” 20I may be provided that is mounted to a rear of the tractor 12 and that provides a field of view FOVEXS which, when the trailer 14 is disconnected from the cab 12, also overlaps the fields of view FOVEXI, FOVEXS, FOVEXS, FOVEX4. The fifth wheel camera 201 may be mounted anywhere between the lateral plane of the fifth wheel fixture and the top / roof edge of the tractor, for example.

[0046] Referring to Figures 2 and 4, a camera housing 16E and camera 20E may be arranged at or near the front of the commercial vehicle 10 to provide a Class VI view. The camera 20E has a field of view corresponding to an external environment of a front of the commercial vehicle 10.

[0047] Cameras 20G and 20H (having respective housings 16G and 16H) may be utilized to provide respective Class V views, for each side 21 A, 21 B of the commercial vehicle. Camera 20G provides a field of view that corresponds to an external environment adjacent to the first side 21 A and first front corner 23A of the commercial vehicle 10. Camera 20H provides a field of view that corresponds to an external environment adjacent to the second side 21 B and second front corner 23B of the commercial vehicle 10. Although cameras 20G-H are not shown in Figures 1-3 for simplicity, it is understood that they may be included on the commercial vehicle 10.755652081-1

[0048] Figure 5 is a schematic top view of an example vehicle cabin interior 24. Referring now to Figures 4-5 with continued reference to Figures 1-4, electronic displays 18A-E (e.g., which may be video displays, such as LCD displays) and cameras 20A-I are shown. The various electronic displays 18A-E and cameras 20A-I are part of the CMS 15, and therefore act as CMS displays 18 and CMS cameras 20.

[0049] The CMS 15 includes an electronic control unit (ECU) 26 that acts as a controller and includes processing circuitry that supports operation of the CMS 15. The ECU 26 is operatively connected to memory (which 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 nonvolatile memory elements (e.g., ROM, hard drive, tape, CD-ROM, etc.). The processing circuitry may include one or more microprocessors, microcontrollers, application specific integrated circuits (ASICs), or the like. Although schematically shown as being centrally located, some or all of the processing circuitry may be provided, e.g., in one or more of the camera arms 16.

[0050] The CMS displays 18A-B are arranged on each of the driver and passenger sides within the vehicle cab 12 on or near the A-pillars 19A-B to display Class II and Class IV views on respective sides 21A-B of the commercial vehicle 10, and provide rearward facing side views along the sides 21A-B of the commercial vehicle 10 that are captured by the exterior cameras 20A-B.

[0051] If desired, one or more of the camera arms 16A-B may include conventional mirrors integrated with them as well, although the CMS 15 may be used to entirely replace mirrors. In additional examples, each side 21A-B of the commercial vehicle 10 includes multiple camera arms, 16 with each arm 16 housing one or more cameras and / or mirrors.

[0052] Optionally, the tractor 12 may include a sleeper compartment 56 (see Figure 7) with a divider 58 (e.g., a curtain) that separates the sleeper compartment 56 from the rest of the tractor 12. The sleeper compartment 56 may include driver amenities such as a bed, microwave, refrigerator, etc.

[0053] Figure 6 is a perspective view of the vehicle cabin interior 24 in front of the sleeper cabin 56. In the example of Figure 6, the display 18C is disposed along an upper edge 62 of a windshield 60 of the commercial vehicle 10, and is substantially evenly spaced between the first side 21A and second side 21 B of the commercial vehicle (and correspondingly is also substantially evenly spaced between the A-pillars 19A-B).

[0054] Display 18A is configured to provide an image feed from camera 20A, and display 18B is configured to provide an image feed from camera 20B. Display 18C may be855652081-1used to display the Class V and Class VI views (see Figure 4), which are toward the front of the commercial vehicle 10, or a backup camera view (from backup camera 20F or camera 20I) to the driver, for example. Display 18D is provided in a center console area of the vehicle cabin interior 24, and may be used as a backup display or for other purposes, such as navigation, infotainment, etc. Display 18E may be part of an instrument cluster, for example, and may be used as a backup display. Of course, it is understood that these are non-limiting examples.

[0055] Figure 7 is a schematic view of an example sleeper compartment 56, which includes a bed 64, curtain divider 58, and electronic display 18F, which may be used to display image feeds from one or more of the CMS cameras 20.

[0056] Figure 8 is a schematic view of an example implementation of the camera 20E from Figure 2 that provides a Class VI view. In the example of Figure 8, the camera 20E is centered on a front of the tractor 12.

[0057] Figure 9A is a schematic view of an example picture-in-picture (PIP) display configuration that may be used on display 18A. In a first display area 80A, an image feed of a Class II view from camera 20A is displayed, and in a second display area 82A, an image feed of a wide-angle Class IV view from the camera 20A is displayed. The Class II view in display area 80A may be a cropped version of the Class IV view in display area 82A, for example. A display area 84A, which is a subset of the display area 80A, is used to provide an image feed from trailer camera 20C as a picture-in-picture (“PIP”) image feed as an inset window positioned on top of the Class II view in display area 80A. Thus, in this example the image feed from camera 20A is the primary image feed for display area 84A, and the image feed from the camera 20C is the PIP image feed (or “secondary image feed”), which is displayed as an inset window on top of the primary image feed, such that the secondary image feed in the display area 84A replaces the portion of the primary image feed that would otherwise be displayed in the display area 84A. As shown in Figure 9A, the primary image feed occupies a greater area of the electronic display than the PIP image feed.

[0058] In one or more embodiments, the PIP display in Figure 9A is initiated based upon detection of one or more trigger conditions (e.g., the commercial vehicle 10 having a non-zero trailer angle between axes A1 and A2 that exceeds a trailer angle threshold and / or the trailer 14 occluding a predefined portion of the display 20 (e.g., a predefined percentage of area or pixels or predefined number of pixels) in the Class II view of display area 80A and / or the Class IV view of display area 82A by a predefined amount.955652081-1

[0059] Figure 9B is a schematic view of an example display configuration that is similar to the configuration of Figure 9A, but is used for display 18B. In a first display area 80B, a Class II view from camera 18B is displayed, and in a second display area 82B, a wide-angle Class IV view from the camera 18B is displayed. The Class II view in display area 80B may be a cropped version of the Class IV view in display area 82B. A display area 84B, which is a subset of the display area 80B, is used to provide an image feed from trailer camera 20D as a picture-in-picture (“PIP”) on top of the Class II view in display area 80B. Thus, in this example the image feed from camera 20B is the primary image feed for display area 84B, and the image feed from the camera 20D is the PIP image feed, which is displayed on top of the primary image feed.

[0060] Just as with Figure 9A, in one or more embodiments, the PIP display in Figure 9B is initiated based upon detection of one or more trigger conditions (e.g., the same ones discussed above).

[0061] Although the two examples above discuss using image feeds from side trailer cameras 20C-D, it is understood that other ones of the cameras 20 could be used for the PIP image feed (e.g., camera 20D, 20E, etc.).

[0062] In either example above, the PIP may be terminated once the one or more trigger conditions no longer exist (e.g., the trailer angle falls below the predefined trailer angle threshold and / or the trailer 14 no longer occludes the predefined portion of the display 20 (e.g., predefined percentage of area or pixels or predefined number of pixels).

[0063] In or more embodiments, the primary image feed and PIP image feed switch their respective display areas between a first mode (an image feed from a first camera provides the primary image feed and an image freed from a second camera provides the PIP image feed) and a second mode (the image feed from the first camera provides the PIP image feed and the image feed from the second camera provides the primary image feed). The switching may be performed based on occurrence of at least one trigger event.

[0064] In one example, during the first mode when the vehicle 10 traveling less than a predefined speed (e.g., 10 miles per hour), and the vehicle 10 is parked or is driving forward, an image feed from a tractor 12 nose camera (e.g., camera 20E or 20J) is used as the primary image feed, and the PIP image feed that is displayed as an inset window on top of the primary image feed is from trailer camera 20F. However, when the vehicle is traveling more than the predefined speed (e.g., over 10 miles per hour), the image feeds are switched such that the image feed from trailer camera 20F is the primary image feed, and the image feed from the tractor 12 nose camera is the PIP image feed (second mode). One of the1055652081-1displays 18C-E may be used for this example. Once the vehicle falls below the predefined speed and / or parks, the views may be switched back according to the first mode.

[0065] Although displays 20A-B are discussed in the PIP examples above, it is understood that PIP could be used on any of the displays 20, including sleeper display 18F.

[0066] Also, it is understood that multiple PIP image feeds could be provided on top of a single primary image feed (e.g., but noton top of each other). For example, the sleeper display 18F could be used to depict various views from various ones of the cameras 20 in a PIP configuration, to enable a driver to monitor the surroundings of their vehicle within the enclosed privacy of the sleeper compartment 56.

[0067] Although a commercial vehicle with a tractor and trailer is discussed above, it is understood that PIP display features could also be used for a CMS for a non-commercial vehicle (e.g., a sedan or SUV) that is towing a trailer, where multiple CMS cameras are provided. In one example, a display 18 (such as display 18C) is used to display an image feed from rear trailer camera 20F as a primary image feed, and an additional image feed (e.g., from a vehicle nose camera) could be used for a PIP image feed.

[0068] Figure 10 is a flowchart of an example method 100 for a CMS 15 which may be performed by ECU 26. Image feeds from a plurality of cameras 20 that depict an environment surrounding a commercial vehicle 10 are received (step 102). Examples of these correspond to the various cameras 20A-I. A first image feed from a first camera 18 of the plurality of cameras 20 displayed on an electronic display 18 as a primary image feed (e.g., as described in Figures 9A-B) (step 104). A second image feed from a second camera 18 of the plurality of cameras 20 (which has a different field of view than the first camera) is displayed as a PIP on top of the first image feed on the electronic display 18 (step 106).

[0069] As discussed above, one of the first camera and the second camera may be mounted to a tractor of the commercial vehicle, and the other of the first camera and the second camera may be mounted to a trailer of the commercial vehicle. Also as discussed above, step 106 may be performed based on detection of occurrence of at least one trigger event.

[0070] In one or more embodiments, occurrence of a trigger event is detected by ECU 26, and step 106 is performed based on the detection.

[0071] In one or more embodiments, the first image feed and the second image feed both have rearward-facing fields of view, and the trigger event(s) for initiating the PIP image feed and / or the switching of PIP image feeds are detected by the ECU 26.1155652081-1

[0072] In one or more embodiments, the ECU 26 detects occurrence of a trigger event, and based on said detection, switches the first image feed and the second image feed such that the second image feed from the second camera is displayed on the electronic display as the primary image feed and the first image feed from the first camera is displayed as a picture-in-picture on top of the second image feed on the electronic display.

[0073] The methods and systems described herein provide for multi-view viewing within one viewing pane, and reduce screen information density by providing a PIP outside of legally prescribed fields of view (e.g., Class II and Class IV).

[0074] Although example embodiments have been disclosed, a worker of ordinary skill in this art would recognize that certain modifications would come within the scope of the claims. For that reason, the following claims should be studied to determine their true scope and content.1255652081-1

Claims

CLAIMSWhat is claimed is:

1. A method for a camera monitor system (CMS), comprising:obtaining image feeds from a plurality of cameras that depict an environment surrounding a commercial vehicle;displaying a first image feed from a first camera of the plurality of cameras on an electronic display as a primary image feed; anddisplaying a second image feed from a second camera of the plurality of cameras, which has a different field of view than the first camera, as a picture-in-picture image feed on top of the first image feed on the electronic display;wherein the primary image feed occupies a greater area of the electronic display than the picture-in-picture image feed.

2. The method of claim 1 , wherein:one of the first camera and the second camera is mounted to a tractor of the commercial vehicle on a first side of the commercial vehicle; andthe other of the first camera and the second camera is mounted to a trailer of the commercial vehicle on the second side of the commercial vehicle.

3. The method of any preceding claim, comprising:wherein said displaying the image feed from a second camera of the plurality of cameras as a picture-in-picture on top of the first image feed on the electronic display is performed based on occurrence of at least one trigger event.

4. The method of claim 3, wherein:the first camera and the second camera both have rearward-facing fields of view; and the at least one trigger event includes the trailer occluding a predefined portion of the first image feed on the electronic display.

5. The method of claim 4, wherein:the at least one trigger event further comprises the commercial vehicle having a nonzero trailer angle that exceeds a predefined trailer angle threshold; and1355652081-1said displaying the image feed from a second camera as the picture-in-picture image feed is performed based on both the commercial vehicle having the non-zero trailer angle and the trailer occluding the predefined portion the first image feed on the electronic display.

6. The method of any preceding claim, wherein:said displaying the first image feed as the primary image feed and said displaying the second image feed as the picture-in-picture image feed is performed in a first mode; and the method includes:in a second mode, switching the first image feed and the second image feed such that the second image feed is displayed as the primary image feed and the first image feed is displayed as the picture-in-picture image feed; andswitching between the first mode and the second mode based on occurrence of at least one trigger event.

7. The method of claim 6, wherein:the first camera is a backup camera that provides a rearward field of view from a rear of the commercial vehicle;the second camera provides a rearward field of view along a side of the commercial vehicle; andthe method includes entering the second mode based on a speed of the commercial vehicle exceeding a predefined speed threshold.

8. The method of claim 6 or 7, comprising:entering the first mode based on the vehicle being parked.

9. The method of claim 6 or 7, comprising:entering the first mode based on the vehicle driving forward and a speed of the commercial vehicle being below a predefined speed threshold.

10. The method of any preceding claim, comprising:displaying a third image feed from a third camera of the plurality of cameras, which has a different field of view than the first camera and the second camera, as an additional picture-in-picture image feed on top of the first image feed on the electronic display, but not on top of the second image feed.1455652081-111. A camera monitor system (CMS), comprising:a plurality of cameras mounted to a commercial vehicle and configured to provide respective image feeds that depict an environment surrounding a commercial vehicle; and processing circuitry operatively connected to memory, and configured to:obtain image feeds from a plurality of cameras that depict an environment surrounding a commercial vehicle;display a first image feed from a first camera of the plurality of cameras on an electronic display as a primary image feed; anddisplay a second image feed from a second camera of the plurality of cameras, which has a different field of view than the first camera, as a picture-in- picture image feed on top of the first image feed on the electronic display;wherein the primary image feed occupies a greater area of the electronic display than the picture-in-picture image feed.

12. The CMS of claim 11, wherein:one of the first camera and the second camera is mounted to a tractor of the commercial vehicle on a first side of the commercial vehicle; andthe other of the first camera and the second camera is mounted to a trailer of the commercial vehicle on the second side of the commercial vehicle.

13. The CMS of claim 11 or 12, comprising:wherein the processing circuitry is configured to display the image feed from a second camera of the plurality of cameras as a picture-in-picture on top of the first image feed on the electronic display based on occurrence of at least one trigger event.

14. The CMS of claim 13, wherein:the first camera and the second camera both have rearward-facing fields of view; and the at least one trigger event includes the trailer occluding a predefined portion of the first image feed on the electronic display.

15. The CMS of claim 14, wherein:the at least one trigger event further comprises the commercial vehicle having a nonzero trailer angle that exceeds a predefined trailer angle threshold; and1555652081-1the processing circuitry is configured to display the image feed from a second camera as the picture-in-picture image feed is performed based on both the commercial vehicle having the non-zero trailer angle and the trailer occluding the predefined portion the first image feed on the electronic display.

16. The CMS of any one of claims 11 to 15, wherein the processing circuitry is configured to:display the first image feed as the primary image feed and display the second image feed as the picture-in-picture image feed in a first mode;in a second mode, switch the first image feed and the second image feed such that the second image feed is displayed as the primary image feed and the first image feed is displayed as the picture-in-picture image feed; andswitch between the first mode and the second mode based on occurrence of at least one trigger event.

17. The CMS of claim 16, wherein:the first camera is a backup camera that provides a rearward field of view from a rear of the commercial vehicle;the second camera provides a rearward field of view along a side of the commercial vehicle; andthe processing circuitry is configured to enter the second mode based on a speed of the commercial vehicle exceeding a predefined speed threshold.

18. The CMS of claim 16 or 17, wherein the processing circuitry is configured to:enter the first mode based on the vehicle being parked.

19. The CMS of claim 16 or 17, wherein the processing circuitry is configured to:enter the first mode based on the vehicle driving forward and a speed of the commercial vehicle being below a predefined speed threshold.

20. The CMS of any one of claims 11 to 19, wherein the processing circuitry is configured to:display a third image feed from a third camera of the plurality of cameras, which has a different field of view than the first camera and the second camera, as an additional 1655652081-1picture-in-picture image feed on top of the first image feed on the electronic display, but not on top of the second image feed.1755652081-1

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