Cargo volume and load shift systems and methods

Abstract

A camera monitor system (CMS) for a vehicle includes a camera (20) configured to provide a captured image of a field of view including at least a portion of an interior of a trailer (14). At least one sensor (50) is mounted within an interior of the trailer to detect cargo (52) within the trailer (14). A controller (22) in communication with the camera (20) and the at least one sensor (50) provides at least one of (i) a volumetric estimation of the cargo and (ii) a determination as to whether a shift of the cargo has occurred.

Description

Docket No. 67950-331 PCTCARGO VOLUME AND LOAD SHIFT SYSTEMS AND METHODSCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Application No.63 / 721 ,996, filed on November 18, 2024, the disclosure of which is incorporated herein by reference in its entirety.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 monitor systems (CMS) utilize one or more cameras disposed about the vehicle to provide an enhanced field of view to a vehicle operator on one or more displays located in the vehicle cabin. In some examples, mirror replacement systems within the CMS can cover a larger field of view than a conventional mirror, or can include views that are not fully obtainable via a conventional mirror.SUMMARY

[0003] An example camera monitor system (CMS) for a vehicle includes a camera configured to provide a captured image of a field of view including at least a portion of an interior of a trailer. At least one sensor is mounted within an interior of the trailer to detect cargo within the trailer. A controller in communication with the camera and the at least one sensor provides at least one of (i) a volumetric estimation of the cargo and (ii) a determination as to whether a shift of the cargo has occurred.

[0004] An example method of monitoring cargo within a trailer of a vehicle includes detecting cargo within the trailer using one or more sensors mounted within the trailer. The method includes capturing at least one image of the cargo using a camera mounted within the trailer. The method includes determining at least one of (i) a volume of the cargo and (ii) whether the cargo has shifted between a first region and a second region of the trailer.Docket No. 67950-331 PCT

[0005] These and other features may be best understood from the following specification and drawings, a brief description of which follows.BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The disclosure can be further understood by reference to the following detailed description when considered in connection with the accompanying drawings wherein:

[0007] Figure 1 is a schematic front view of a commercial vehicle with a camera monitor system (CMS) used to provide at least Class II and Class IV views.

[0008] Figure 2 is a schematic bird’s-eye view of the commercial vehicle of Figure 1 with a CMS providing Class II, Class IV, Class V, and Class VI views.

[0009] Figure 3 is a schematic top view of an example vehicle cabin interior.

[0010] Figure 4 is a perspective view of the vehicle cabin interior.

[0011] Figure 5 schematically illustrates an interior view of an example trailer with a camera and one or more sensors.

[0012] Figure 6 schematically illustrates a top-down interior view of the example trailer of Figure 5.

[0013] Figure 7 schematically illustrates a top-down interior view of another example trailer.

[0014] 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

[0015] This application relates generally to camera monitor systems (CMS) and sensing systems for commercial vehicles, and more specifically to systems and methods for determining cargo volume and detecting cargo load shift within a trailer using one or more cameras and sensors.Docket No. 67950-331 PCT

[0016] Schematic views of a commercial vehicle 10 are illustrated 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. Although the commercial vehicle 10 is depicted as a commercial truck with a single trailer in this disclosure, it is understood that other commercial vehicle configurations may be used (e.g., different types or quantities of trailers).

[0017] A pair of camera arms 16A-B include a respective base that is secured to the tractor 12, and a pair of camera arms 16C-D include a respective base that is secured 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 in Figure 2). Each camera arm 16A-D includes at least one respective rearward-facing camera 20A-D on or within the arm. The cameras 20A-D are at least partially “rearward-facing” in that their respective fields of view at least partially face towards a rear of the commercial vehicle 10. The exterior cameras 20A-B respectively provide an exterior field of view FOVEX1, 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 an exterior field of view FOVEX3, FOVEX4 that have some overlap with the Class II and Class IV views.

[0018] As shown in Figure 2, the trailer 14 has a first side 21 A and an opposite second side 21 B. When the commercial vehicle 10 is driving straight as in Figure 2), camera 20A provides a view along side 21 A of the trailer 14, and camera 20B provides a view along side 21 B of the trailer.

[0019] The Class II view on a given side of the commercial vehicle 10 is a subset of the class IV view of the same side of the commercial vehicle 10. Multiple cameras also may be used in each camera arm 16A-B to provide these views, if desired. Class 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 isDocket No. 67950-331 PCTnot intended to be limiting, but rather is intended as an example of the type of view provided to a display from a particular camera.

[0020] Each camera arm 16A-16D may also provide a housing that encloses electronics (e.g., a controller) that are configured to provide various features of the CMS 15. 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.

[0021] If video of Class V and / or Class VI views is also desired, a camera housing 16E and camera 20E may be arranged at or near the front of the commercial vehicle 10 to provide those views (Figure 2).

[0022] A backup camera 20F provides a field of view FOVEX5 of rear area 28C behind the commercial vehicle 10, which overlaps the fields of view FOVEX1, FOVEX2, FOVEX3A, FOVEX4A. 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.

[0023] Alternatively, or in addition to the rear trailer camera, a “fifth-wheel camera” 20G may be provided that is mounted to a rear of the tractor 12 and that provides a field of view FOVEX6 which, when the trailer 14 is disconnected from the tractor 12, also overlaps the fields of view FOVEX1 , FOVEX2, FOVEX3A, FOVEX4A. The fifth-wheel camera 20G may be mounted anywhere between the lateral plane of the fifth-wheel fixture and the top / roof edge of the tractor, for example.

[0024] One or more cameras 20H may be mounted within the trailer 14 to provide a field of view (FOVINT1) of the interior of the trailer 14. In some implementations, the camera 20H is mounted on an upper rear portion or other internal structure of the trailer 14 and oriented forward, for example toward the tractor or kingpin. In some examples, the orientation of the camera 20H may be adjustable, either manually or electronically, to accommodate different trailer configurations or loading conditions. The field of view FOVINT1 may encompass at least a portion of the cargo located within the trailer interior. Other mounting positions may be utilized.Docket No. 67950-331 PCTFor example, the camera 20H may be mounted on a sidewall, ceiling, or front bulkhead of the trailer 14 depending on desired coverage. In certain implementations, multiple cameras may be positioned within the trailer 14 to capture different or overlapping interior regions. The cameras 20A-H are part of a camera monitor system (CMS) 15.

[0025] Figure 3 is a schematic top view of an example vehicle cabin interior 24, and Figure 4 is a perspective view of the vehicle cabin interior 24. With continued reference to Figures 1-2, electronic displays 18A-E (e.g., which may be video displays, such as LCD displays) and cameras 20A-H are shown. The various electronic displays 18A-E and cameras 20A-H are part of the CMS 15, and therefore act as CMS displays and CMS cameras. As used herein, a “CMS camera” 20 is a camera configured to record images of an environment associated with commercial vehicle 10, and a “CMS display” 18 is an electronic display (e.g., an LCD) that is configured to display image feeds from those cameras.

[0026] The CMS 15 includes a CMS electronic control unit (ECU) 22 that acts as a controller and includes processing circuitry that supports operation of the CMS 15. The CMS ECU 22 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.

[0027] The CMS displays 18A-B are arranged on each of the driver and passenger sides within the vehicle tractor 12 on or near the A-pillars 19A-B to display Class II and Class IV views on its respective side of the commercial vehicle 10, which provide rearward-facing side views along the commercial vehicle 10 that are captured by the exterior cameras 20A-B.

[0028] As discussed above, if video of Class V and Class VI views is also desired, the camera housing 16E and camera 20E may be arranged at or near the front of the commercial vehicle 10 to provide those views (Figure 2). In the example of Figure 5, additional displays 18C-E are provided. Display 18C is arranged in theDocket No. 67950-331 PCTvehicle cabin interior 24 near the top center of the windshield and may be used to display the Class V and Class VI views, which are toward the front of the commercial vehicle 10, or a backup camera view (from camera 20F or 20G) to the driver. 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.

[0029] If desired, one or more of the camera arms 16A-D 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 can include multiple camera arms, with each arm housing one or more cameras and / or mirrors.

[0030] An interior monitoring system 60 may include one or more sensors 50 that may be positioned within the interior of the trailer 14, and further described herein, as well as one or more cameras 20H.

[0031] In implementations, the one or more sensors 50 include a plurality of sensors 50 connected through a daisy-chained architecture via connections 51 , which also provide power and data communication, such as sensor data to a destination ECU 22.

[0032] In implementations, communication between the sensors 50 and the ECU 22, as well as between camera 20H and ECU 22, occurs via tractor communication interface 57A of the tractor 12 (which is in communication with the ECU 22) and trailer communication interface 57B of the trailer 14. In one or more embodiments, the communication interfaces 57A-B are gateway devices connected to each other through a standardized trailer connector 59, such as an SAE J560 sevenpin connector for a conventional trailer wiring harness, and data is transmitted onto the wiring harness by modulating data onto the wiring harness (e.g., as described in WO2022271940A1). The daisy-chaining of sensors may utilize multiplexing and / or or multi-protocol solutions, and may yield reduced wiring as compared to a configuration in which each sensor 50 had a separate connection to the communication interfacesDocket No. 67950-331 PCT

[0033] As discussed herein, the CMS 15, including the interior monitoring system 60, is configured to estimate cargo volume within the trailer 14. The estimation may be performed continuously, periodically, automatically, manually, and / or in response to a detected event such as door opening, vehicle startup, acceleration, braking, turning, or other maneuvers. Additionally or alternatively, the CMS 15 is configured to monitor cargo distribution and detect load imbalance conditions, such as determining whether a cargo load shift has occurred within the trailer 14. For example, the CMS 15 may compare cargo distributions across predefined zones within the trailer and determine whether a center of mass has shifted beyond a threshold. In some implementations, cargo volume and load balance data may be transmitted to an external system, such as a fleet management server or telematics platform, for recordkeeping, analysis, or operator notification.

[0034] As shown schematically in Figures 5 and 6, one or more sensors 50 may be positioned within the interior of the trailer 14 to sense cargo 52 within the trailer 14. In implementations, the sensors 50 are ultrasonic sensors. In implementations, the sensors 50 are LiDAR sensors. In additional implementations, other distancemeasuring or proximity sensors may be utilized, either alone or in combination.

[0035] In implementations, the interior of the trailer 14 may be divided into multiple interior regions, such as regions 14A-14D shown in Figures 5-6, with one or more sensors 50 positioned to sense cargo 52 within each region. More or fewer regions 14A-14D may be utilized, depending on trailer size, configuration, and / or desired resolution of measurement. Data from the sensors 50 may be fused with other vehicle data, such as images from the cameras 20, which may improve the accuracy or robustness of cargo detection and volume estimation in some applications.

[0036] The ECU 22 may be in communication with the camera 20H and the sensors 50, and may be configured to determine and calculate the volume of the cargo 52 based on data obtained from one or both of the sensors 50 and the camera 20H. In some implementations, the ECU 22 analyzes the data in real time, processes distance or depth measurements, and computes cargo volume based on a predefined model, algorithm, or stored calibration profile. The sensors 50 may measure distancesDocket No. 67950-331 PCTto multiple points on the surface of the cargo 52, and by analyzing those measurements, the ECU 22 may generate an approximate geometric representation of the cargo objects. Once the geometry is established, the ECU 22 may apply volumetric calculation routines or shape-fitting algorithms to determine the total volume of the cargo 52.

[0037] In some implementations, the ECU 22 may combine distance data from the sensors 50 with image-based depth information from the camera 20H to enhance measurement precision or confidence. In implementations, the ECU 22 may utilize a trained model or pattern recognition algorithm to identify cargo outlines, classify object types, or improve volumetric estimation.

[0038] In implementations, the camera 20H may be utilized for volumetric estimation with the use of the sensors 50 as a secondary input used to confirm the estimated volume from the camera 20H.

[0039] In implementations, volumetric measurements may be regularly performed by one or both of the camera 20H and the sensors 50 to detect load shifts, such as by determining and comparing cargo volumes across interior regions of the trailer 14. For example, the camera 20H may be utilized with computer vision algorithms (e.g., edge detectors, feature descriptors) to detect the difference in volume by referencing landmarks within the trailer 14 in a fully unloaded state (e.g., wall panels, rear wall, junction lines between floor, walls, ceiling and back wall). One or more images of the trailer 14 interior in a fully unloaded state may be captured and stored for future comparison. By comparing the difference between a model image of an unloaded trailer (e.g., calibrated when the camera 20H is first installed) and one or more captured images of a fully or partially loaded trailer, volume estimates and / or load shift detections within the fully or partially loaded trailer may be performed. In implementations, the estimates and detections may be supplemented with data from the sensors 50 and determinations based on the same for added confidence.

[0040] In low-light or fully enclosed conditions (e.g., doors closed), an illumination source 55 is used to enable camera-based volumetric estimation, such asDocket No. 67950-331 PCTa visible-light LED and / or a near-infrared (NIR) emitter mounted within the same package as the camera 20H or in a nearby location.

[0041] In implementations, the system may periodically update the model image or baseline data. In implementations, if the ECU 22 determines that a volumetric change exceeds a predetermined threshold, an alert may be generated and transmitted to the vehicle operator or a remote monitoring system. When the rear door is closed, the illumination source 55 may be automatically activated at intervals to enable volumetric estimation by the computer-vision algorithm.

[0042] In implementations, the sensors 50 may be mounted to the roof side of the interior of the trailer 14, the sidewalls of the interior of the trailer 14, incorporated into the floor of the trailer 14, or combinations thereof.

[0043] In implementations, the sensors 50 may be daisy-chained together and communicate via LIN, CAN, Ethernet or other digital communication protocols. The sensors 50 may be placed to subdivide the trailer in regions symmetrically based on the number of sensors 50. In implementations, a sensor 50 may be centrally placed within its respective region.

[0044] The camera 20H positioned at the rear of the trailer 14 may be used to determine the volumetric measurement. In some cases, Applicant has found that the camera 20H can be occluded from capturing images of areas within the trailer 14 due to blockage, such as by cargo in zones closer to the camera 20H, which may lead to incorrect volumetric measurement and / or load shift determination. In implementations, the sensors 50 may be utilized for determining volume and / or load shift determination, and may even be prioritized over the camera 20H. The ECU 22 may automatically adjust the weighting between the camera 20H and the sensors 50 based on image quality metrics, such as contrast, brightness, or detected occlusion. In multi-camera configurations, data from additional cameras positioned at other interior locations may be used to compensate for regions occluded from the rearmounted camera 20H.

[0045] Load shift may be determined by periodically checking the volume estimated in one or more zones 14A-14D of the sensors 50 during active transport,Docket No. 67950-331 PCTsuch as to determine if trailer cargo 52 may have shifted significantly. Significant load shifts can adversely affect vehicle handling or stability (e.g., increase the risk of loss of control or collision) and may also result in cargo damage.

[0046] For example, a model image and / or baseline sensor readings may be captured at or before the beginning of a trip with the trailer loaded. Additional images and / or sensor readings may then be captured at intervals throughout the trip and compared with the baseline data to determine whether the cargo 52 has moved. If the ECU 22 determines that a load shift has occurred, it may generate an alert to notify the vehicle operator of the condition. In some implementations, the alert may be provided only if the detected shift exceeds a predetermined threshold corresponding to normal movement expected during vehicle operation. Signals and data associated with the sensors 50 and the camera 20H may be communicated to the trailer 14 through a wired data connection between the tractor 12 and the trailer 14.

[0047] A wired data communications architecture has been developed for transmitting a signal between the tractor and the connected trailer component over a standard SAE J5607-pin connector (referred to herein as a “J560” connector) and a standard tractor-trailer cable. One such architecture is disclosed in International Patent Application No. PCT / US2022 / 034710, entitled “TRAILER CAMERA COMMUNICATIONS SYSTEM”, filed on June 23, 2022 and incorporated herein by reference in its entirety. Data and signals associated with the sensors 50 and / or the camera 20H may be communicated to the tractor 12 through such components. Data may be communicated in real-time to provide alerts and / or allow the vehicle operator to rectify the situation or inform dispatch to prevent loss or injury. Video feed from the camera 20H may thus be viewed on one or more displays 18 inside the tractor 12.

[0048] As described in International Patent Application No. PCT / US2022 / 034710, entitled “TRAILER CAMERA COMMUNICATIONS SYSTEM,” the trailer communication architecture may enable transmission of sensor and video data over existing trailer wiring without requiring dedicated signal cables. In that system, a processor located on the trailer may be interconnected between one or more sensors (e.g., cameras, radar, LiDAR, or ultrasonic sensors) and the trailer wiringDocket No. 67950-331 PCTharness. The processor encodes or transforms sensor signals for transmission over common power and ground wires that also carry conventional trailer control signals (such as lighting and brake signals) to the tractor. A corresponding processor and filter located on the tractor 12 decode the sensor signals and deliver them to the CMS for display. This configuration allows high-speed, low-latency communication between the trailer and tractor while utilizing J560 connectors and standard 7-pin cabling, thereby reducing installation complexity and cost.

[0049] In the context of the present disclosure, the communication architecture described in the aforementioned PCT application may be employed to facilitate data exchange between the trailer-mounted components of the CMS 15 and the tractor 12. In particular, signals and data generated by the interior camera 20H and the sensors 50 may be encoded and transmitted over the same common wiring used for standard trailer lighting and control functions, such as marker, brake, and turn signals. A corresponding processor and filter located on the tractor 12 may then decode the transmitted signals and route them to the ECU 22 or one or more CMS displays 18 for analysis and presentation to the vehicle operator. Utilizing this shared-wiring communication architecture allows the cargo volume and load-shift detection features described herein to be implemented without the need for dedicated cabling between the trailer and tractor.

[0050] In implementations, multiple interior sensor assemblies may be connected in a wired daisy-chained configuration and are configured to transmit their data to the controller through the daisy-chained connection. Lower-bandwidth data (e.g., temperature or humidity) may be transported over CAN, LIN, or Ethernet 10BASE-T1S. Video traffic may be transported over Ethernet, HDBaseT, and / or A-PHY. Point-to-point links (e.g., LVDS families such as FPD-Link or GMSL) may be used where a tractor-trailer interface provides dedicated cabling (e.g., coax) rather than shared wiring. In some implementations, tractor-trailer interfaces may provide dedicated conductors (e.g., CAN, LIN, LVDS, Ethernet, or A-PHY) to support higher-bandwidth video / sensor links. Lower-bandwidth channels may be multiplexed with video where supported.Docket No. 67950-331 PCT

[0051] In implementations, each sensor assembly may include a transceiver and local processing circuitry, enabling ad-hoc or mesh networking among assemblies to extend connectivity and aggregate interior state information.

[0052] In implementations, a wireless transceiver (e.g., Wi-Fi, Bluetooth, or cellular) may be used by one or more assemblies to batch-upload stored sensor data to the controller or a remote destination.

[0053] In implementations, interior sensor assemblies support dual power modes: a first mode powered by the tractor when the trailer is electrically connected, and a second mode powered by one or more trailer-mounted batteries when disconnected. The assemblies may automatically enter the first mode upon electrical connection and the second mode upon disconnection, and may charge local batteries while in the first mode.

[0054] In implementations, one or more photovoltaic panels mounted on the trailer roof may charge the batteries associated with the interior sensor assemblies to maintain functionality when the trailer is parked or otherwise not connected to a tractor.

[0055] In implementations, the power system may also support a nearinfrared (NIR) emitter for night-vision operation, and the interior camera may be a NIR-sensitive or RGB-IR camera that combines visible and NIR imaging.

[0056] The camera 20H may be utilized with other sensors to provide the vehicle operator status of loaded cargo while loading at a dock. In implementations, these sensors may include one or more of a door position sensor, light sensor, temperature sensor, and humidity sensor mounted at or near the rear of the trailer 14. In implementations, sensors can include one or more of the camera 20H, a door ajar sensor, ultrasonic, radar, and light, which may all be housed in an integrated sensor package. In some examples, one or more of the sensors may be mounted within a common housing configured for modular installation, allowing a user or customer to select, add, or remove specific sensor types to achieve a desired configuration. In some implementations, the integrated or modular sensor package may further include additional components such as motion sensors, accelerometers, gyroscopes, orDocket No. 67950-331 PCTillumination elements (e.g., LEDs or work lights) to enhance visibility, detect movement within the trailer, or provide supplemental environmental awareness.

[0057] For swing-door type trailers that are opened prior to docking, the interior volume sensing and interior view provided to the cab can be useful to verify the presence or positioning of goods during loading operations. In some examples, this functionality may help prevent situations in which the driver inadvertently departs from the dock while a forklift is still entering or exiting the trailer 14. A vehicle operator may view the camera feed within the tractor (e.g., on a display 18) to confirm cargo status in real time. In certain implementations, detection of a door-opening event may trigger additional monitoring or analysis of the cargo, such as initiating a new volumetric estimation and / or load-shift detection sequence using one or both of the camera 20H and the sensors 50. Motion sensors, accelerometers, or gyroscopes may be used to detect abnormal vibrations or movement patterns indicative of cargo tampering, theft, or collision events. Audible or visual alerts may be generated locally or transmitted remotely in response to such detections. When a door-ajar condition is detected (e.g., via the CMS), the LED illumination may be automatically activated to aid interior visibility during loading.

[0058] In implementations, a visible light source (e.g., LED work light) integrated with a sensor assembly may illuminate the trailer interior to enhance image capture and motion detection during low-light loading, unloading, or stationary monitoring.

[0059] Door position status and volumetric estimation data may be applied in additional operational and security-related contexts. For example, such data may be analyzed to determine the efficiency or rate of cargo unloading by a receiving or unloading entity. In another example, the data may be used to detect an open-door condition and estimate any loss of cargo volume potentially attributable to theft or unauthorized access. Changes in cargo presence or configuration may be continuously monitored using the disclosed systems to deter or detect theft. Furthermore, providing the driver with real-time updates on the degree to which theDocket No. 67950-331 PCTtrailer 14 is loaded can assist in assessing anticipated departure times and improving overall logistics efficiency.

[0060] In implementations, a door position sensor may detect whether a rear door is open or closed, and a door lock sensor may detect whether the rear door is locked or unlocked. An actuator may be provided to lock or unlock the rear door under controller command.

[0061] In implementations, a “sentry mode” may be enabled while the trailer is stationary and not expected to be accessed. During sentry mode, detection of motion within the trailer, motion of the trailer itself, or a door-open event without authorization may trigger an alarm.

[0062] In implementations, the alarm may include one or more of: emitting sound through a buzzer or speaker, flashing one or more trailer or tractor lights, and transmitting a notification to a driver, dispatcher, or fleet manager.

[0063] In implementations in a refrigerated trailer, temperature and / or humidity data captured by interior sensor assemblies may be evaluated by the controller to determine whether food-safety requirements are met, and violations may trigger alerts and event logging. Additionally, temperature readings across different sensor assemblies may be analyzed to detect irregularities indicative of loads at risk of failing food-safety requirements. Spatial temperature patterns may also reveal improper loading that impedes refrigeration airflow (e.g., causing the reefer unit to struggle to control temperature due to poor circulation).

[0064] In refrigerated trailer applications, long-wave infrared (LWIR) cameras (commercial thermal cameras) may be utilized to perform volumetric estimation under low-light conditions and to provide granular verification of food-safety requirements, including detection of thermal anomalies across cargo zones.

[0065] As another example, and as illustrated in Figure 7, a trailer 114 substantially similar to the trailer 14 may be divided into multiple regions, such as eight regions 114A-114H, with a corresponding sensor 150A-150H mounted — e.g., centrally — within each respective region to monitor cargo located therein. It should be understood that like reference numerals are used throughout the several drawings toDocket No. 67950-331 PCTidentify corresponding or functionally similar elements. The number, shape, or layout of regions may vary depending on trailer geometry, cargo type, or the sensing range of the installed sensors, and additional or fewer regions may be implemented to achieve a desired level of volumetric resolution or coverage.

[0066] As such, the systems and methods disclosed herein may be utilized in a variety of operational and safety-related applications, including but not limited to the following:• Cargo volume estimation using camera-based analysis• Cargo volume estimation using sensor-zone measurement• Cargo load-shift detection using camera-based analysis• Cargo load-shift detection using sensor-based measurement• Multi-camera cargo volume estimation for enhanced accuracy• Multi-camera cargo load-shift detection for redundancy and verification• Real-time loading status display to the driver during dock operations• Prevention of dock departure while a forklift operator or equipment remains within the trailer• Theft detection and volumetric loss assessment of cargo

[0067] A method according to one or more of the examples disclosed herein may be said to include detecting cargo within a trailer of a vehicle with one or more sensors mounted within the trailer. The method may include determining whether the cargo has shifted from a first area of the trailer to a second area of the trailer different from the first area. The method may include determining a volume of the cargo. The method may be performed continuously, periodically, or in response to one or more detected events, such as vehicle acceleration, braking, turning, or door opening.

[0068] In implementations, the method may include calibrating the sensors and / or cameras against a baseline or reference condition, such as an unloaded trailer, to improve volumetric and positional accuracy. The method may also include detecting theft or unauthorized cargo removal by comparing current volumetric or positional data to previously stored measurements. In some examples, data from multiple sensing modalities — such as cameras, ultrasonic sensors, LiDAR, or radar — may be fused orDocket No. 67950-331 PCTcross-referenced to enhance detection reliability, reduce measurement uncertainty, and generate a composite representation of cargo distribution within the trailer.

[0069] In implementations, the method may include detecting blockage, occlusion, or performance impairment of one or more sensors or cameras. Upon detection of such a condition, the system may automatically prioritize or weight data from non-occluded sensors or alternate sensing modalities to maintain accurate volumetric or load-shift determinations.

[0070] In certain implementations, alerts may be automatically generated based on the detected conditions or computed data, such as a detected load shift, cargo loss, theft event, or sensor malfunction. Additionally or alternatively, the collected data and alerts may be communicated to a remote system, such as a fleet management or telematics platform, to enable centralized monitoring, event logging, or operator notification.

[0071] In implementations, the method may include alerting a vehicle operator if a cargo shift is determined. In implementations, the method may include displaying data associated with the camera or the sensors on a display within the tractor.

[0072] In implementations, the method may include capturing an image of the cargo with a camera mounted within the trailer. In implementations, the method may include capturing a model image of the inside of the trailer with a camera mounted within the trailer. The method may include comparing a captured image to a model image to determine one or both of cargo volume and cargo load shifting. The model image may be of an unloaded trailer. The model image may be of a loaded trailer before departure.

[0073] In implementations, the method may include displaying the image within a tractor of the vehicle.

[0074] In implementations, the techniques described herein relate to a camera monitor system (CMS) for a vehicle, including: a camera configured to provide a captured image of a field of view including at least a portion of an interior of a trailer; at least one sensor mounted within an interior of the trailer and configured to detectDocket No. 67950-331 PCTcargo within the trailer; and a controller in communication with the camera and the at least one sensor and configured to provide at least one of (i) a volumetric estimation of the cargo and (ii) a determination as to whether a shift of the cargo has occurred.

[0075] In implementations, the techniques described herein relate to a CMS, including a display in communication with the camera and configured to depict a displayed image including at least a portion of the captured image.

[0076] In implementations, the techniques described herein relate to a CMS, wherein the at least one sensor is an ultrasonic sensor.

[0077] In implementations, the techniques described herein relate to a CMS, wherein the at least one sensor includes a plurality of ultrasonic sensors.

[0078] In implementations, the techniques described herein relate to a CMS, wherein a first of the plurality of ultrasonic sensors is positioned within a first area of the interior of the trailer, and a second of the plurality of ultrasonic sensors is positioned within a second area of the interior of the trailer.

[0079] In implementations, the techniques described herein relate to a CMS, wherein the controller is configured to determine whether cargo has shifted from the first area to the second area.

[0080] In implementations, the techniques described herein relate to a method, including: detecting cargo within a trailer of a vehicle with one or more sensors mounted within the trailer; and determining whether the cargo has shifted from a first area of the trailer to a second area of the trailer different from the first area.

[0081] In implementations, the techniques described herein relate to a method, including: alerting a vehicle operator if a cargo shift is determined.

[0082] In implementations, the techniques described herein relate to a method, including: capturing an image of the cargo with a camera mounted within the trailer.

[0083] In implementations, the techniques described herein relate to a method, including: displaying the image within a tractor of the vehicle.Docket No. 67950-331 PCT

[0084] In implementations, the techniques described herein relate to a method, including: detecting cargo within a trailer of a vehicle with one or more sensors mounted within the trailer; and determining a volume of the cargo.

[0085] In implementations, the techniques described herein relate to a method, including: capturing an image of the cargo with a camera mounted within the trailer.

[0086] In implementations, the techniques described herein relate to a method, including: displaying the image within a tractor of the vehicle.

[0087] In implementations, a camera monitor system (CMS) for a vehicle includes a camera configured to capture an image of a field of view including at least a portion of an interior of a trailer. The system includes at least one sensor mounted within the interior of the trailer and configured to detect cargo within the trailer, and a controller in communication with the camera and the at least one sensor. The controller is configured to provide at least one of a volumetric estimation of the cargo and a determination as to whether a shift of the cargo has occurred.

[0088] In implementations, the system includes a display in communication with the camera and configured to depict a displayed image comprising at least a portion of the captured image. The at least one sensor may include an ultrasonic sensor, or a plurality of ultrasonic sensors positioned to subdivide the trailer interior into multiple regions. The controller may determine whether cargo has shifted from a first region to a second region of the trailer and may fuse data from the camera and the sensors to improve volumetric estimation accuracy or compensate for occlusion of the camera.

[0089] In implementations, the camera and the at least one sensor are integrated into a modular sensor package that is configurable to include one or more of a door position sensor, light sensor, temperature sensor, humidity sensor, radar sensor, motion sensor, accelerometer, or gyroscope. The modular sensor package is removably mounted within the trailer and configured to allow addition or removal of sensor elements based on vehicle configuration or customer preference. The systemDocket No. 67950-331 PCTcan include one or more illumination elements configured to provide lighting within the trailer in response to a detected door-opening or loading event.

[0090] In implementations, the controller is configured to transmit volumetric or load-shift data to a remote monitoring or fleet management system. The camera and the at least one sensor communicate with the controller via a shared trailer wiring harness that also carries trailer lighting or braking control signals, such as through J560 connector and standard 7-pin tractor-trailer cable. The controller can compare cargo distributions across predefined zones within the trailer and determine whether a center of mass has shifted beyond a threshold.

[0091] In implementations, an illumination source is configured to illuminate the trailer interior for camera-based volumetric estimation.

[0092] In implementations, a method of monitoring cargo within a trailer of a vehicle includes detecting cargo within the trailer using one or more sensors mounted within the trailer, capturing at least one image of the cargo using a camera mounted within the trailer, and determining at least one of a volume of the cargo and whether the cargo has shifted between a first region and a second region of the trailer. The method can include comparing the captured image to a stored reference image of the trailer in an unloaded condition to determine volumetric change, detecting a dooropening event and initiating a new volumetric estimation sequence in response, and fusing data from the camera and sensors to improve volumetric estimation accuracy.

[0093] In implementations, the method includes detecting a blockage, occlusion, or malfunction of one of the camera or sensors and prioritizing data from a non-occluded sensor in response. The method can also include generating an alert in response to a detected cargo shift or volumetric change exceeding a predetermined threshold, where the alert includes one or more of a visual, auditory, or haptic output. In implementations, data associated with the determination is transmitted to a remote system for storage, analysis, or operator notification.

[0094] In implementations, the method includes automatically activating a light source such as a visible-light LED in response to detecting a door-ajar condition to aid interior loading. The method may include automatically activating a near-infraredDocket No. 67950-331 PCTemitter when the door is closed to enable camera-based volumetric estimation under low-light conditions.

[0095] The systems and methods disclosed herein provide significant improvements in the monitoring and management of cargo within commercial trailers. By integrating camera-based imaging with one or more internal sensors, such as ultrasonic, LiDAR, radar, or motion sensors, the disclosed system enables volumetric estimation and load-shift detection that are fast, accurate, and reliable.

[0096] In some applications, sensor fusion of camera data and distance measurements improves depth accuracy and robustness under variable lighting or occlusion conditions. This allows continuous monitoring of trailer interiors even when portions of the camera view are blocked by cargo, dust, condensation, or low-light environments. As a result, the system maintains consistent volumetric measurement performance under a variety of conditions.

[0097] In implementations, the wiring architecture enables transmission of sensor and video data over existing trailer electrical connections, eliminating the need for dedicated high-speed cabling. This reduces installation cost, simplifies retrofitting, and minimizes wiring failure points, while allowing low-latency communication suitable for real-time driver feedback and safety alerts.

[0098] In implementations, the system provides improved safety and operational efficiency. Real-time cargo-shift detection reduces the risk of vehicle instability, rollover, or cargo damage. Door-event detection and live interior imaging improve dock-loading safety. Theft-detection functions further enhance asset protection by correlating door openings and volumetric losses.

[0099] Collectively, these technical effects provide an enhanced and unified trailer-monitoring platform that improves vehicle safety, cargo integrity, and operational efficiency while reducing system complexity and installation cost relative to prior art solutions.

[0100] The foregoing description shall be interpreted as illustrative. A worker of ordinary skill in the art would understand that various alternatives, extensions, and modifications may fall within the scope of this disclosure. MultipleDocket No. 67950-331 PCTexamples have been described, and any combination of the described systems, components, operations, or functions is contemplated. It is possible to employ certain features or components from one example in combination with features or components from another. These and other variations are within the scope of the following claims.

Claims

Docket No. 67950-331 PCTCLAIMSWhat is claimed is:

1. A camera monitor system (CMS) for a vehicle, comprising:a camera configured to provide a captured image of a field of view including at least a portion of an interior of a trailer;at least one sensor mounted within an interior of the trailer and configured to detect cargo within the trailer; anda controller in communication with the camera and the at least one sensor and configured to provide at least one of (i) a volumetric estimation of the cargo and (ii) a determination as to whether a shift of the cargo has occurred.

2. The CMS of claim 1 , comprising:a display in communication with the camera and configured to depict a displayed image comprising at least a portion of the captured image.

3. The CMS of claim 1 , wherein the at least one sensor is an ultrasonic sensor.

4. The CMS of claim 1 , wherein the at least one sensor includes a plurality of ultrasonic sensors positioned to subdivide the interior of the trailer into a plurality of regions.

5. The CMS of claim 4, wherein the controller is configured to determine whether cargo has shifted from a first region of the plurality of regions to a second region of the plurality of regions.

6. The CMS of claim 1 , wherein the controller is configured to fuse data from the camera and the at least one sensor to improve volumetric estimation accuracy or compensate for occlusion of the camera.Docket No. 67950-331 PCT7. The CMS of claim 1 , wherein the camera and the at least one sensor are integrated into a modular sensor package that is configurable to include one or more of a door position sensor, light sensor, temperature sensor, humidity sensor, radar sensor, motion sensor, accelerometer, or gyroscope.

8. The CMS of claim 7, wherein the modular sensor package is removably mounted within the trailer and configured to allow addition or removal of sensor elements based on vehicle configuration or customer preference.

9. The CMS of claim 1, further comprising one or more illumination elements configured to provide lighting within the trailer in response to a detected door opening or loading event.

10. The CMS of claim 1, wherein the controller is configured to transmit volumetric or load-shift data to a remote monitoring or fleet management system.

11. The CMS of claim 1, wherein the camera and the at least one sensor communicate with the controller via a shared trailer wiring harness that also carries trailer lighting or braking control signals.

12. The CMS of claim 11 , wherein the shared trailer wiring harness includes a standard J560 connector and a seven-pin tractor-trailer cable.

13. The CMS of claim 1, wherein the controller is configured to compare cargo distributions across predefined zones within the trailer and determine whether a center of mass has shifted beyond a threshold.Docket No. 67950-331 PCT14. A method of monitoring cargo within a trailer of a vehicle, comprising: detecting cargo within the trailer using one or more sensors mounted within the trailer;capturing at least one image of the cargo using a camera mounted within the trailer; anddetermining at least one of (i) a volume of the cargo and (ii) whether the cargo has shifted between a first region and a second region of the trailer.

15. The method of claim 14, further comprising:comparing the at least one image to a stored reference image of the trailer in an unloaded condition to determine volumetric change.

16. The method of claim 14, further comprising:detecting a door-opening event and initiating a new volumetric estimation sequence in response.

17. The method of claim 14, further comprising:detecting a blockage, occlusion, or malfunction of one of the camera and one or more of the sensors; andin response to the detection, prioritizing data from the other of the camera and one or more of the sensors.

18. The method of claim 14, further comprising:fusing data from the camera and the one or more sensors to improve volumetric estimation accuracy.

19. The method of claim 14, further comprising generating an alert in response to a detected cargo shift or volumetric change exceeding a predetermined threshold, the alert comprising at least one of a visual, auditory, or haptic output.Docket No. 67950-331 PCT20. The method of claim 14, further comprising:transmitting data associated with the determining step to a remote system.

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