Camera Mirror Auto Panning Using Weighted Trailer Angle Estimation

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Solution Overview

Problem

Manual panning systems in camera mirror systems for commercial vehicles are inadequate for trailer reversing maneuvers, as they require frequent adjustments and provide insufficient granularity, while automatic systems face inaccuracies in trailer angle estimates, especially in varying conditions.

Innovation Solution

A method that determines multiple trailer angle estimates using distinct methods, assigns confidence values, calculates a weighted sum, and automatically pans the view based on this sum, incorporating low-pass filtering and historical data to maintain a stable and accurate view of the trailer's rear edge within the camera's field of view.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If manual panning systems are used to adjust camera views during trailer reversing, then the operator can manually adjust the view, but frequent stopping is required and adjustments lack sufficient granularity

Engineering Contradiction:

Improvemanual view adjustmentVSAvoidfrequent stopping during maneuver

Core Design Contradiction:

Ease of operationVSLoss of time

Solution Approach 1:

The system automatically pans the camera view by detecting trailer angle and autonomously adjusting the camera orientation to maintain the trailer rear edge in view, eliminating the need for manual operator intervention and frequent stopping during reversing maneuvers

Inventive Principle:

Principle #25Self-service

2Extent of automation

If automatic panning systems are implemented using single trailer angle estimates, then automated view adjustment is achieved, but inaccuracies in trailer angle estimates reduce reliability

Engineering Contradiction:

Improveautomatic view adjustmentVSAvoidtrailer angle estimation accuracy

Core Design Contradiction:

Extent of automationVSReliability

Solution Approach 1:

The system combines multiple trailer angle estimates from different sources (image-based wheel detection, trailer rear edge angle detection, trailer marking angle detection, hitch angle sensors, wheel angle sensors) and fuses them using confidence values to produce a more reliable weighted average trailer angle for accurate automatic panning

Inventive Principle:

Principle #5Merging (Combining)

3Measurement precision

If multiple estimation methods are used to improve trailer angle accuracy, then measurement precision improves, but device complexity increases

Engineering Contradiction:

Improvetrailer angle estimation accuracyVSAvoidmultiple estimation systems

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The system introduces a fusion module that acts as an intermediary, combining multiple trailer angle estimates from different sensors and image processing methods, assigning confidence values to each estimate, and calculating a weighted average to produce a single reliable trailer angle value for controlling the automatic panning

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS11780371B2Auto panning camera mirror system including weighted trailer angle estimation

Publication Date: 2023.10.10 STONERIDGE INC

AI summary

A method for automatically panning a view for a commercial vehicle includes determining a plurality of estimated trailer angles. Each estimated trailer angle is determined using a distinct estimation method, and method assigns a confidence value to each estimated trailer angle in the plurality of estimated trailer angles. The method determines a weighted sum of the plurality of estimate trailer angles, and automatically pans the view based at least in part on the weighted sum and a current vehicle operation.