Abstract: A camera monitor system for a vehicle includes at least one forward facing camera that has a field of view that at least partially encompasses a route of forward travel of the vehicle. A camera monitor system (CMS) is configured to receive a video feed from the at least one forward facing camera. The CMS includes a processor and a memory, the memory stores instructions for causing the processor to identify a clearance object in the video feed, for causing the processor to determine a clearance height of the clearance object from the video feed, and compare the clearance height of the clearance object to a height of a trailer, and initiate a response in response to the clearance height of the object being less than or equal to the clearance height of the trailer.

Abstract: An example method for reducing video transmission bandwidth includes receiving a plurality of video feeds from a plurality of cameras disposed on a vehicle including a cab and a trailer. Each of the video feeds has a distinct field of view. The plurality of video feeds are stitched into a single stitched video feed. The stitched video feeds are compressed into a compressed data stream. The compressed data stream is transmitted to at least one remote system. The stitched video feeds are decompressed.

Abstract: A method for detecting a load status change of a trailer includes responding to a first triggering event by storing a first snapshot of a trailer that is generated by at least one camera that is local to a vehicle that includes the trailer, responding to a subsequent second triggering event by storing a second snapshot of the trailer that is generated by the at least one camera that is local to the vehicle that includes the trailer, comparing the first snapshot to the second snapshot and determining a deviation between the image of the first snapshot and the image of the second snapshot, and identifying a trailer load status change as having occurred in response to the deviation exceeding a predefined magnitude.

Abstract: An method for automatically panning a view for a commercial vehicle includes analyzing a portion of a first view at a first time to determine a position of a vehicle feature within the first view, wherein the first view is a subset of a second view, estimating an expected position of the vehicle feature in the first view at a second time subsequent to the first time, defining a region of interest centered on the expected position of the vehicle feature in the second view and analyzing the region of interest to determine an exact position of the vehicle feature at the second time, and determining a current trailer angle based on a position of the vehicle feature within the second view.

Abstract: A method for estimating a trailer wheel position includes identifying a first set of wheel locations in at least a first image. Each of the wheel locations in the first set of wheel locations is associated with a corresponding trailer angle. A subset of wheel locations is identified in the first set of wheel locations as being false positives and the false positives are removed from the first set of wheel locations. A quadratic regression is applied to the first set of wheel locations and a parabola curve is determined relating a y position in the at least the first image to an x position in the at least the first image. A trailer angle is determined. A current wheel location is estimated by applying the determined trailer angle to the parabola curve.

Abstract: A method for detecting a trailer presence includes identifying a region of interest within a video feed from one or more cameras secured to a vehicle. The video feed depicts a scene having a first pixel area, and the region of interest corresponds to a portion of the scene having a second pixel area that is less than the first pixel area. The method also includes determining an optical flow within the region of interest, and determining that a trailer is connected to the vehicle in response to the optical flow within the region of interest matching a predetermined pattern corresponding to a connected trailer. A camera monitoring system for a vehicle is also disclosed.

Abstract: An method for automatically panning a view for a commercial vehicle includes analyzing a portion of a first view at a first time to determine a position of a vehicle feature within the first view, wherein the first view is a subset of a second view, estimating an expected position of the vehicle feature in the first view at a second time subsequent to the first time, defining a region of interest centered on the expected position of the vehicle feature in the second view and analyzing the region of interest to determine an exact position of the vehicle feature at the second time, and determining a current trailer angle based on a position of the vehicle feature within the second view.

Abstract: A method of providing a trailer end line for a tractor-trailer includes determining a fixed point on a tractor, determining a trailer angle of a trailer, determining a trailer line that is arranged at the trailer angle from the fixed point, determining an intersection point between the trailer line and a trajectory of a reference point on the trailer, determining a trailer end point along the trailer line and offset from the intersection point, and displaying a trailer end awareness line based upon the determined trailer end point.

Abstract: A method for determining an image reference position includes receiving at least one image from at least one camera at a controller, the image includes a road lane that is defined by two identifiable lane lines and the camera is a component of a camera monitoring system (CMS) for a vehicle. An inner edge of each lane line is identified in the two identified lane lines using image based analysis, and a vanishing point of the two identified lane lines is identified by extending the identified inner edges of each lane line to a point where the extended inner edges meet using the controller, and the vanishing point is provided to at least one CMS system as the image reference position.

Abstract: A method for adjusting a human machine interface (HMI) element location in a commercial vehicle display includes displaying, on an electronic display of a commercial vehicle, images from a camera secured to the commercial vehicle that depict a trailer of the commercial vehicle and its surrounding environment; determining a reference location of a reference point of the trailer in the images; superimposing an HMI element in the images on the electronic display at an HMI location determined relative to the reference location; and detecting that the reference location has changed in the images, and adjusting the HMI location in response thereto. A camera monitoring system (CMS) for a vehicle and a method for a camera mirror system are also disclosed.

Abstract: 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.

Abstract: A method of providing a trailer end line for a tractor-trailer includes determining a fixed point on a tractor, determining a trailer angle of a trailer, determining a trailer line that is arranged at the trailer angle from the fixed point, determining an intersection point between the trailer line and a trajectory of a reference point on the trailer, determining a trailer end point along the trailer line and offset from the intersection point, and displaying a trailer end awareness line based upon the determined trailer end point.

Abstract: A camera monitor system including a first mirror replacement assembly including a housing supporting a rear facing camera and a rear facing range sensor, a controller in communication with the mirror replacement assembly, the controller including a processor and a memory, the memory storing instructions for identifying at least one object in an image feed from the camera and determining an angular position of the object using image analysis, identifying a distance of the at least one object from the mirror replacement assembly using the range sensor; and fusing the distance and the angular position of the object into a single data set, and a display connected to the controller and configured to display a mirror replacement view including at least a portion of the image feed.

Abstract: A method for estimating a trailer wheel position includes identifying a first set of wheel locations in a first image. Each of the wheel locations in the first set of wheel locations is associated with a corresponding trailer angle. The first set of wheel locations is clustered and a primary cluster in the first set of wheel locations is identified. A best fit curve is applied to the primary cluster. The best fit curve is a curve associating wheel position to trailer angle. An estimated wheel position is determined by applying a determined trailer angle to the best fit curve in response to the wheel being hidden in the first image. The estimated wheel position is output to at least one additional vehicle system.

Abstract: A camera monitoring system includes a first mirror replacement camera extending outward from a vehicle. The first mirror replacement camera defines a rearward facing field of view including at least one image feature during at least a first set of operating conditions. The at least one image feature has a fixed position within the field of view during the at least the first set of operating conditions. A camera monitoring system controller is configured to automatically calibrate an orientation of the first mirror replacement camera relative to the vehicle by comparing an expected position of the at least one image feature to an actual position of the at least one image feature while the vehicle is operating under the first set of operating conditions and identifying a shift of camera orientation based on the difference.

Abstract: A process for identifying a road feature in an image includes receiving an image at a controller, identifying a region of interest within the image and converting the region of interest from red-green-blue (RGB) to a single color using the controller. A set edges is detected within the region of interest, and at least one line within the set of edges is identified using the controller. The at least one line is compared with a set of known and expected road marking features, and the set of at least one first line in the at least one line is identified as corresponding to a road feature in response to the at least the first line matching the set of known and expected road marking features.

Abstract: A method for tracking a trailer end in an image using a controller includes receiving an image from at least one camera, identifying a trailer end in the image and tracking a motion of the trailer end through the image for a period of time using a controller. A motion model is generated based on the motion of the trailer end through the image using the controller. The controller responds to the trailer end exiting the image by maintaining motion of the trailer end per the motion model for a delay time period and establishing an estimated trailer end position dictated by the motion model at the end of the delay time period in response to the time period elapsing and the trailer end not being visible using the controller.

Abstract: 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.

Abstract: A method for determining a trailer detection parameter of a trailer including receiving an image from at least one camera at a controller. The at least one camera defines a field of view including at least a portion of a vehicle trailer. The method determines a trailer angle of the vehicle trailer relative to a tractor, identifies at least one feature in an image of the trailer, determines a two-dimensional distance from the at least one feature to a predefined position on the image, and converts the two-dimensional distance to a three-dimensional distance based at least in part on the determined angle. The three-dimensional distance is a trailer detection parameter of the trailer.

Abstract: An method for automatically panning a view for a commercial vehicle includes analyzing a portion of a first view at a first time to determine a position of a vehicle feature within the first view, wherein the first view is a subset of a second view, estimating an expected position of the vehicle feature in the first view at a second time subsequent to the first time, defining a region of interest centered on the expected position of the vehicle feature in the second view and analyzing the region of interest to determine an exact position of the vehicle feature at the second time, and determining a current trailer angle based on a position of the vehicle feature within the second view.