US 11,890,988 B2
Auto panning camera mirror system including image based trailer angle detection
Mohammad Gudarzi, San Diego, CA (US); Liang Ma, Rochester, MI (US); and Troy Otis Cooprider, White Lake, MI (US)
Assigned to Stoneridge, Inc., Novi, MI (US)
Filed by Stoneridge, Inc., Novi, MI (US)
Filed on Apr. 5, 2021, as Appl. No. 17/222,253.
Prior Publication US 2022/0314881 A1, Oct. 6, 2022
Int. Cl. B60R 1/02 (2006.01); G06T 7/73 (2017.01); G06V 10/25 (2022.01); G06V 20/56 (2022.01); G06T 7/60 (2017.01); H04N 7/18 (2006.01); H04N 23/69 (2023.01); H04N 23/695 (2023.01)
CPC B60R 1/02 (2013.01) [G06T 7/60 (2013.01); G06T 7/73 (2017.01); G06V 10/25 (2022.01); G06V 20/56 (2022.01); H04N 7/181 (2013.01); H04N 23/69 (2023.01); H04N 23/695 (2023.01); B60R 2300/105 (2013.01); B60R 2300/20 (2013.01); B60R 2300/80 (2013.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for automatically panning a view for a commercial vehicle comprising:
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, wherein the expected position is determined using a kinematic model of vehicle reversing combined with sensor data;
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.