US 12,233,858 B2
Trailer monitoring system
Emrah Akin Sisbot, Menlo Park, CA (US); Seyhan Ucar, Mountain View, CA (US); Takamasa Higuchi, Mountain View, CA (US); Yongkang Liu, Mountain View, CA (US); and Kentaro Oguchi, Mountain View, CA (US)
Assigned to Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US); and Toyota Jidosha Kabushiki Kaisha, Toyota (JP)
Filed by Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US)
Filed on Oct. 11, 2022, as Appl. No. 17/963,546.
Prior Publication US 2024/0116497 A1, Apr. 11, 2024
Int. Cl. B60W 30/09 (2012.01); B60Q 1/50 (2006.01); B60Q 5/00 (2006.01); B60Q 9/00 (2006.01); B60W 30/095 (2012.01); B60W 50/14 (2020.01); G06T 7/00 (2017.01); G06T 7/13 (2017.01); G06T 7/50 (2017.01); G06V 20/58 (2022.01); H04N 7/18 (2006.01); H04N 23/54 (2023.01)
CPC B60W 30/09 (2013.01) [B60Q 1/525 (2013.01); B60Q 5/006 (2013.01); B60Q 9/008 (2013.01); B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 50/14 (2013.01); G06T 7/0002 (2013.01); G06T 7/13 (2017.01); G06T 7/50 (2017.01); G06V 20/58 (2022.01); H04N 7/183 (2013.01); H04N 23/54 (2023.01); B60W 2420/403 (2013.01); G06T 2207/30252 (2013.01); G06V 2201/08 (2022.01)] 17 Claims
OG exemplary drawing
 
1. A trailer monitoring system, comprising:
a processor; and
a memory communicably coupled to the processor and storing instructions that when executed by the processor cause the processor to:
receive, from at least one monocular camera mounted to a vehicle towing a trailer, at least one monocular camera image of at least a portion of the trailer;
generate at least one depth map based on the at least one monocular camera image;
identify at least one contour of the trailer based on the at least one depth map, the contour being at least one of a face of the trailer or an edge of the trailer; and
identify a trailer irregularity based on the at least one depth map by comparing a depth of the at least one contour of the trailer over successive depth maps, the trailer irregularity being lane departure when the depth decreases over the successive depth maps, and the trailer irregularity being trailer sway when the depth fluctuates over the successive depth maps.