US 12,257,953 B2
Trailer striking area prediction using camera monitoring system
Liang Ma, Rochester, MI (US); and Troy Cooprider, White Lake, MI (US)
Assigned to Stoneridge Electronics AB, Solna (SE)
Filed by STONERIDGE ELECTRONICS AB, Solna (SE)
Filed on Mar. 2, 2023, as Appl. No. 18/116,627.
Prior Publication US 2024/0294116 A1, Sep. 5, 2024
Int. Cl. B60R 1/26 (2022.01); B60R 1/25 (2022.01)
CPC B60R 1/26 (2022.01) [B60R 1/25 (2022.01); B60R 2300/105 (2013.01); B60R 2300/30 (2013.01); B60R 2300/8086 (2013.01); B60R 2300/8093 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A camera monitoring system (CMS) for a vehicle, comprising:
a CMS controller including a memory and a processor;
the CMS controller being connected to a plurality of cameras disposed about a vehicle and configured to receive a video feed from each of the cameras in the plurality of cameras, the CMS controller including at least one side camera configured to define a rear side view and at least one rear camera configured to generate a rear facing view;
the memory storing a trailer end detection module configured to identify a trailer end of a trailer within at least one image generated by the plurality of cameras; and
the memory further storing a trailer striking area prediction module configured to define a striking area geometry using a set of predicted future positions of prediction points in a prediction set, the prediction points being defined along an edge of the trailer,
wherein the striking area prediction module defines the striking area geometry by:
identifying a current location (t0) of a set of prediction points of the trailer along an inside edge of the trailer and store the current location (t0) of the set of prediction points in a prediction set;
identifying a first predicted future position of each prediction point at a time t1 based on a set of parameters including at least a trailer angle of the vehicle, a steering angle of the vehicle and the current location (t0) of the corresponding prediction point and storing the first future prediction point (t1) in the prediction set;
identifying at least one additional predicted future position of each prediction point at a time (tn) based on a second set of parameters including at least the trailer angle of the vehicle, the steering angle of the vehicle, and the location at a previous time (tn−1) of the corresponding prediction point; and
converting each location in the prediction set from a three dimensional real world position to a two dimensional position within a rear view display image, generate a geometry including each two dimensional position, and causing the CMS to display the geometry over an image on the rear view display image as an overlay.