US 12,115,917 B2
Camera monitor system for commercial vehicles including wheel position estimation
Wenpeng Wei, East Lansing, MI (US); Liang Ma, Rochester, MI (US); Yifan Men, Northville, MI (US); and Troy Otis Cooprider, White Lake, MI (US)
Assigned to Stoneridge Electronics AB, Solna (SE)
Filed by Stoneridge Electronics AB, Solna (SE)
Filed on Dec. 13, 2022, as Appl. No. 18/080,031.
Claims priority of provisional application 63/293,199, filed on Dec. 23, 2021.
Prior Publication US 2023/0202394 A1, Jun. 29, 2023
Int. Cl. B60R 1/25 (2022.01); G06V 20/56 (2022.01)
CPC B60R 1/25 (2022.01) [G06V 20/56 (2022.01); B60R 2300/30 (2013.01); B60R 2300/80 (2013.01)] 33 Claims
OG exemplary drawing
 
13. A camera monitor system (CMS) for a commercial vehicle comprising:
at least a first mirror replacement camera having a first field of view defining a side view on a first side of the vehicle and a second mirror replacement camera having a second field of view defining a side view on a second side of the vehicle;
a camera monitor system controller communicatively connected to each of the first mirror replacement camera and the second mirror replacement camera such that the camera monitor system controller receives a first video feed from the first camera and a second video feed from the second camera;
the camera monitor system controller including a memory and a processor, the memory storing instructions configured to cause the processor to determine a wheel position estimation by identifying a first set of wheel locations in at least the first video feed, each of the wheel locations in the first set of wheel locations being associated with a corresponding trailer angle, clustering the first set of wheel locations and identifying a primary cluster in the first set of wheel locations, and generating a best fit curve applied to the primary cluster, the best fit curve being a curve associating wheel position to trailer angle; and
the memory further storing instructions configured to cause the controller to respond to a wheel position being indeterminable in at least one of the first field of view and the second field of view by estimating a wheel position based on wheel positions identified while the wheel position was determinable.