Camera monitor system with camera wing unfolding status detection based upon image processing
A method of checking wing position in a camera monitor system includes calibrating a wing position that supports a camera relative to a vehicle to provide a desired field of view, extracting a reference feature from a calibrated image from the camera, storing the reference feature, triggering a wing position check, capturing a current image from the camera, the current image has a current position of the reference feature, comparing the current position of the reference feature to the stored reference feature, and outputting a result of the wing position check if a difference from the comparing step exceeds a threshold value.
1 . A method of checking wing position in a camera monitor system, comprising:
calibrating a wing position supporting a camera relative to a vehicle to provide a desired field of view;
extracting a reference feature from a calibrated image from the camera, wherein the reference feature is provided on a tractor of the vehicle;
storing the reference feature;
triggering a wing position check based upon at least one of a gear position, an engine operating state, and a predetermined time interval;
capturing a current image from the camera, the current image having a current position of the reference feature;
comparing the current position of the reference feature to the stored reference feature; and
outputting a result of the wing position check if a difference from the comparing step exceeds a threshold value.
2 . The method of claim 1 , wherein the calibrating step is performed upon installation of the wing onto the vehicle.
3 . The method of claim 2 , wherein the calibrating step is performed with the wing in an unfolded position and the camera trained upon a legally prescribed field of view.
4 . The method of claim 1 , wherein the reference feature includes a vertical edge of the tractor.
5 . The method of claim 1 , wherein the comparing step includes comparing a distance between at least a portion of the stored reference feature from the current position of the reference feature in 2D space.
6 . The method of claim 5 , wherein the distance is a distance between pixels in captured images of the calibrated image and the current image.
7 . The method of claim 1 , wherein the result is at least one of a visible warning and an audible warning.
8 . A camera monitor system (CMS) for a vehicle, comprising:
a wing having a fixed portion configured to be secured to a vehicle, and a foldable portion pivotably mounted on the fixed portion;
a camera mounted to the foldable portion and having a camera with an image capture unit configured to provide a desired field of view of the vehicle;
a display configured to depict at least a portion of the field of view;
an input configured to trigger a wing position check, wherein the input is at least one of a gear position sensor configured to provide a gear position, an engine sensor configured to provide an engine operating state, and a predetermined time interval; and
a controller in communication with the camera and the display, the controller including a calibration module in which a reference feature is extracted from a calibrated image of the camera in which the desired field of view is provided, wherein the reference feature is provided on a tractor of the vehicle, the controller having a memory in which the reference feature is stored, the controller including a wing position verification module responsive to the input, the wing position verification module configured to capture a current image from the camera having a current position of the reference feature, comparing the current position reference feature to the stored reference feature, and outputting a result of the wing position check if a difference from comparing step exceeds a threshold value.
9 . The CMS of claim 8 , wherein the wing includes a motor in communication with the controller, the motor configured to fold and unfold the foldable portion relative to the fixed portion in response to a command from the controller, wherein the controller is configured to send the command to the motor in response to the difference being above the threshold value in order to actuate the foldable portion and provide the desired field of view.
10 . The CMS of claim 8 , wherein the output is a visible warning on the display.
11 . The CMS of claim 8 , wherein the desired view corresponds to a legally prescribed view providing at least one of Class II and Class IV views.
12 . The CMS of claim 8 , wherein the reference feature includes a vertical edge of the tractor.
13 . The CMS of claim 8 , wherein the comparing step includes comparing a distance between at least a portion of the stored reference feature from the current position of the reference feature in 2D space.
14 . The CMS of claim 13 , wherein the distance is a distance between pixels in captured images of the calibrated image and the current image.