Automatic panning system
An automatic panning system and method adapted for a vehicle with an attached trailer. The automatic panning system comprises an image capturing means adapted to capture image data with a view of the trailer and the automatic panning system is adapted to analyze the image data to identify at least one elongated element of the trailer, project a vector in the image data based on said elongated element, establish at least one reference vector, and identify an interception point of the reference vector and said projected vector.
1. An automatic panning system adapted for a vehicle with an attached trailer, wherein said automatic panning system comprises an image capturing means adapted to capture image data with a view of the trailer, wherein the automatic panning system is adapted to analyze the image data to identify at least one elongated element of the trailer, project a vector in the image data based on said elongated element, establish at least one reference vector, and identify an interception point of the reference vector and said projected vector.
2. The automatic panning system according to claim 1 , wherein the automatic panning system further is adapted to establish the reference vector such that said identified interception point corresponds to the position of the rear end of the trailer in the captured image data.
3. The automatic panning system according to claim 1 , wherein said automatic panning system further is adapted to pan the captured image data based on the identified interception point.
4. The automatic panning system according to claim 3 , wherein the automatic panning system further is adapted to, in real time, present the panned captured image data to an operator of the vehicle.
5. The automatic panning system according to claim 1 , wherein said identified elongated element is selected from any one of a longitudinal lower edge of the trailer, a longitudinal top edge of the trailer, a vertical rear edge of the trailer, and a printed element on the trailer.
6. The automatic panning system according to claim 1 , wherein the reference vector is determined based on at least one distinct point in a background of the captured image data.
7. The automatic panning system according to claim 1 , wherein the reference vector is a horizontal reference vector.
8. The automatic panning system according to claim 1 , wherein said automatic panning system further comprises a display, a memory, and a processor unit.
9. The automatic panning system according to claim 1 , wherein the system is adapted to identify a further interception point on an opposite side of the trailer from the interception point, and establish if the further interception point is in a position that based on at least one physical property of the trailer, a previous position of the trailer, and the interception point, is possible.
10. The automatic panning system according to claim 1 , wherein the automatic panning system further is adapted to calculate the vehicle speed as a function of a velocity and wheels' angle to predict a movement of the trailer.
11. The automatic panning system according to claim 1 , wherein the automatic panning system is adapted to analyze the image data to estimate the attached trailer's angle using the image capturing means and predict the trailer's rotational derivative, in particular a derivative of the trailer's angle, using derivate calculation parameters comprising at least one of a length of the trailer, the trailer's hitching offset, a distance between the vehicle's wheel axles, the vehicle's speed, and a steering wheel angle of the vehicle, wherein the automatic panning system is further adapted to use the trailer's angle and the calculated derivative to predict a future trailer angle.
12. The automatic panning system according to claim 1 , wherein the automatic panning system is adapted to analyze the image data to estimate the attached trailer's angle using the image capturing means and predict the trailer's rotational derivative, in particular a derivative of the trailer's angle, using derivative calculation parameters comprising a distance between the trailer's wheels, a distance between the trailer's wheels and the trailer's hitching point, a steering angle of the trailer's front wheels and/or the trailer's steering wheel angle, and a speed of the vehicle, wherein the automatic panning system is further adapted to use the trailer's angle and the calculated derivative to predict a future trailer angle.
13. The automatic panning system according to claim 11 , wherein the automatic panning system is further adapted to calculate an imagined cone having its center at the predicted trailer angle of the trailer.
14. The automatic panning system according to claim 13 , wherein the automatic panning system is further adapted to discard interception points outside the imagined cone.
15. Method for use in an automatic panning system adapted to be arranged in a vehicle with an attached trailer, wherein said automatic panning system is configured to capture image data with a view of the trailer attached to the vehicle, the method comprising the steps of:
capturing image data,
analyzing the image data to identify at least one elongated element of the trailer,
establishing at least one reference vector,
projecting a vector of the identified elongated element, and
identifying an interception point between the projected vector based on the elongated element and the reference vector.
16. The method according to claim 15 , wherein the horizontal reference is established such that said interception point corresponds to a position of a rear end of the trailer in the captured image data.
17. The method according to claim 15 , wherein the method further comprises the step of:
panning said captured imaged data based on the interception point.
18. The method according to claim 15 , wherein said identified elongated element is selected from any one of a longitudinal lower edge of the trailer, a longitudinal top edge of the trailer, a vertical rear edge of the trailer, and a printed element on the trailer.
19. The method according to claim 15 , wherein said reference vector is a horizontal reference vector.
20. The method according to claim 15 , wherein the reference vector is determined based on at least one distinct point in a background of the captured image data.
21. The method according to claim 15 , wherein the method further comprises the steps of:
determining a speed of the vehicle,
determining a processing time for the steps according to claim 15 ,
determining a processing time threshold based on said speed of the vehicle,
determining whether said processing time threshold is exceeded, and
panning the captured image data based on vehicle sensor data.
22. The method according to claim 15 , the method further comprises the steps of:
estimating the attached trailer's angle using the image capturing means and predicting the trailer's rotational derivative, in particular a derivative of the trailer's angle, using derivative calculation parameters comprising at least one of a length of the trailer, the trailer's hitching offset, a distance between the vehicle's wheel axles, the vehicle's speed, and a steering wheel angle of the vehicle, and
using the trailer's angle and the calculated derivative to predict a future trailer angle.
23. The method according to claim 15 , the method further comprises the steps of:
estimating the attached trailer's angle using the image capturing means and predicting the trailer's rotational derivative, in particular a derivative of the trailer's angle, using derivative calculation parameters comprising a distance between the trailer's wheels, a distance between the trailer's wheels and the trailer's hitching point, a steering angle of the vehicle's front wheels and/or a steering wheel angle, and a speed of the vehicle, and
using the trailer's angle and the calculated derivative to predict a future trailer angle.