Camera mirror system including automatic angular adjustment for commercial vehicle displays

A camera monitoring system (CMS) for a vehicle comprising:

• a camera configured to record images of a trailer of a commercial vehicle and its surrounding environment;
• an electronic display;
• and
• a CMS controller configured to:
• display the images on the electronic display;
• determine a reference location of a reference point of the trailer in the images;
• superimpose a human machine interface (HMI) element in the images on the electronic display at an HMI location determined relative to the reference location;
• and
• detect that the reference location has changed in the images, and adjust the HMI location of the HMI element in response thereto;
• wherein the CMS controller is configured to determine the reference location of the reference point based on;
• a first trailer angle, which is an angle between a longitudinal axis of the trailer and a longitudinal axis of a tractor connected to the trailer;
• and
• a first arc representing a predefined range of possible locations of the reference point in the images,
• wherein the reference point of the trailer is a first reference point, and to determine the reference location of the first reference point, the CMS controller is configured to;
• determine, based on the trailer angle, a trailer image angle which is an angle in one of the images defined relative to a trailer reference line in the images, the trailer reference line extending from a second reference point of the commercial vehicle towards a third reference point of the trailer, wherein the second reference point is closer to a front of the trailer than the third reference point, and the third reference point is closer to the first reference point than the second reference point;
• and
• determine the reference location of the first reference point based on the trailer image angle, an intersection of the trailer reference line and a second are representing a predefined range of possible locations of the third reference point in the images, and a distance between the first arc and the second arc in the images.