# US 12,602,818 B2 · Camera monitor system for commercial vehicles including wheel position estimation

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- Number: US 12,602,818 B2
- Document ID: US12602818B2
- Status: Granted
- Kind: B2
- Application number: 18/244,549
- Filed: 2023-09-11
- Published: 2024-03-14
- Granted: 2026-04-14
- Earliest claimed: 2022-09-13
- Assignees: Stoneridge Electronics AB
- Applicants: Stoneridge Electronics AB
- Inventors: Wenpeng Wei; Liang Ma; Yifan Men; Troy Otis Cooprider
- Web page: https://patentgrep.com/patent/US12602818B2

## CPC

- G06T 7/73: using feature-based methods
- G06T 7/246: using feature-based methods, e.g. the tracking of corners or segments
- G06T 2207/10016: Video; Image sequence
- G06T 2207/30241: Trajectory
- G06T 2207/30252: Vehicle exterior; Vicinity of vehicle
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

A method for estimating a trailer wheel position includes identifying a first set of wheel locations in at least a first image. Each of the wheel locations in the first set of wheel locations is associated with a corresponding trailer angle. A subset of wheel locations is identified in the first set of wheel locations as being false positives and the false positives are removed from the first set of wheel locations. A quadratic regression is applied to the first set of wheel locations and a parabola curve is determined relating a y position in the at least the first image to an x position in the at least the first image. A trailer angle is determined. A current wheel location is estimated by applying the determined trailer angle to the parabola curve.

## Claims

### Claim 1

A method for estimating a trailer wheel position of a vehicle with a camera monitor system, comprising:
identifying a first set of wheel locations of one or more wheels of the vehicle in at least a first image, each of the wheel locations in the first set of wheel locations being associated with a corresponding trailer angle;
identifying a subset of wheel locations in the first set of wheel locations as being false positives and removing the false positives from the first set of wheel locations;
applying a quadratic regression to the first set of wheel locations and determining a parabola curve relating a y position in the at least the first image to an x position in the at least the first image;
determining a trailer angle;
estimating a current wheel location of the one or more wheels by applying the determined trailer angle to the parabola curve; and
modifying a displayed image depicted on a display of the vehicle in response to the estimated current wheel location.

### Claim 2 (depends on 1)

The method of claim 1, further comprising identifying a second set of wheel locations in at least a second image, each of the wheel locations in the second image being associated with a corresponding trailer angle.

### Claim 3 (depends on 2)

The method of claim 2, further comprising identifying a subset of wheel locations in the second set of wheel locations as being false positives and removing the false positives from the second set of wheel locations.

### Claim 4 (depends on 2)

The method of claim 2, wherein the first image is one of a class II and a class IV view and the second image is a class II and a class IV view on an opposite side of the vehicle.

### Claim 5 (depends on 1)

The method of claim 1, wherein the parabola curve is defined according to y=ax{circumflex over ( )}2+bx+c, with ‘a’ being not equal to zero, y being a position of a wheel of the one or more wheels in the first image on the y-axis and x being a position of the wheel in the first image on the x-axis.

### Claim 6 (depends on 1)

The method of claim 1, further comprising providing the estimated current wheel location to at least one additional vehicle system.

### Claim 7 (depends on 6)

The method of claim 6, wherein the at least one additional vehicle system includes at least one of an advanced driver assistance system, a camera monitor system, and an electronic stability program.

### Claim 8 (depends on 1)

The method of claim 1, wherein the current wheel location is a location within the first image.

### Claim 9 (depends on 1)

The method of claim 1, wherein the current wheel location is a real world three dimensional position of a wheel of the one or more wheels relative to the vehicle.

### Claim 10 (depends on 1)

The method of claim 1, wherein the vehicle includes a tractor and a trailer pulled by the tractor.

### Claim 11 (depends on 10)

The method of claim 10, further comprising identifying a wheel trajectory with respect to the tractor in an image space using the parabola curve.

### Claim 12 (depends on 10)

The method of claim 10, further comprising identifying a wheel trajectory with respect to the tractor in a real-world space using the parabola curve.

### Claim 13 (depends on 6)

The method of claim 6, wherein the at least one additional vehicle system includes a trailer end detection module that uses the estimated current wheel location to identify an end of the trailer.

### Claim 14 (depends on 13)

The method of claim 13, wherein the end of the trailer is marked in a display viewable by an operator of the vehicle.