# US 2016/0366336 A1 · Dual node composite image system architecture > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2016/0366336 A1 - Document ID: US20160366336A1 - Status: Published application - Kind: A1 - Application number: 14/739,302 - Filed: 2015-06-15 - Published: 2016-12-15 - Earliest claimed: 2015-06-15 - Assignees: Bendix Commercial Vehicle Systems LLC - Applicants: Bendix Commercial Vehicle Systems LLC - Inventors: Andreas U. Kuehnle; Marton Gyori; Hans M. Molin; Karl H. Jones; Travis G. Ramler - Web page: https://patentgrep.com/patent/US20160366336A1 ## CPC - H04N 23/698: for achieving an enlarged field of view, e.g. panoramic image capture - B60R 1/002: {specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like (integrated in the windows B60R1/001; combined with rear-view mirrors B60R1/08)} - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - H04N 7/181: {for receiving images from a plurality of remote sources} - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract When employing a multi-node computing architecture for commercial articulated vehicles to generate a composite surround view of the vehicle, each processing node is associated with a vehicle segment. Each node has its own processor, memory and sensors. A master-slave relationship exists in the architecture. The segment processors collect, format, manage and package their local information. Communication between nodes is controlled by the master node, which can limit, adjust, subsample and alter the information and information flow from the slave nodes. The slave nodes can be freely recombined, using a pre-established communication standard or a format agreed upon at combination time. ## Claims ### Claim 1 A system that facilitates generating a composite image using a multi-node computer architecture for an articulated vehicle, comprising: a first set of one or more cameras that capture images of an area surrounding a first portion of the articulated vehicle; a first processing node that receives captured image data from the first set of one or more cameras; a second set of one or more cameras that capture images of an area surrounding a second portion of the articulated vehicle; a second processing node that receives captured image data from the second set of one or more cameras and transmits the captured image data to the first processing node; wherein the first processing node is configured to generate a composite surround view image of the articulated vehicle from the captured image data received from the first and second sets of one or more cameras. ### Claim 2 (depends on 1) The system according to claim 1, wherein the first processing node is configured to generate a first surround view image by stitching together the image data from the first set of one or more cameras, and the second processing node is configured to generate a second surround view image by stitching together the image data from the second set of one or more cameras. ### Claim 3 (depends on 2) The system according to claim 2, further comprising a third processing node that is a portable computing device, which is configured to receive the first surround view image from the first processing node and the second surround view image from the second processing node, and to stitch together the first and second surround view images into a composite surround view image of the articulated vehicle and display the composite surround view image. ### Claim 4 (depends on 3) The system according to claim 3, wherein the second processing node is configured to receive the second surround view images and acts as a gateway device between the first and third processing nodes. ### Claim 5 (depends on 2) The system according to claim 2, wherein the first processing node is configured to receive the second surround view image from the second processing node and to stitch together the first and second surround view images into a composite surround view image of the articulated vehicle. ### Claim 6 (depends on 1) The system according to claim 1, wherein the first processing node is an electronic control unit (ECU) in a tractor portion of the articulated vehicle, and wherein the second processing node is an ECU in a trailer portion of the articulated vehicle. ### Claim 7 (depends on 6) The system according to claim 6, wherein the first processing node determines an articulation angle between the tractor portion and the trailer portion and accounts for the determined articulation angle when generating the composite surround view image. ### Claim 8 (depends on 6) The system according to claim 6, wherein the first processing node identifies one or more cameras in one or more of the first and second sets of one or more cameras is not functioning properly, and omits image data associated with the identified one or more cameras when generating the composite surround view image. ### Claim 9 (depends on 1) The system according to claim 1, wherein the second processing node is further configured to receive and relay to the first processing node sensor information for one or more monitored parameters of the second portion of articulated vehicle. ### Claim 10 (depends on 9) The system according to claim 9, wherein the first processing node is further configured to detect that a data link between the first and second processing nodes is overloaded, and to instruct the second processing node to reduce data flow of at least one of the image data and the sensor information transmitted over the data link. ### Claim 11 An electronic controller unit (ECU) that facilitates generating a composite image using a multi-node computer architecture for an articulated vehicle, comprising: a processor configured to: receive from a first set of one or more cameras captured video data of an area surrounding a first portion of the articulated vehicle; receive from a secondary ECU video data captured by a second set of one or more cameras of an area surrounding a second portion of the articulated vehicle; determine an angle of articulation between the first and second portions of the articulated vehicle; and for each video frame, stitch together a composite surround view image of the articulated vehicle from the captured image data received from the first and second sets of one or more cameras while compensating for the determined articulation angle. ### Claim 12 (depends on 11) The ECU according to claim 11, wherein each frame of the video data captured by the second set of one or more cameras is stitched into a surround view of the second portion of the articulated vehicle prior to being received by the processor. ### Claim 13 (depends on 12) The ECU according to claim 12, wherein for each video frame, the processor is further configured to stitch together a surround view image of the first portion of the articulated vehicle and subsequently to stitch together the surround view images of the first and second portions of the articulated vehicle into a composite surround view image of the articulated vehicle. ### Claim 14 (depends on 11) The ECU according to claim 11, wherein the processor is further configured to receive from the secondary ECU current sensor information for one or more monitored parameters of the second portion of the articulated vehicle and to display the received sensor information to a driver with a composite surround view image. ### Claim 15 (depends on 11) The ECU according to claim 11, wherein the processor is further configured to detect that a data link between the ECU and the secondary ECU is overloaded, and to instruct the secondary ECU to reduce the data flow of at least one of the video data and the sensor information transmitted over the data link. ### Claim 16 A method of generating a composite surround view image using a multi-node computer architecture for an articulated vehicle, comprising: receiving at a first processing node captured image data of an area surrounding a first portion of the articulated vehicle from a first set of one or more cameras; receiving at a second processing node captured image data of an area surrounding a second portion of the articulated vehicle from a second set of one or more cameras; receiving at the first processing node the captured image data of the area surrounding the second portion of the articulated vehicle; and generating a composite image of the articulated vehicle from the captured image data received from the first and second sets of one or more cameras. ### Claim 17 (depends on 16) The method according to claim 16, further comprising generating a first surround view image by stitching together the image data from the first set of one or more cameras, and generating a second surround view image by stitching together the image data from the second set of one or more cameras. ### Claim 18 (depends on 17) The method according to claim 17, further comprising receiving at a third processing node the first surround view image from the first processing node and the second surround view image from the second processing node, stitching together the first and second surround view images into a composite surround view image of the articulated vehicle, and displaying the composite surround view image on a display. ### Claim 19 (depends on 18) The method according to claim 18, wherein the second processing node is an gateway device and configured to receive the first and second surround view images and acts as a gateway device between the third processing node and the first processing nodes. ### Claim 20 (depends on 17) The method according to claim 17, wherein the first processing node is configured to receive the second surround view image from the second processing node and to stitch together the first and second surround view images into a composite surround view image of the articulated vehicle. ### Claim 21 (depends on 16) The method according to claim 16, wherein the first processing node is an electronic control unit (ECU) in a tractor portion of the articulated vehicle, and wherein the second processing node is an ECU in a trailer portion of the articulated vehicle. ### Claim 22 (depends on 16) The method according to claim 16 and wherein the first processing node determines an articulation angle between the first portion and the second portion and accounts for the determined articulation angle when generating the composite surround view image. ### Claim 23 (depends on 16) The method according to claim 16, wherein the second processing node is further configured to receive and relay to the first processing node sensor information for one or more monitored parameters of the second portion, and wherein the first processing node is further configured to detect that a data link between the first and second processing nodes is overloaded, and to instruct the second processing node to subsample at least one of the image data and the sensor information transmitted over the data link. ### Claim 24 An apparatus that facilitates generating a composite image using a multi-node computer architecture for an articulated vehicle, comprising: first receiving means for receiving at a first processing node captured image data of an area surrounding a first portion of the articulated vehicle from a first set of one or more cameras; second receiving means for receiving at a second processing node captured image data of an area surrounding a second portion of the articulated vehicle from a second set of one or more cameras; wherein the first receiving means is further configured to receive from the second processing node the captured image data of the area surrounding the second portion of the articulated vehicle; and processing means for determining an articulation angle between the first and second portions of the articulated vehicle and compensating for the determined articulation angle when generating a composite image of the articulated vehicle from the captured image data received from the first and second sets of one or more cameras.