Aspects of the present invention relate to an imaging system (1) for a towing vehicle (V1). The imaging system (1) includes a processor configured to determine a reference speed (Vref) of the towing vehicle (V1). First image data (D1) is received from a first imaging device (C1); and second image data (D2) is received from a second imaging device (C2). The first imaging device (C1) may be disposed on the towing vehicle (V1); and the second imaging device (C2) may be disposed on a towed vehicle (V2). A first scaling factor (SF1, SF2) is applied to the second image data (D2) to generate scaled second image data (D2). The first scaling factor (SF1, SF2) is determined in dependence on the determined reference speed (Vref) of the towing vehicle (V1). Composite image data (D3) is generated by combining at least a part of the scaled second image data (D2) with at least a part of the first image data (D1). The composite image data (D3) is output for display on a display screen (10). Aspects of the present invention also relate a vehicle (V1) having an image system (1); a method of generating a composite image (IMG3); and a non-transitory computer-readable medium.

Systems and methods for estimation of vehicle hitchball location are disclosed. A plurality of image frames may be received from a rear-facing camera of a vehicle. The rear-facing camera may be directed at a front of a trailer that is coupled to the vehicle at a hitchball. An approximate lateral location of the hitchball coupled to the vehicle may be determined by obtaining a plurality of cropped images along a hitch drawbar coupled to the vehicle by stepping along the vertical direction, and performing a stepwise lateral scan, centered at the hitch drawbar.

A method for assisting a coupling process of a transportation vehicle reversing toward a trailer which includes detecting a ball head coupling of the trailer based on a camera image recorded by a camera of the transportation vehicle, limiting the camera image to an image detail in which the ball head coupling is disposed, detecting at least one curved front edge of the ball head coupling within the limited image detail, and determining the engagement position fir a vehicle-side ball head based on the at least one detected curved front edge of the ball head coupling. A trailer coupling assistant for a transportation vehicle.

A vehicular trailer assist system includes a camera at a vehicle and viewing at least a portion of a trailer hitched to the vehicle. A control, responsive to processing of frames of image data captured by the camera and during a calibration maneuver by the vehicle, determines an initial trailer template of trailer hitched to the vehicle. The control, during a turning portion of the calibration maneuver, and at least in part via processing of frames of image data captured by the camera, determines a hitch ball location of a hitch of the vehicle based on the determined initial trailer template. The control, after completion of the calibration maneuver, determines a current trailer angle of the trailer relative to the vehicle via processing of frames of image data captured by the camera and based on the determined hitch ball location as the vehicle is driven along a road.

A vehicular trailer assist system includes a camera disposed at a vehicle and viewing at least a portion of a trailer hitched to the vehicle. A control, responsive to processing of frames of image data captured by the camera and during a calibration maneuver by the vehicle, determines an initial trailer template of trailer hitched to the vehicle. During a turning portion of the calibration maneuver, a subset of frames of image data is stored, each stored frame of image data including the trailer at a different trailer angle relative to a longitudinal axis of the vehicle. The control, responsive to storing the subset of frames of image data, converts each stored frame of image data to an edge image and matches each edge image to the determined initial trailer template, and determines a location of a hitch ball of the vehicle.

An image generating apparatus generates an image to be displayed on a display and includes at least one memory and a control circuit. The control circuit acquires a plurality of camera images captured by a plurality of cameras installed in a vehicle, calculates a distance between one of the cameras and a target to be projected in in the camera images, detects a position of a light-transmissive object or a reflective object in the camera images, and generates an image from a point of view that is different from points of view of the plurality of camera images by using the plurality of camera images and the distance, the generated image including a predetermined image that is displayed at the position of the light-transmissive object or the reflective object.

A method of aligning a tow vehicle with a trailer positioned behind the tow vehicle is provided. The method includes determining a point cloud map of a rear environment of the tow vehicle. The rear environment includes the trailer. The method also includes determining a front face plane of the trailer based on the point cloud map. The method also includes determining a normal line of the front face plane. The method also includes determining a path from the tow vehicle to the trailer such that a fore-aft axis of the tow vehicle is aligned with the normal line of the front face plane.

Extendable blind spot sensors and methods of use are provided herein, which may include a blind spot sensor configured to monitor a blind spot of a vehicle and an extender in mechanical communication with the blind spot sensor. The extender is configured to move the blind spot sensor between a first position and a second position when a trailer is attached to the vehicle.

A method and system for generating a combined rearview image of an area behind a vehicle that is towing a trailer, the method including: capturing a first image from a vehicle camera that is installed on the vehicle, the first image being comprised of an area behind the vehicle; capturing a second image from a trailer camera that is installed on the trailer, the second image being comprised of an area behind the trailer; determining an obstructed viewing region within the first image, the obstructed viewing region being a region of the first image in which the trailer resides; overlaying the second image on the first image and at least partially within the obstructed viewing region; and inserting graphics in the first image, in the second image, and/or in a patch region within the obstructed viewing region and between the second image and the first image.

A system and method for operation of an autonomous vehicle (AV) yard truck is provided. A processor facilitates autonomous movement of the AV yard truck, and connection to and disconnection from trailers. A plurality of sensors are interconnected with the processor that sense terrain/objects and assist in automatically connecting/disconnecting trailers. A server, interconnected, wirelessly with the processor, that tracks movement of the truck around and determines locations for trailer connection and disconnection. A door station unlatches/opens rear doors of the trailer when adjacent thereto, securing them in an opened position via clamps, etc. The system computes a height of the trailer, and/or if landing gear of the trailer is on the ground and interoperates with the fifth wheel to change height, and whether docking is safe, allowing a user to take manual control, and optimum charge time(s). Reversing sensors/safety, automated chocking, and intermodal container organization are also provided.