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公开(公告)号：US20230289991A1
公开(公告)日：2023-09-14
申请号：US18317155
申请日：2023-05-15
Applicant: MAGNA ELECTRONICS INC.
Inventor： Horst D. Diessner , Jyothi P. Gali , Nikhil Gupta , Hilda Faraji , Galina Okuoneva , Akinyele O. Ikuseru
CPC classification number: G06T7/60 , B60R1/00 , G06T7/74 , G06T7/248 , G06T7/73 , G06T2207/30252 , B60R2300/8093 , B60R2300/8066
Abstract: A vehicular trailer angle detection system includes a camera disposed at a rear portion of a vehicle. The system determines, via processing of frames of image data captured by the camera, features of a trailer present rearward of the vehicle and hitched to the vehicle by determining features that have similar position changes between a current frame of image data captured by the camera and a previous frame of image data captured by the camera. Responsive to movement of the trailer relative to the vehicle, and via processing of captured frames of image data, the system tracks determined features over multiple captured frames of image data for different positions of the trailer relative to the vehicle. The system determines angle of the trailer relative to the vehicle based at least in part on tracking of determined features of the trailer over multiple captured frames of image data.
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公开(公告)号：US11532233B2
公开(公告)日：2022-12-20
申请号：US17444208
申请日：2021-08-02
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta
Abstract: A vehicular vision system includes a camera disposed at a body portion of a vehicle and having a field of view exterior of the vehicle. The camera has an imager and a fisheye lens with more distortion at side regions of the field of view than at a center region of the field of view. An electronic control unit (ECU), via image processing of captured image data, determines gradient information and determines edges of intensity gradients present at a side region of the field of view of the camera. The system, based at least in part on determined edges of intensity gradients, determines a potential cross traffic object at the side region and determines movement of upper and lower portions of a determined edge of an intensity gradient of the cross traffic object to determine if the cross traffic object is moving into a path of the vehicle.
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公开(公告)号：US11270134B2
公开(公告)日：2022-03-08
申请号：US16946937
申请日：2020-07-13
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Galina Okouneva , Liang Zhang
Abstract: A method for estimating distance to an object via a vehicular vision system includes disposing a camera at a vehicle so as to view at least exterior of the vehicle. An ECU is provided that includes an image processor. Multiple frames of image data are captured via the camera while the vehicle is moving, and are provided to the ECU. The provided captured frames of image data are processed to determine a three dimensional object present in a field of view of the camera, and a point of interest is determined on the determined object. An estimated location in three dimensional space of the determined point of interest relative to the vehicle is determined, and distance to the estimated location is estimated by comparing provided captured frames of image data where there is movement of the determined point of interest of the determined object relative to the camera.
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公开(公告)号：US20210241008A1
公开(公告)日：2021-08-05
申请号：US17249376
申请日：2021-03-01
Applicant: MAGNA ELECTRONICS INC.
Inventor： Horst D. Diessner , Richard C. Bozich , Aleksandar Stefanovic , Anant Kumar Lall , Nikhil Gupta
Abstract: A method for determining a safe state for a vehicle includes disposing a camera at a vehicle and disposing an electronic control unit (ECU) at the vehicle. Image data is captured via the camera and provided to the ECU. An image processor of the ECU processes captured image data. A condition is determined via processing at the image processor of the ECU captured image data. The condition comprises a shadow present in the field of view of the camera within ten frames of captured image data or a damaged condition of the imager within two minutes of operation of the camera. The condition is indicative of a condition where processing of captured image data degrades in performance. The ECU determines a safe state for the vehicle responsive to determining the condition.
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公开(公告)号：US11067993B2
公开(公告)日：2021-07-20
申请号：US16110575
申请日：2018-08-23
Applicant: MAGNA ELECTRONICS INC.
Inventor： Jyothi P. Gali , Richard C. Bozich , Nikhil Gupta , Daniel W. Hodgman , Timothy M. Phillips , Clarence P. McElroy
Abstract: A trailer assist system for a vehicle includes a plurality of sensors disposed at a vehicle, a trailer sensor disposed at a rear portion of a trailer and having a field of sensing at least rearward of the trailer, and a control having a processor operable to process data captured by the sensors. A display screen displays an area rearward of the trailer. Responsive to a user input selecting a target area present in the displayed image, the control, via processing of data captured by the sensors, is operable to determine a path of travel for the vehicle and trailer to follow to maneuver the vehicle and trailer toward a target location represented by the selected displayed target area. The control, responsive to determination of the path of travel, controls at least steering of the vehicle to maneuver the vehicle and trailer along the determined path of travel.
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Patent Agency Ranking
公开(公告)号：US20210201523A1
公开(公告)日：2021-07-01
申请号：US17249120
申请日：2021-02-22
Applicant: MAGNA ELECTRONICS INC.
Inventor： Horst D. Diessner , Jyothi P. Gali , Nikhil Gupta , Hilda Faraji , Galina Okouneva , Akinyele O. Ikuseru
Abstract: A method for determining features of a trailer being towed by a vehicle includes initiating a calibration drive of the vehicle and capturing frames of image data via a vehicle camera, and, via processing by an image processor of frames of captured image data, determining features of the trailer being towed by the vehicle during the calibration drive. The features of the trailer are determined by determining features that have similar changes between a current frame of captured image data and a previous frame of captured image data captured during the calibration drive. The features are tracked over multiple frames of captured image data for different angular positions of the trailer relative to the vehicle to determine trailer length from the hitch ball of the vehicle to an axle of the trailer. The trailer angle is determined based on the determined trailer length.
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公开(公告)号：US11014561B2
公开(公告)日：2021-05-25
申请号：US15885855
申请日：2018-02-01
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Horst D. Diessner , Richard Bozich , Jyothi P. Gali , Aleksandar Stefanovic , Hilda Faraji , Miad Moarref , Xai Phan , Galina Okouneva , Brijendra Kumar Bharti
Abstract: A trailer hitching assist system for a vehicle includes a camera disposed at a rear portion of a vehicle and having a field of view rearward of the vehicle. A control includes an image processor operable to process image data captured by the camera. The image processor, via image processing of image data captured by the camera, detects a trailer and trailer hitch rearward of the vehicle and determines a first path of travel for the vehicle to follow so as to maneuver the vehicle so as to have its tow ball aligned with the trailer hitch. The control maneuvers the vehicle along the determined first path of travel. Responsive to detection of an object entering the first path of travel, the control determines a second path of travel and maneuvers the vehicle along the second path of travel to avoid the detected object entering the determined path of travel.
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公开(公告)号：US20210001775A1
公开(公告)日：2021-01-07
申请号：US16948474
申请日：2020-09-21
Applicant: MAGNA ELECTRONICS INC.
Inventor： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
Abstract: A method for stitching image data captured by multiple vehicular cameras includes equipping a vehicle with a vehicular vision system having a control and a plurality of cameras disposed at the vehicle so as to have respective fields of view exterior the vehicle. Image data captured by first and second cameras of the plurality of cameras is processed to detect and track an object present in and moving within an overlapping portion of the fields of view of the first and second cameras. Image data captured by the first and second cameras is stitched, via processing provided captured image data, to form stitched images. Stitching of captured image data is adjusted responsive to determination of a difference between a feature of a detected and tracked object as captured by the first camera and the feature of the detected and tracked object as captured by the second camera.
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公开(公告)号：US10885652B2
公开(公告)日：2021-01-05
申请号：US15928126
申请日：2018-03-22
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Jyothi P. Gali , Galina Okouneva
IPC: G06K9/00 , G06T7/60 , B60R1/00 , G06T7/70 , G06T7/20 , B62D15/02 , B62D13/06 , G01B11/26 , G06T7/73
Abstract: A trailer angle detection system for a vehicle towing a trailer includes a camera disposed at a rear portion of a vehicle so as to have a field of view exterior and rearward of the vehicle, and an image processor operable to process image data captured by the camera. Responsive to processing of a region of interest of image data captured by the camera, the trailer angle detection system determines the location of a known patterned target at the trailer being towed by the vehicle. Responsive to determination of the location of the target, the system determines a region of interest of the captured image data that encompasses the target. Responsive to processing of image data of the region of interest and determining the location of the target relative to the vehicle centerline, the trailer angle detection system calculates an angle of the trailer relative to the vehicle centerline.
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公开(公告)号：US20200262347A1
公开(公告)日：2020-08-20
申请号：US15929460
申请日：2020-05-04
Applicant: Magna Electronics Inc.
Inventor： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
Abstract: A method for dynamically calibrating a vehicular camera includes disposing a camera at a vehicle and operating the camera to capture multiple frames of image data while the vehicle is in motion and is steered within at least two ranges of steering angles. Feature points are determined in an image frame when the vehicle is steered within a respective range of steering angles, and motion trajectories of those feature points are tracked in subsequent image frames for the respective range of steering angles. A horizon line is determined based on the tracked feature points. Responsive to determination that the determined horizon line is non-parallel to the horizontal axis of the image plane, at least one of pitch, roll or yaw of the camera is adjusted. Image data captured by the camera is processed at the control for object detection.
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