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公开(公告)号：US20210201049A1
公开(公告)日：2021-07-01
申请号：US17247632
申请日：2020-12-18
Applicant: Magna Electronics Inc.
Inventor： Tzu-Ming Su , I-Te Yu , Brijendra Kumar Bharti , Alexander Velichko , Nikhil Gupta , Xai Phan , Nadine A. Hazzouri
Abstract: A vision system for a vehicle includes a camera and an electronic control unit (ECU) with an image processor. The ECU generates a reduced resolution frame of captured image data and the ECU determines a reduced resolution detection result based on pedestrian detection using the reduced resolution frame of captured image data. The ECU, responsive to processing by the image processor of image data, generates a cropped frame of captured image data and the ECU determines a cropped detection result based on pedestrian detection using the cropped frame of captured image data. Responsive to determining the reduced resolution detection result and determining the cropped detection result, the ECU merges the reduced resolution detection result and the cropped detection result into a final pedestrian detection result. The final pedestrian detection result is indicative of presence of a pedestrian within the field of view of the camera.
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公开(公告)号：US20210150749A1
公开(公告)日：2021-05-20
申请号：US17247966
申请日：2021-01-04
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Jyothi P. Gali , Galina Okouneva
Abstract: A method for determining a trailer characteristic includes disposing a camera at a rear portion of a vehicle so as to have a field of view rearward, providing a control having an image processor, and hitching a tongue of a trailer to a hitch ball of the vehicle. Location of a portion of the trailer relative to the camera is determined via processing of captured image data. Responsive to the determination of the location of the portion of the trailer relative to the camera, a subregion of the imaging array of the camera is determined that includes the determined portion of the trailer, and processing at the control is enhanced at the determined subregion during processing of subsequent frames of captured image data to determine location of the portion of the trailer relative to the vehicle centerline in the subsequent frames of captured image data.
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公开(公告)号：US11007934B2
公开(公告)日：2021-05-18
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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公开(公告)号：US10930004B2
公开(公告)日：2021-02-23
申请号：US16779819
申请日：2020-02-03
Applicant: MAGNA ELECTRONICS INC.
Inventor： Horst D. Diessner , Jyothi P. Gali , Nikhil Gupta , Hilda Faraji , Galina Okouneva , Akinyele O. Ikuseru
Abstract: A method of detecting a trailer angle of a trailer being towed by a vehicle includes capturing frames of image data via a camera of the vehicle while the vehicle is towing a trailer, and, via processing by an image processor of frames of captured image data while the vehicle is towing the trailer, determining presence of the trailer being towed by the vehicle, and determining feature vectors of the trailer being towed by the vehicle. The feature vectors of the trailer are determined by determining features that have similar angular changes between a current frame of captured image data and a previous frame of captured image data. The angle of the trailer relative to the vehicle is determined responsive to tracking of determined feature vectors of the trailer present in the field of view of the camera over multiple frames of captured image data.
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公开(公告)号：US20200342243A1
公开(公告)日：2020-10-29
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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Patent Agency Ranking
公开(公告)号：US10780827B2
公开(公告)日：2020-09-22
申请号：US16693515
申请日：2019-11-25
Applicant: MAGNA ELECTRONICS INC.
Inventor： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
Abstract: A method for stitching images captured by multiple vehicular cameras includes disposing a plurality of cameras 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 an object present in 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 characteristic of a feature of a detected object as captured by the first camera and the characteristic of the feature of the detected object as captured by the second camera in order to mitigate misalignment of stitched images.
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公开(公告)号：US20200259976A1
公开(公告)日：2020-08-13
申请号：US16858834
申请日：2020-04-27
Applicant: Magna Electronics Inc.
Inventor： Jyothi P. Gali , Nikhil Gupta , Galina Okouneva
Abstract: A method of calibrating a vehicular trailering assist system includes hitching a trailer to a vehicle having a rearward viewing camera. Frames of image data are captured by the camera when the vehicle is towing the trailer hitched to the vehicle to determine presence of the trailer and to determine if the particular trailer is a trailer for which the system is calibrated. Responsive to determination that the particular trailer is not a trailer for which the system is calibrated, the system assigns an initial trailer beam length before starting a calibration drive and collects data during the calibration drive. The system iteratively estimates the trailer beam length and, when the predicted trailer angle least deviates from the current determined trailer angle during the calibration drive, the system determines a final estimated trailer beam length for use by the vehicular trailering assist system in determining trailer angles.
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公开(公告)号：US20190297233A1
公开(公告)日：2019-09-26
申请号：US16441220
申请日：2019-06-14
Applicant: Magna Electronics Inc.
Inventor： Jyothi P. Gali , Nikhil Gupta , Galina Okouneva
Abstract: A vehicular trailering assist system includes a rearward viewing camera. Responsive to processing of frames of image data captured when the vehicle is towing a trailer hitched to the vehicle, the system determines presence of the trailer and determines if the particular trailer is a trailer for which the system is calibrated. Responsive to determination that the particular trailer is not a trailer for which the system is calibrated, the system assumes an initial trailer beam length before starting a calibration drive, collects data during the calibration drive, and estimates a trailer beam length. The system iteratively estimates the trailer beam length and, when the predicted trailer angle least deviates from the current determined trailer angle, the system determines this to be the final estimated trailer beam length and uses that in determining trailer angles for that trailer during future drives with the vehicle towing that trailer.
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公开(公告)号：US10268904B2
公开(公告)日：2019-04-23
申请号：US15221913
申请日：2016-07-28
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta
Abstract: A vision system of a vehicle includes at least one camera configured to be disposed at a vehicle so as to have a field of view exterior and forward of the vehicle, and at least one other sensor configured to be disposed at a vehicle so as to have a sensing field exterior of the vehicle. A processor is operable to process data captured by the camera and the sensor. Responsive to processing of captured data, the processor determines an object present in the sensing field of the sensor. Responsive to processing of image data captured by the camera, the processor determines lane markings present in the field of view of the camera and forward of the vehicle. The processor receives object hypotheses, sensor properties and vehicle data as inputs and performs a data transformation to generate fused object hypotheses.
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公开(公告)号：US10255509B2
公开(公告)日：2019-04-09
申请号：US15953656
申请日：2018-04-16
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Salim Djeziri , Eduardo R. Corral-Soto
Abstract: A method for determining lane markers includes providing a camera at a vehicle so as to have a field of view exterior of the vehicle. An image processor processes a frame of image data captured by the camera to determine intensity gradient information of captured image data and to determine lane markers. Contrast values at both sides of a center region of the determined lane marker are determined via processing of the intensity gradient information. An angle of the determined lane marker relative to the direction of travel of the vehicle is determined responsive to the determined contrast values. Processing of a subsequent frame of captured image data is adjusted responsive to the determined angle of the determined lane marker relative to the direction of travel of the vehicle.
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