公开(公告)号：US11417116B2

公开(公告)日：2022-08-16

申请号：US16850300

申请日：2020-04-16

Applicant: Magna Electronics Inc.

Inventor： Harold E. Joseph ,  Joshua Teichroeb ,  Alexander Velichko ,  Jyothi P. Gali

IPC: G06V20/58 ,  B60R1/00 ,  B60R11/04 ,  H04N5/225 ,  B62D13/06

Abstract: A trailering assist system includes a control and a camera disposed at a rear portion of a vehicle and having a field of view at least rearward of the vehicle. The control includes an image processor operable to process image data captured by the camera. The control, responsive to image processing of captured image data, transforms captured image data of the trailer hitch from a pivoting orientation of the portion of the trailer that pivots about the trailer hitch to a vertical orientation of the portion of the trailer that moves laterally across the transformed image data. The control transforms pivotal movement of the portion of the trailer about the trailer hitch to lateral movement of the trailer hitch in the transformed image data. The control determines a trailer angle of the trailer relative to the vehicle based on the lateral position of the trailer hitch in the transformed image data.

公开(公告)号：US11377029B2

公开(公告)日：2022-07-05

申请号：US17247220

申请日：2020-12-04

Applicant: Magna Electronics Inc.

Inventor： Anam M. Yunus ,  Mohamad Osseili ,  Devendra Bajpai ,  Mohammadmehdi Jalalmaab ,  Guruprasad Mani Iyer Shankaranarayanan ,  Jyothi P. Gali ,  Galina Okouneva

IPC: B60R1/00 ,  G06T7/70 ,  G06T7/20 ,  B60R11/04 ,  B60R11/00

Abstract: A vehicular trailer assist system includes a camera disposed at a rear portion of a vehicle, a plurality of sensors, and an electronic control unit (ECU) having a processor for processing image data captured by the camera and sensor data captured by the plurality of sensors. The ECU, responsive to processing of image data captured by the camera, determines a trailer angle of the trailer relative to the vehicle. The ECU, responsive to processing of sensor data captured by the plurality of sensors, predicts a yaw rate of the vehicle and a trailer angle of the trailer relative to the vehicle at a future time. The ECU, responsive to predicting the yaw rate, determines a corrected vehicle yaw rate based on processing of captured image data and captured sensor data, and determines a corrected trailer angle, and determines a vehicle heading and position and a trailer heading and position.

公开(公告)号：US20180276838A1

公开(公告)日：2018-09-27

申请号：US15928126

申请日：2018-03-22

Applicant: MAGNA ELECTRONICS INC.

Inventor： Nikhil Gupta ,  Jyothi P. Gali ,  Galina Okouneva

IPC: G06T7/60 ,  B60R1/00 ,  G06T7/70 ,  G06T7/20

CPC classification number: G06T7/60 ,  B60R1/00 ,  B60R2300/8066 ,  B60R2300/8093 ,  B62D13/06 ,  B62D15/027 ,  G01B11/26 ,  G06T7/20 ,  G06T7/70 ,  G06T7/73 ,  G06T2207/30252

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.

公开(公告)号：US20180215382A1

公开(公告)日：2018-08-02

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

IPC: B60W30/18 ,  B60W10/10 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  G05D1/02 ,  B60R1/00 ,  G08G1/16

CPC classification number: B60W30/18036 ,  B60R1/00 ,  B60R2300/30 ,  B60R2300/305 ,  B60R2300/607 ,  B60R2300/8066 ,  B60R2300/808 ,  B60R2300/8093 ,  B60W10/10 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W2420/42 ,  B60W2550/10 ,  B60W2710/10 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/106 ,  B60W2720/24 ,  G05D1/0212 ,  G05D1/0214 ,  G05D1/0246 ,  G05D2201/0213 ,  G08G1/165 ,  G08G1/166

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.

公开(公告)号：US20250118047A1

公开(公告)日：2025-04-10

申请号：US18989004

申请日：2024-12-20

Applicant: Magna Electronics Inc.

Inventor： Jyothi P. Gali ,  Mohammadmehdi Jalalmaab ,  Prasanna Ananthakrishnan ,  Harold E. Joseph ,  Alexander Velichko

IPC: G06V10/44 ,  B60R1/00 ,  B62D13/00 ,  G06T7/73 ,  G06V10/75 ,  G06V20/56 ,  H04N7/18

Abstract: 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. With the trailer hitched to the vehicle and while the vehicle is operating in a calibration state and being driven straight, the system determines edges of the trailer. With the trailer hitched to the vehicle and after the vehicle is driven straight and while the vehicle is operating in the calibration state and being driven along a curved path, and at least in part via processing of captured frames of image data, the system determines a hitch point of the trailer hitched to the vehicle. With the vehicle not operating in the calibration state, and based in part on the determined hitch point of the trailer hitched to the vehicle, the system determines a jack-knife angle of the trailer relative to the vehicle.

公开(公告)号：US12258065B2

公开(公告)日：2025-03-25

申请号：US17757467

申请日：2020-12-16

Applicant: Magna Electronics Inc.

Inventor： Yuesheng Lu ,  Jyothi P. Gali ,  Richard C. Bozich ,  Alexander Velichko

IPC: B62D13/06 ,  B60R1/00 ,  B60R1/26 ,  B60R11/04 ,  B60W10/20 ,  B60W30/18 ,  B62D1/22 ,  B62D15/02

Abstract: A vehicular trailer guidance system includes an electronic control unit (ECU) and a rear backup camera disposed at a vehicle. A human machine interface (HMI) is operable in (i) a trailer left-backup mode, (i) a trailer straight-backup mode and (iii) a trailer right-backup mode. Responsive to selection by the driver of the trailer left-backup mode or trailer right-backup mode, the ECU sets a desired trailer angle of the trailer tongue leftward or rightward to an angle that is commensurate with a driver-selected setting of an input device. Responsive to selection by the driver of the trailer straight-backup mode, the ECU sets the desired trailer angle to a zero degree angle. The ECU, while the vehicle is backing up the trailer, controls the power steering system of the vehicle to steer the vehicle to back up the trailer to have the determined trailer angle coincide with the set desired trailer angle.

公开(公告)号：US20240416912A1

公开(公告)日：2024-12-19

申请号：US18814711

申请日：2024-08-26

Applicant: Magna Electronics Inc.

Inventor： Harold E. Joseph ,  Jagdish Rathod ,  Jyothi P. Gali ,  Alexander Velichko

IPC: B60W30/18 ,  B60Q1/50 ,  B60R11/00 ,  B60R11/04 ,  G06V20/58 ,  H04N23/80

Abstract: A vehicular trailer hitching assist system includes a rearward-viewing camera mounted at a pickup truck. Responsive to determination that the trailer coupler is exterior the bed of the pickup truck and the height of the trailer coupler is greater than a first threshold amount, a first reversing maneuver is performed to reverse the pickup truck until the trailer coupler is within the bed of the pickup truck. With the trailer coupler within the bed of the pickup truck and the height of the trailer coupler greater than a second threshold amount, a trailer height adjustment signal is generated. With the trailer coupler within the bed of the pickup truck and the determined height of the trailer coupler being less than or equal to the second threshold amount, a second reversing maneuver is performed to reverse the pickup truck to couple the trailer coupler with the hitch of the pickup truck.

公开(公告)号：US12136270B2

公开(公告)日：2024-11-05

申请号：US17646904

申请日：2022-01-04

Applicant: Magna Electronics Inc.

Inventor： Jyothi P. Gali ,  Harold E. Joseph ,  Gajanan Subhash Kuchgave ,  Alexander Velichko ,  Guruprasad Mani Iyer Shankaranarayanan

IPC: G06V20/56 ,  G06T5/92 ,  G06T7/13 ,  G06T7/20 ,  G06V10/25 ,  G06V10/44 ,  G06V10/48 ,  H04N23/698 ,  H04N23/80 ,  B60R1/26 ,  B60R11/00 ,  B60R11/04

Abstract: A vehicular trailer assist system includes a rearward viewing camera disposed at a vehicle that views a trailer hitched at a fifth wheel hitch at a bed of the vehicle. With the trailer hitched to the fifth wheel hitch at the bed of the vehicle, the vehicular trailer assist system, via processing fisheye-view frames of image data captured by the camera, transforms fisheye-view frames of image data captured by the rearward viewing camera into bird's-eye view frames of image data. The vehicular trailer assist system determines a region of interest (ROI) in a transformed bird's-eye view frames of image data that includes a region where the fifth wheel hitch is present. The vehicular trailer assist system, via a Hough transform that transforms the determined ROI from a Cartesian coordinate system to a polar coordinate system, determines a trailer angle of the trailer relative to the vehicle.

公开(公告)号：US20240190342A1

公开(公告)日：2024-06-13

申请号：US18444847

申请日：2024-02-19

Applicant: Magna Electronics Inc.

Inventor： Akbar Assa ,  Shweta Suresh Daga ,  Brijendra Kumar Bharti ,  Guruprasad Mani Iyer Shankaranarayanan ,  Jyothi P. Gali ,  Anoop S. Mann ,  Alexander Velichko

IPC: B60R1/00 ,  B60R1/26 ,  G06F18/214 ,  G06F18/2411 ,  G06V20/56

CPC classification number: B60R1/003 ,  B60R1/26 ,  G06F18/2155 ,  G06F18/2411 ,  G06V20/56 ,  B60R2300/10 ,  B60R2300/20 ,  B60R2300/607 ,  B60R2300/802 ,  B60R2300/808 ,  B60R2300/8086

Abstract: A vehicular trailer hitching assist system includes a camera disposed at a rear portion of a vehicle and viewing at least rearward of the vehicle. The vehicular trailer hitching assist system, via image processing of image data captured by the camera during a reversing maneuver of the vehicle toward a trailer that is spaced rearward from the vehicle, detects the trailer. The vehicular trailer hitching assist system determines relative location of a trailer coupler of the detected trailer to a hitch ball of the vehicle and determines a path of travel for the vehicle to maneuver the vehicle toward the detected trailer to move the hitch ball of the vehicle toward the trailer coupler. The vehicular trailer hitching assist system at least in part maneuvers the vehicle along the determined path of travel to move the hitch ball of the vehicle toward the trailer coupler of the detected trailer.

公开(公告)号：US20240153232A1

公开(公告)日：2024-05-09

申请号：US18391938

申请日：2023-12-21

Applicant: Magna Electronics Inc.

Inventor： Jyothi P. Gali ,  Mohammadmehdi Jalalmaab ,  Prasanna Ananthakrishnan ,  Harold E. Joseph ,  Alexander Velichko

IPC: G06V10/44 ,  B60R1/00 ,  B62D13/00 ,  G06T7/73 ,  G06V10/75 ,  G06V20/56 ,  H04N7/18

CPC classification number: G06V10/44 ,  B60R1/003 ,  B62D13/00 ,  G06T7/74 ,  G06V10/751 ,  G06V20/56 ,  H04N7/18 ,  G06T2207/30252

Abstract: 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. The system, during a first turning maneuver of a calibration maneuver of the vehicle and trailer, stores a subset of the frames of image data captured by the camera. Each stored frame of the stored subset of the frames captures the trailer at a respective different trailer angle relative to a longitudinal axis of the vehicle. The system determines image data edges for each stored frame of image data. The system, after performing the first turning maneuver of the calibration maneuver and during a second turning maneuver of the calibration maneuver, and based at least in part on the determined image data edges for the stored frames of image data, determines a jack-knife angle of the trailer relative to the longitudinal axis of the vehicle.