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公开(公告)号：US10733757B2
公开(公告)日：2020-08-04
申请号：US16408613
申请日：2019-05-10
Applicant: Magna Electronics Inc.
Inventor： Nikhil Gupta , Galina Okouneva , Hilda Faraji , Jyothi P. Gali
Abstract: A trailer assist system for a vehicle includes a camera with a field of view encompassing a trailer hitch disposed at the vehicle. A control includes an image processor that processes image data captured by the camera that is representative of images of the trailer hitch present in the field of view of the camera. The control, responsive to processing at the control of image data captured by the camera, detects at least one feature of the trailer hitch at a Cartesian coordinate location and transforms the Cartesian coordinate location of the detected feature to a cylindrical coordinate location. The control generates a vertical segment that passes through the detected features and determines cylindrical coordinates of a ground point along the vertical segment. The control, responsive to determining the cylindrical coordinates of the ground point, determines a 3D location of the trailer hitch at the vehicle.
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公开(公告)号：US10706291B2
公开(公告)日：2020-07-07
申请号：US15910100
申请日：2018-03-02
Applicant: MAGNA ELECTRONICS INC.
Inventor： Horst D. Diessner , Jyothi P. Gali , Nikhil Gupta , Hilda Faraji , Galina Okouneva
Abstract: A trailer angle detection system for a vehicle towing a trailer includes a camera disposed at a rear portion of the vehicle and having a field of view rearward of the vehicle. The camera includes a two dimensional imager array having multiple rows and columns of photosensing elements. An image processor processes image data captured by the camera. With the vehicle towing a trailer, and via processing by the image processor of image data captured by the camera, the trailer angle detection system detects a portion of the trailer that is being towed by the vehicle. The trailer angle detection system determines, via processing by the image processor of image data captured by the camera, an angle of the trailer relative to the vehicle responsive to determination of which columns of photosensing elements sense the detected portion of the trailer in the field of view of the camera.
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公开(公告)号：US20200019796A1
公开(公告)日：2020-01-16
申请号：US16578692
申请日：2019-09-23
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Liang Zhang
Abstract: A method for determining objects of interest using a vehicular vision system includes providing at least one camera and providing a control having an image processor that processes image data captured by the camera. An object present in the field of view of the camera is detected via processing at the control of a first frame of captured image data. Hypotheses filtering and hypotheses merging may be utilized when processing additional frames of captured image data to discern the detected object being an object of interest from the detected object being not an object of interest. Hypotheses filtering includes tracking the detected object over multiple additional frames of captured image data, and hypotheses merging includes comparing outputs of hypotheses filtering for the multiple additional frames of captured image data. The detected object may be determined to be an object of interest responsive to results of hypotheses merging.
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公开(公告)号：US10423842B2
公开(公告)日：2019-09-24
申请号：US16266180
申请日：2019-02-04
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Liang Zhang
Abstract: A vision system of a vehicle includes at least one camera disposed at a vehicle and having a field of view exterior of the vehicle, and an image processor operable to process image data captured by the camera. Responsive to image processing of captured image data, the image processor determines objects present in the field of view of the camera. The vision system processes additional frames of captured image data to enhance determination of objects of interest. The vision system initially detects an object present in the field of view of the camera and conducts hypotheses filtering and hypotheses merging and, responsive to the hypotheses merging, the system determines that the detected object is an object of interest or determines that the detected object is not an object of interest.
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公开(公告)号：US20190180120A1
公开(公告)日：2019-06-13
申请号：US16278282
申请日：2019-02-18
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Liang Zhang
Abstract: A method for detecting a vehicle via a vehicular vision system includes equipping a vehicle with a camera and providing a control at the equipped vehicle. Frames of image data captured by the camera are processed via an image processor of the control. Responsive at least in part to (i) vehicle motion information of the equipped vehicle and (ii) processing at the control of frames of image data captured by the camera, an object present in the field of view of the camera is detected and motion of the detected vehicle relative to the moving equipped vehicle is determined. The motion of the detected object relative to the moving equipped vehicle is determined by (i) determining corresponding feature points of the detected object in at least two frames of captured image data and (ii) estimating object motion trajectory of the detected object based on the determined corresponding feature points.
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Patent Agency Ranking
公开(公告)号：US20190143896A1
公开(公告)日：2019-05-16
申请号：US16246624
申请日：2019-01-14
Applicant: MAGNA ELECTRONICS INC.
Inventor： Ghanshyam Rathi , Hilda Faraji , Nikhil Gupta , Christian Traub , Michael Schaffner , Goerg Pflug
Abstract: A dynamic image stitching system for stitching images captured by cameras of a vision system for a vehicle includes a plurality of cameras disposed at the vehicle and having respective fields of view exterior the vehicle. The field of view of each side camera partially overlaps the field of view of a front camera and partially overlaps the field of view of a rear camera. Image data captured by the plurality of cameras is processed at a processor to detect an object present in an overlapping portion of the fields of view of two cameras. The processor stitches, via a stitching algorithm, image data captured by the cameras. The processor adjusts the stitching algorithm responsive to a determination of a difference between a characteristic of the feature as captured by one of the two cameras and the characteristic of the feature as captured by another of the two cameras.
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公开(公告)号：US10210404B2
公开(公告)日：2019-02-19
申请号：US15899116
申请日：2018-02-19
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Liang Zhang
Abstract: A method for detecting a vehicle via a vehicular vision system includes equipping a vehicle with a camera and providing a control at the equipped vehicle. Frames of image data captured by the camera are processed, via an image processor of the control. Responsive at least in part to (i) vehicle motion information of the equipped vehicle and (ii) processing, via the image processor, of frames of image data captured by the camera, detecting a vehicle present in the field of view of the camera and determining motion of the detected vehicle relative to the moving equipped vehicle, wherein determining motion of the detected vehicle relative to the moving equipped vehicle includes (i) determining corresponding feature points of the detected vehicle in at least two frames of captured image data and (ii) estimating vehicle motion trajectory of the detected vehicle based on the determined corresponding feature points.
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公开(公告)号：US10204279B2
公开(公告)日：2019-02-12
申请号：US15221912
申请日：2016-07-28
Applicant: MAGNA ELECTRONICS INC.
Inventor： Nikhil Gupta , Liang Zhang
Abstract: A vision system of a vehicle includes at least one camera disposed at a vehicle and having a field of view exterior of the vehicle, and an image processor operable to process image data captured by the camera. Responsive to image processing of captured image data, the image processor determines objects present in the field of view of the camera. The vision system processes additional frames of captured image data to enhance determination of objects of interest. The vision system initially detects objects present in the field of view of the camera and conducts hypotheses filtering and hypotheses merging and, responsive to the hypotheses filtering and hypotheses merging, the system predicts hypotheses and evaluates the predicted hypotheses to determine objects of interest from objects not of interest.
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公开(公告)号：US20180276839A1
公开(公告)日：2018-09-27
申请号：US15928128
申请日：2018-03-22
Applicant: MAGNA ELECTRONICS INC.
Inventor： Horst D. Diessner , Jyothi P. Gali , Nikhil Gupta , Hilda Faraji , Galina Okouneva , Akinyele O. Ikuseru
Abstract: A trailer angle detection system for a vehicle towing a trailer includes a rearward viewing camera disposed at a rear portion of a vehicle, and an image processor operable to process image data captured by the camera. Responsive to processing of captured image data when the vehicle is towing a trailer, the trailer angle detection system determines the presence of the trailer at the rear of the vehicle and attached at the vehicle and determines feature vectors of the detected trailer over multiple frames of captured image data. Responsive to movement of the trailer relative to the vehicle, the trailer angle detection system tracks feature vectors for different positions of the detected trailer. The trailer angle detection system determines an angle of the trailer responsive to detection of tracking of feature vectors the trailer in the field of view of the camera over multiple frames of captured image data.
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公开(公告)号：US20180253608A1
公开(公告)日：2018-09-06
申请号：US15910100
申请日：2018-03-02
Applicant: MAGNA ELECTRONICS INC.
Inventor： Horst D. Diessner , Jyothi P. Gali , Nikhil Gupta , Hilda Faraji , Galina Okouneva
CPC classification number: G06K9/00791 , B60R1/003 , B60R2300/30 , G06K9/4604 , G06K9/4671 , G06K9/627 , G06T3/0062 , G06T7/60 , G06T7/73 , G06T2207/10024 , G06T2207/30252 , H04N5/2253 , H04N5/2257
Abstract: A trailer angle detection system for a vehicle towing a trailer includes a camera disposed at a rear portion of the vehicle and having a field of view rearward of the vehicle. The camera includes a two dimensional imager array having multiple rows and columns of photosensing elements. An image processor processes image data captured by the camera. With the vehicle towing a trailer, and via processing by the image processor of image data captured by the camera, the trailer angle detection system detects a portion of the trailer that is being towed by the vehicle. The trailer angle detection system determines, via processing by the image processor of image data captured by the camera, an angle of the trailer relative to the vehicle responsive to determination of which columns of photosensing elements sense the detected portion of the trailer in the field of view of the camera.
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