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公开(公告)号：US11336805B2
公开(公告)日：2022-05-17
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：US20220135127A1
公开(公告)日：2022-05-05
申请号：US17647765
申请日：2022-01-12
Applicant: Magna Electronics Inc.
Inventor： Yuesheng Lu , Jyothi P. Gali
Abstract: A vehicular trailer guidance system includes a human machine interface provided in the vehicle and operable by a driver of the vehicle during a backing up maneuver of the vehicle with a trailer hitched thereto. The human machine interface comprises a rotary knob and operates (i) in a backing up trailer left-backup mode when rotated counter-clockwise, (ii) in a backing up trailer straight-backup mode when the rotary knob is pushed or pulled and (iii) in a backing up trailer right-backup mode when rotated clockwise. Responsive to selection by the driver of the backup mode, the system sets a desired trailer angle relative to the longitudinal axis of the vehicle to an angle that is commensurate with a driver-selected setting of the rotary knob. The system controls steering of the vehicle to back up the trailer to have the determined trailer angle coincide with the set desired trailer angle.
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公开(公告)号：US11282227B2
公开(公告)日：2022-03-22
申请号：US16947464
申请日：2020-08-03
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 disposed at a rear portion of a vehicle and viewing 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 viewed by the camera. The control, responsive to processing at the control of image data captured by the camera, detects a feature of the trailer hitch at determines Cartesian coordinates of the trailer hitch location and transforms the Cartesian coordinates of the detected feature to cylindrical coordinates. The control, responsive at least in part to determining the cylindrical coordinates of the detected feature, determines a three-dimensional location of the trailer hitch at the vehicle.
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公开(公告)号：US20210276557A1
公开(公告)日：2021-09-09
申请号：US17303188
申请日：2021-05-24
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 vehicular trailer hitching assist system includes a camera disposed at a rear portion of a vehicle and viewing at least rearward of the vehicle. An electronic control unit (ECU) includes an image processor operable to process image data captured by the camera. The ECU, via image processing of image data captured by the camera, detects a trailer rearward of the vehicle and determines a first path of travel for the vehicle to follow to maneuver the vehicle toward the trailer and to align the tow ball of the vehicle with a trailer hitch of the trailer. The ECU generates an output to maneuver the vehicle along the determined first path of travel. Responsive to detection of an object entering the first path of travel, the ECU determines a second path of travel for the vehicle to follow that avoids the detected object entering the determined path of travel.
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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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Patent Agency Ranking
公开(公告)号：US20210078634A1
公开(公告)日：2021-03-18
申请号：US16948253
申请日：2020-09-10
Applicant: Magna Electronics Inc.
Inventor： Mohammadmehdi Jalalmaab , Jyothi P. Gali , Devendra Bajpai , Alexander Velichko
Abstract: A vehicular trailering assist system includes a rearward viewing camera at a vehicle and an electronic control unit (ECU). During a reversing maneuver of the vehicle and trailer while the vehicle is in motion and the trailer is hitched to the vehicle, the ECU (i) determines a target trajectory for the trailer, (ii) determines a lateral path deviation of the trailer that represents a deviation of a current trajectory of the trailer from the target trajectory for the trailer, (iii) determines a trailer heading angle correction, and (iv) determines a target trailer angle of the trailer relative to the vehicle based on the current trailer angle of the trailer and the trailer heading angle correction. Responsive to determination of the target trailer angle of the trailer, the ECU controls steering of the vehicle to achieve the target trailer angle and direct the vehicle and the trailer towards the target trajectory.
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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：US20200334475A1
公开(公告)日：2020-10-22
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
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.
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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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