公开(公告)号：US20180239970A1

公开(公告)日：2018-08-23

申请号：US15953656

申请日：2018-04-16

Applicant: MAGNA ELECTRONICS INC.

Inventor： Nikhil Gupta ,  Salim Djeziri ,  Eduardo R. Corral-Soto

IPC: G06K9/00 ,  H04N7/18 ,  G06T7/12 ,  G06T7/181 ,  G06K9/46 ,  G06K9/50

CPC classification number: G06K9/00798 ,  G06K9/4604 ,  G06K9/50 ,  G06T7/12 ,  G06T7/181 ,  G06T2207/10016 ,  G06T2207/30256 ,  H04N7/188

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.

公开(公告)号：US10043082B2

公开(公告)日：2018-08-07

申请号：US15406860

申请日：2017-01-16

Applicant: MAGNA ELECTRONICS INC.

Inventor： Nikhil Gupta

IPC: G06K9/00 ,  H04N7/18 ,  G06T7/13 ,  G06K9/46 ,  G06T7/73 ,  G06T7/246 ,  G06K9/62 ,  G06T5/00 ,  G06T7/80 ,  B60R1/00

Abstract: An obstacle detection method includes acquiring a series of image frames captured by a vehicle camera while the vehicle is in motion. First and second feature points are selected from a first detected object and are spaced apart in a first image frame and tracked over at least a second image frame, and movement of those feature points is determined. Third and fourth feature points are selected from a second detected object and are spaced apart in a first image frame and tracked over at least a second image frame, and movement of the third and fourth feature points is determined. The movements of the first and second feature points are compared to the movements of the third and fourth feature points to distinguish the first detected object as a three dimensional object and the second detected object as a two dimensional object.

公开(公告)号：US20180086284A1

公开(公告)日：2018-03-29

申请号：US15830116

申请日：2017-12-04

Applicant: MAGNA ELECTRONICS INC.

Inventor： Nikhil Gupta ,  Hilda Faraji ,  Daan He ,  Ghanshyam Rathi

IPC: B60R11/04 ,  G06T7/80 ,  G03B43/00 ,  H04N17/00 ,  G06T3/40

CPC classification number: B60R11/04 ,  B60R2300/105 ,  B60R2300/303 ,  G03B43/00 ,  G06T3/4038 ,  G06T7/80 ,  G06T7/85 ,  G06T2207/30252 ,  H04N17/002

Abstract: A method for dynamically ascertaining alignment of a vehicular camera relative to a vehicle to which the camera is attached includes determining a plurality of steering angle ranges for the vehicle, each of which is a range of steering angles that approximates straight vehicle motion over less than two seconds of travel time of the vehicle while the vehicle is in motion and turning. Image data captured by a camera of the vehicle is processed to determine a central vanishing point when the vehicle is in motion and moving straight. A plurality of feature points are selected in the image frames for each steering angle range, and a vanishing point for a plurality of tracked motion trajectories for each steering angle range is determined. An alignment of the camera is determined based at least in part on the determined central vanishing point and a determined vanishing line.

公开(公告)号：US20240319726A1

公开(公告)日：2024-09-26

申请号：US18679740

申请日：2024-05-31

Applicant: MAGNA ELECTRONICS INC.

Inventor： Jyothi P. Gali ,  Richard C. Bozich ,  Nikhil Gupta ,  Daniel W. Hodgman ,  Timothy M. Phillips ,  Clarence P. McElroy

IPC: G05D1/00 ,  B60R1/00 ,  B60R1/26 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18 ,  B62D13/06 ,  B62D15/02 ,  G01C21/36 ,  G05D1/249 ,  G05D1/617

CPC classification number: G05D1/0214 ,  B60R1/00 ,  B60R1/26 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18036 ,  B62D13/06 ,  B62D15/025 ,  B62D15/0285 ,  G01C21/3623 ,  G01C21/3664 ,  G05D1/249 ,  G05D1/617 ,  B60R2300/105 ,  B60R2300/20 ,  B60R2300/808 ,  B60W2554/00

Abstract: A vehicular trailering assist system includes at least one vehicle camera, an electronic control unit (ECU) and a display screen disposed at a vehicle. When a trailer hitched to the vehicle is not a trailer for which the vehicular trailering assist system has been previously calibrated, the driver is instructed to calibrate the system for the trailer. When the vehicular trailering assist system is calibrated, the system determines an obstacle-free path of travel for the vehicle and the trailer to follow to maneuver toward a target location. The system controls steering of the vehicle to maneuver the vehicle and the trailer along the determined obstacle-free path of travel. While the vehicle and the trailer are maneuvered along the determined obstacle-free path of travel, the determined obstacle-free path of travel is displayed on the display screen overlaying displayed video images derived from image data captured by the vehicle camera.

公开(公告)号：US20230290155A1

公开(公告)日：2023-09-14

申请号：US18321014

申请日：2023-05-22

Applicant: MAGNA ELECTRONICS INC.

Inventor： Horst D. Diessner ,  Richard C. Bozich ,  Aleksandar Stefanovic ,  Anant Kumar Lall ,  Nikhil Gupta

IPC: G06V20/58 ,  G08G1/16 ,  H04N5/14 ,  G06V20/56

CPC classification number: G06V20/58 ,  G06V20/56 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167 ,  H04N5/14 ,  B60R2300/402 ,  G06T2207/30244 ,  G06T2207/30261

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. Frames of image data are captured by the camera and provided to the ECU. An image processor of the ECU processes frames of image data captured by the camera. A condition is determined via processing at the image processor of the ECU frames of image data captured by the camera. The condition includes a shadow present in the field of view of the camera within ten frames of image data captured by the camera or a damaged condition of the imager within two minutes of operation of the camera. The ECU determines a safe state for the vehicle responsive to determining the condition.

公开(公告)号：US11678040B2

公开(公告)日：2023-06-13

申请号：US17663222

申请日：2022-05-13

Applicant: Magna Electronics Inc.

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

IPC: G06K9/00 ,  H04N23/54 ,  B62D15/02 ,  G06T7/80 ,  G06T7/246 ,  G06T7/60 ,  B60Q9/00 ,  G06V20/56

CPC classification number: H04N23/54 ,  B62D15/029 ,  G06T7/248 ,  G06T7/60 ,  G06T7/80 ,  B60Q9/008 ,  G06T2207/30252 ,  G06V20/56 ,  G06V2201/08

Abstract: A vehicular trailering assist system includes a camera and an image processor operable to process image data captured by the camera. The vehicular trailering assist system iteratively predicts a plurality of predicted trailer angles based on a corresponding plurality of potential trailer beam lengths ranging between an upper dimension above a baseline trailer beam length and a lower dimension below the baseline trailer beam length and selects a trailer angle from the plurality of predicted trailer angles that least deviates from a current trailer angle determined via processing by the image processor of image data captured by the camera. The potential trailer beam length that corresponds to the selected trailer angle that least deviates from the determined current trailer angle is used in determining trailer angles for that trailer during future drives of the vehicle when towing that particular trailer.

公开(公告)号：US20230085024A1

公开(公告)日：2023-03-16

申请号：US17930788

申请日：2022-09-09

Applicant: Magna Electronics Inc.

Inventor： Liang Zhang ,  Nikhil Gupta

IPC: G06V20/58 ,  G06T7/20

Abstract: A vehicular vision system includes a camera that captures image data. The vehicular vision system, responsive to processing by an image processor of image data captured by the camera, detects a plurality of objects present within the field of view of the camera. The vehicular vision system, responsive to detecting the objects, generates a plurality of intra-hypotheses. The vehicular vision system, responsive to generating the plurality of intra-hypotheses, generates a plurality of inter-hypothesis, with each inter-hypothesis (i) based on at least one of the intra-hypotheses and (ii) representing a respective detected object different from each other inter-hypothesis. The vehicular vision system, responsive to generating the plurality of inter-hypothesis tracks the detected object. The vehicular vision system, responsive to tracking the object, controls a driver assistance system of the vehicle.

公开(公告)号：US11600011B2

公开(公告)日：2023-03-07

申请号：US17247966

申请日：2021-01-04

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 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.

公开(公告)号：US20220337726A1

公开(公告)日：2022-10-20

申请号：US17663222

申请日：2022-05-13

Applicant: Magna Electronics Inc.

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

IPC: H04N5/225 ,  B62D15/02 ,  G06T7/80 ,  G06T7/246 ,  G06T7/60

Abstract: A vehicular trailering assist system includes a camera and an image processor operable to process image data captured by the camera. The vehicular trailering assist system iteratively predicts a plurality of predicted trailer angles based on a corresponding plurality of potential trailer beam lengths ranging between an upper dimension above a baseline trailer beam length and a lower dimension below the baseline trailer beam length and selects a trailer angle from the plurality of predicted trailer angles that least deviates from a current trailer angle determined via processing by the image processor of image data captured by the camera. The potential trailer beam length that corresponds to the selected trailer angle that least deviates from the determined current trailer angle is used in determining trailer angles for that trailer during future drives of the vehicle when towing that particular trailer.

公开(公告)号：US20220314967A1

公开(公告)日：2022-10-06

申请号：US17663221

申请日：2022-05-13

Applicant: Magna Electronics Inc.

Inventor： Mahdi Marsousi ,  Harold E. Joseph ,  Nikhil Gupta ,  Alexander Velichko

IPC: B60W30/06 ,  G08G1/16 ,  G05D1/02 ,  G08G1/14 ,  G06V20/58

Abstract: A vehicular control system includes a plurality of sensors disposed at a vehicle so as to have a combined field of sensing forward, rearward and sideward of the vehicle. Data captured by the sensors as the vehicle moves along a road is processed at a control for detecting objects present exterior the vehicle. The control designates a plurality of locations within the fields of sensing. As the vehicle moves along the road, the control increases a value for each designated location when an object is detected at that designated location, and decreases the value for each designated location when an object is not detected at that designated location, and generates an object map based on values for the designated locations. The greater the value for a particular designated location, the greater the probability an object is present at that particular designated location.