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公开(公告)号：US11861878B2
公开(公告)日：2024-01-02
申请号：US17443258
申请日：2021-07-23
Applicant: Magna Electronics Inc.
Inventor： Jyothi P. Gali , Mohammadmehdi Jalalmaab , Prasanna Ananthakrishnan , Harold E. Joseph , Alexander Velichko
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. A control, responsive to processing of frames of image data captured by the camera and during a calibration maneuver by the vehicle, determines an initial trailer template of trailer hitched to the vehicle. During a turning portion of the calibration maneuver, a subset of frames of image data is stored, each stored frame of image data including the trailer at a different trailer angle relative to a longitudinal axis of the vehicle. The control, responsive to storing the subset of frames of image data, converts each stored frame of image data to an edge image and matches each edge image to the determined initial trailer template, and determines a location of a hitch ball of the vehicle.
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2.发明公开公开(公告)号：US20240157876A1
公开(公告)日：2024-05-16
申请号：US18507626
申请日：2023-11-13
Applicant: Magna Electronics Inc.
Inventor： Jyothi P. Gali , Harold E. Joseph , Prasanna Ananthakrishnan
IPC: B60R1/00
CPC classification number: B60R1/003 , B60R2300/10 , B60R2300/402 , B60R2300/80
Abstract: A vehicular trailering assist system includes a camera disposed at a vehicle and capturing image data representative of at least a portion of a trailer hitched to the vehicle. The vehicular trailering assist system, responsive to processing of captured image data, determines that the system has not been previously calibrated for the trailer hitched to the vehicle. The vehicular trailering assist system, responsive to determining that the system has not been previously calibrated for the trailer, determines whether a dedicated calibration maneuver is triggered. The vehicular trailering assist system, responsive to determining that the dedicated calibration of the trailer is not triggered and responsive to processing of captured image data, monitors maneuvers performed by the vehicle while the trailer is hitched to the vehicle without prompting the driver for calibration maneuvers. The vehicular trailering assist system, using the monitored maneuvers, calibrates the system for the trailer.
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公开(公告)号：US20240153279A1
公开(公告)日：2024-05-09
申请号：US18411339
申请日：2024-01-12
Applicant: Magna Electronics Inc.
Inventor： Jyothi P. Gali , Harold E. Joseph , Prasanna Ananthakrishnan , Alexander Velichko
CPC classification number: G06V20/58 , B60Q9/008 , G06T7/60 , G06T7/80 , G06V10/44 , G08G1/16 , B60R1/00 , G06T2207/30261
Abstract: A vehicular trailering assist system includes a rear backup camera disposed at a vehicle and viewing at least rearward of the vehicle and at least a portion of a trailer hitched to the vehicle. The camera captures frames of image data that include image data representative of at least a portion of the trailer hitched to the vehicle. Frames of image data captured by the camera are processed at an electronic control unit during a calibration maneuver by the vehicle to determine a trailer collision angle. The vehicular trailering assist system, after completion of the calibration maneuver, determines a current trailer angle of the trailer relative to a longitudinal axis of the vehicle as the vehicle is driven along the road. The vehicular trailering assist system determines whether the current trailer angle is within a threshold amount of the determined trailer collision angle.
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公开(公告)号：US20240157875A1
公开(公告)日：2024-05-16
申请号：US18507518
申请日：2023-11-13
Applicant: Magna Electronics Inc.
Inventor： Jyothi P. Gali , Harold E. Joseph , Prasanna Ananthakrishnan
CPC classification number: B60R1/003 , B60R1/26 , G06T7/12 , G06T7/20 , G06V10/74 , G06V20/56 , H04N7/183 , H04N25/76 , B60R2300/10 , B60R2300/607 , G06T2207/30252
Abstract: A vehicular trailering assist system includes a camera disposed at a vehicle and viewing at least rearward of the vehicle. The vehicular trailering assist system transforms captured image data into a bird's-eye view of the hitch of the trailer, and accesses a plurality of stored trailer templates, with each respective trailer template being generated during a previous calibration of the system for a respective trailer. The vehicular trailering assist system generates a matching score based on a comparison between a stored trailer template and the transformed bird's-eye view. The vehicular trailering assist system, responsive to determining that the matching score for one of the plurality of stored trailer templates exceeds a threshold matching score, tracks a trailer angle of the trailer using the one plurality of stored trailer templates.
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公开(公告)号：US11702017B2
公开(公告)日：2023-07-18
申请号：US17443257
申请日：2021-07-23
Applicant: Magna Electronics Inc.
Inventor： Jyothi P. Gali , Harold E. Joseph , Prasanna Ananthakrishnan , Alexander Velichko
CPC classification number: B60R11/04 , B60R1/003 , B60R2300/808
Abstract: A vehicular trailer assist system includes a camera at a vehicle and viewing at least a portion of a trailer hitched to the vehicle. A control, responsive to processing of frames of image data captured by the camera and during a calibration maneuver by the vehicle, determines an initial trailer template of trailer hitched to the vehicle. The control, during a turning portion of the calibration maneuver, and at least in part via processing of frames of image data captured by the camera, determines a hitch ball location of a hitch of the vehicle based on the determined initial trailer template. The control, after completion of the calibration maneuver, determines a current trailer angle of the trailer relative to the vehicle via processing of frames of image data captured by the camera and based on the determined hitch ball location as the vehicle is driven along a road.
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Patent Agency Ranking
公开(公告)号：US20220028111A1
公开(公告)日：2022-01-27
申请号：US17443258
申请日：2021-07-23
Applicant: Magna Electronics Inc.
Inventor： Jyothi P. Gali , Mohammadmehdi Jalalmaab , Prasanna Ananthakrishnan , Harold E. Joseph , Alexander Velichko
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. A control, responsive to processing of frames of image data captured by the camera and during a calibration maneuver by the vehicle, determines an initial trailer template of trailer hitched to the vehicle. During a turning portion of the calibration maneuver, a subset of frames of image data is stored, each stored frame of image data including the trailer at a different trailer angle relative to a longitudinal axis of the vehicle. The control, responsive to storing the subset of frames of image data, converts each stored frame of image data to an edge image and matches each edge image to the determined initial trailer template, and determines a location of a hitch ball of the vehicle.
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公开(公告)号：US20250118087A1
公开(公告)日：2025-04-10
申请号：US18981784
申请日：2024-12-16
Applicant: Magna Electronics Inc.
Inventor： Jyothi P. Gali , Harold E. Joseph , Prasanna Ananthakrishnan , Alexander Velichko
IPC: G06V20/58 , B60Q9/00 , B60R1/00 , B60R1/26 , G06T7/60 , G06T7/80 , G06V10/44 , G08G1/16 , H04N7/18
Abstract: A vehicular trailering assist system includes a forward-viewing camera disposed at a vehicle and viewing at least forward of the vehicle and a rear backup camera disposed at the vehicle and viewing at least a portion of a trailer hitched to the vehicle. With the vehicle operating in a calibration state, the vehicular trailering assist system, via processing of image data captured by the rear backup camera, determines a portion of the trailer hitched to the vehicle and determines a trailer collision angle. With the trailer hitched to the vehicle and with the vehicle not operating in the calibration state, the vehicular trailering assist system, via processing of image data captured by the rear backup camera, determines a current angle of the trailer relative to a longitudinal axis of the vehicle and determines whether the determined current trailer angle is within a threshold amount of the determined trailer collision angle.
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公开(公告)号：US12183052B2
公开(公告)日：2024-12-31
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
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.
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公开(公告)号：US12169973B2
公开(公告)日：2024-12-17
申请号：US18411339
申请日：2024-01-12
Applicant: Magna Electronics Inc.
Inventor： Jyothi P. Gali , Harold E. Joseph , Prasanna Ananthakrishnan , Alexander Velichko
IPC: G06V20/58 , B60Q9/00 , B60R1/00 , B60R1/26 , G06T7/60 , G06T7/80 , G06V10/44 , G08G1/16 , H04N7/18
Abstract: A vehicular trailering assist system includes a rear backup camera disposed at a vehicle and viewing at least rearward of the vehicle and at least a portion of a trailer hitched to the vehicle. The camera captures frames of image data that include image data representative of at least a portion of the trailer hitched to the vehicle. Frames of image data captured by the camera are processed at an electronic control unit during a calibration maneuver by the vehicle to determine a trailer collision angle. The vehicular trailering assist system, after completion of the calibration maneuver, determines a current trailer angle of the trailer relative to a longitudinal axis of the vehicle as the vehicle is driven along the road. The vehicular trailering assist system determines whether the current trailer angle is within a threshold amount of the determined trailer collision angle.
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公开(公告)号：US11875575B2
公开(公告)日：2024-01-16
申请号：US17443256
申请日：2021-07-23
Applicant: Magna Electronics Inc.
Inventor： Jyothi P. Gali , Harold E. Joseph , Prasanna Ananthakrishnan , Alexander Velichko
CPC classification number: G06V20/58 , B60Q9/008 , G06T7/60 , G06T7/80 , G06V10/44 , G08G1/16 , B60R1/00 , B60R2300/307 , B60R2300/8093 , G06T2207/30261 , H04N7/183
Abstract: A vehicular trailer assist system includes a camera disposed at a rear portion of a vehicle and having an exterior field of view that includes at least a portion of a trailer hitched to the vehicle. A control, responsive to processing of frames of image data captured by the camera and during a calibration maneuver by the vehicle, determines a trailer template of trailer hitched to the vehicle. The control, during a turning portion of the calibration maneuver, determines a trailer collision angle based on the determined trailer template. The control, after completion of the calibration maneuver, determines a current trailer angle of the trailer relative to the vehicle as the vehicle is driven along a road. The control alerts an operator of the vehicle if the current trailer angle is within a threshold amount of the determined trailer collision angle.
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