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公开(公告)号：US20180197310A1
公开(公告)日：2018-07-12
申请号：US15914059
申请日：2018-03-07
Applicant: MAGNA ELECTRONICS INC.
Inventor： Jagmal Singh , Sebastian Pliefke , Holger Hess
CPC classification number: G06T7/80 , G06K9/00791 , G06T3/0062 , G06T5/006 , G06T2207/30208 , G06T2207/30252 , H04N7/181
Abstract: A method for calibrating a camera of a vehicular vision system includes providing a camera and an image processor at the vehicle. A monoview noncoplanar three dimensional calibration pattern distributed on a semi-sphere is determined via processing of image data captured by the camera. Responsive to determination of the monoview noncoplanar three dimensional calibration pattern distributed on the semi-sphere, extrinsic parameters of the camera and intrinsic parameters of the camera are estimated. The system performs at least one of (i) a linear refinement of the estimated extrinsic parameters and intrinsic parameters and (ii) a non-linear refinement of the estimated extrinsic parameters and intrinsic parameters. Responsive to processing by the image processor of image data captured by the camera, the camera is calibrated at least in part by using the determined monoview noncoplanar three dimensional semi-spherical calibration pattern.
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公开(公告)号：US11971475B2
公开(公告)日：2024-04-30
申请号：US17935188
申请日：2022-09-26
Applicant: MAGNA ELECTRONICS INC.
Inventor： Holger Hess , Joern Ihlenburg
IPC: G01S13/931 , G01S7/04 , H04B7/0413
CPC classification number: G01S13/931 , G01S7/04 , H04B7/0413 , G01S2013/9314 , G01S2013/9315 , G01S2013/93185
Abstract: A vehicular radar sensing system includes at least one radar sensor having a plurality of transmitting antennas and a plurality of receiving antennas. Individual transmitting antennas are arranged in multiple rows, and individual receiving antennas are arranged in multiple columns. The multiple rows of transmitting antennas include first and second rows of transmitting antennas, each row having at least four transmitting antennas. Each column of the multiple columns of receiving antennas comprises at least four receiving antennas. The multiple columns of receiving antennas are disposed between the first row of transmitting antennas and the second row of transmitting antennas. The vehicular radar sensing system applies two dimensional multiple input multiple output processing to outputs of the receiving antennas. The vehicular radar sensing system, responsive to processing of outputs of the receiving antennas, detects objects present in a field of sensing of the at least one radar sensor.
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公开(公告)号：US11867802B2
公开(公告)日：2024-01-09
申请号：US17451202
申请日：2021-10-18
Applicant: Magna Electronics Inc.
Inventor： Sergio Duque Biarge , Holger Hess , Jorge J. Jácome Muñoz , Kalin Kabakchiev , Roaldje Nadjiasngar
IPC: G01S13/931 , G01S13/44 , G06T7/41 , G06T7/11 , G06V20/56
CPC classification number: G01S13/931 , G01S13/4454 , G06T7/11 , G06T7/41 , G01S2013/932 , G01S2013/9314 , G01S2013/9315 , G01S2013/9317 , G06T2207/10044 , G06T2207/30252 , G06V20/56
Abstract: A vehicular sensing system includes at least one MIMO radar sensor disposed at the vehicle and sensing exterior and forward of the vehicle. The at least one MIMO radar sensor includes multiple transmitting antennas and multiple receiving antennas. The transmitting antennas transmit radar signals and the receiving antennas receive radar signals. Radar data captured by the at least one MIMO radar sensor is provided to an electronic control unit (ECU). The ECU includes a processor and, responsive at least in part to processing at the ECU of provided captured radar data and vehicle motion information, determines different types of surfaces sensed by the at least one MIMO radar sensor. Responsive at least in part to processing at the ECU of provided captured radar data, the vehicular sensing system provides an output for at least one driving assist system.
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公开(公告)号：US20230020243A1
公开(公告)日：2023-01-19
申请号：US17935191
申请日：2022-09-26
Applicant: Magna Electronics Inc.
Inventor： Holger Hess , Wilhelm Johann Wolfgang Wöhlte
IPC: G01S13/931 , H01Q1/32 , H01Q21/06 , G01S7/03
Abstract: A vehicular radar sensing system includes a radar sensor disposed at a vehicle so as to sense exterior of the vehicle and having at least one transmitter that transmits radio signals and at least one receiver that receives radio signals. The radar sensor includes a transmitting wave guide antenna and a receiving wave guide antenna, a PCB, and a processor operable to process radio signals transmitted by the at least one transmitter and received by the at least one receiver. Each of the wave guide elements includes a respective wave guide slot disposed at the inboard side of the PCB, and another respective wave guide slot that guides the radio signals to or from the environment, and a respective air wave guide that guides the radio signals between the respective wave guide slots.
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公开(公告)号：US20220146626A1
公开(公告)日：2022-05-12
申请号：US17648835
申请日：2022-01-25
Applicant: Magna Electronics Inc.
Inventor： Helmut A. Wodrich , Holger Hess , Sebastian Pliefke , Walter G. Woodington
IPC: G01S7/40 , G01S13/931 , G01S13/86 , G01S13/87
Abstract: A method includes disposing a spherical radar reflector at a location exterior a vehicle equipped with the vehicular sensing system. The vehicular sensing system includes at least two radar sensors disposed at the vehicle and a controller that processes received radio frequency (RF) signals received by the plurality of receivers of each radar sensor of the at least two radar sensors. Calibration RF signals are transmitted by at least one transmitting antenna of a plurality of transmitters of a first radar sensor and a second radar sensor the at least two radar sensors, and reflected first calibration RF signals are received by the plurality of receivers of the first radar sensor and the second radar sensor. Based on a distance between the first radar sensor, the second radar sensor, and the spherical reflector, the vehicular sensing system determines an orientation of the first radar sensor and the second radar sensor.
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Patent Agency Ranking
公开(公告)号：US20210125376A1
公开(公告)日：2021-04-29
申请号：US17247967
申请日：2021-01-04
Applicant: Magna Electronics Inc.
Inventor： Jagmal Singh , Sebastian Pliefke , Holger Hess
Abstract: A method of calibrating a vehicular vision system includes mounting a camera at a vehicle moving along a vehicle assembly line. Responsive to processing of image data captured by the camera, ground features adjacent to the vehicle are determined and the determined ground features are tracked over two or more frames of captured image data using optical flow. A misalignment of the camera is determined via tracking the determined ground features as the vehicle moves along the straight path portion of the end of line test portion of the vehicle assembly line. Responsive to determination of misalignment of the camera at the vehicle, the vehicular vision system is calibrated using an assumption that the determined ground features lie in a plane parallel to a planar portion of a ground surface adjacent the straight path portion of the end of line test portion of the vehicle assembly line.
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公开(公告)号：US10962641B2
公开(公告)日：2021-03-30
申请号：US16123255
申请日：2018-09-06
Applicant: Magna Electronics Inc.
Inventor： Sergio Duque Biarge , Jagmal Singh , Holger Hess , Jorge J. Jácome Muñoz , Kalin Kabakchiev , Roaldje Nadjiasngar
IPC: G01S13/931 , G01S13/44 , G01S13/90 , G01S13/50
Abstract: A sensing system for a vehicle includes at least one radar sensor disposed at the vehicle and having a field of sensing exterior of the vehicle. The at least one radar sensor includes multiple transmitting antennas and multiple receiving antennas. The transmitting antennas transmit signals and the receiving antennas receive the signals reflected off objects. Multiple scans of radar data sensed by the at least one radar sensor are received at a control, and a vehicle motion estimation is received at the control. The control, responsive to received scans of sensed radar data, detects the presence of one or more objects exterior the vehicle and within the field of sensing of the at least one radar sensor. The control, responsive to the received scans of sensed radar data and the received vehicle motion estimation, matches objects detected in the scans and determines angles toward the detected objects.
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公开(公告)号：US20200166637A1
公开(公告)日：2020-05-28
申请号：US16697230
申请日：2019-11-27
Applicant: Magna Electronics Inc.
Inventor： Holger Hess , Wilhelm Johann Wolfgang Wöhlte
Abstract: A vehicular radar sensing system includes a radar sensor disposed at a vehicle so as to sense exterior of the vehicle and having at least one transmitter that transmits radio signals and at least one receiver that receive radio signals. The radar sensor includes at least one wave guide antenna, a PCB, and a processor disposed on an inboard side of the PCB and operable to process radio signals received by the at least one receiver. The wave guide antenna includes a first wave guide slot disposed at the inboard side of the PCB that guides the radio signals to the at least one receiver or from the at least one transmitter, a second wave guide slot that guides the radio signals to and from the environment, and an air wave guide that guides the radio signals between the first wave guide slot and the second wave guide slot.
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公开(公告)号：US10453217B2
公开(公告)日：2019-10-22
申请号：US15467245
申请日：2017-03-23
Applicant: MAGNA ELECTRONICS INC.
Inventor： Jagmal Singh , Sebastian Pliefke , Holger Hess
Abstract: A vehicular camera calibration system includes a camera disposed at a vehicle and having a field of view exterior of the vehicle and being operable to capture image data. Responsive to processing of image data captured by the camera, the camera calibration system determines features at the ground adjacent to the vehicle and tracks the determined features over two or more frames of captured image data. Responsive to processing of frames of captured image data during movement of the vehicle along a straight path on a planar surface, the camera calibration system is operable to determine a misalignment of the camera. The camera calibration system calibrates the misaligned camera by using an assumption that the determined features lie in a plane parallel to the planar surface along which the vehicle is traveling. The camera calibration system calibrates the camera by reducing ambiguity in vectors normal to the planar surface.
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40.发明申请公开(公告)号：US20190072668A1
公开(公告)日：2019-03-07
申请号：US16123265
申请日：2018-09-06
Applicant: Magna Electronics Inc.
Inventor： Sergio Duque Biarge , Holger Hess , Jorge J. Jácome Muñoz , Kalin Kabakchiev , Roaldje Nadjiasngar
Abstract: A sensing system for a vehicle includes at least one radar sensor disposed at the vehicle and having a field of sensing exterior of the vehicle. The radar sensor includes multiple transmitting antennas and multiple receiving antennas. The transmitting antennas transmit signals and the receiving antennas receive the signals reflected off objects. Multiple scans of radar data sensed by the radar sensor are received at a control, and a vehicle motion estimation is received at the control. The control, responsive to received scans of sensed radar data, detects the presence of objects within the field of sensing of the radar sensor. The control, responsive to the received scans of sensed radar data and the received vehicle motion estimation, synthesizes a virtual aperture and matches objects detected in the scans and determines a separation between detected objects by tracking the detected objects over two or more scans.
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