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：US11964689B2

公开(公告)日：2024-04-23

申请号：US17647765

申请日：2022-01-12

Applicant: Magna Electronics Inc.

Inventor： Yuesheng Lu ,  Jyothi P. Gali

IPC: B62D13/06 ,  B60R1/26 ,  B60R11/04 ,  B62D1/22 ,  B62D5/04 ,  B62D15/02 ,  G06V20/56

CPC classification number: B62D13/06 ,  B60R1/26 ,  B60R11/04 ,  B62D1/22 ,  B62D5/04 ,  B62D15/0295 ,  G06V20/56 ,  B60R2300/105 ,  B60R2300/303 ,  B60R2300/305 ,  B60R2300/607 ,  B60R2300/808

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.

公开(公告)号：US11904778B2

公开(公告)日：2024-02-20

申请号：US15929646

申请日：2020-05-14

Applicant: Magna Electronics Inc.

Inventor： Harold E. Joseph ,  Jyothi P. Gali

IPC: B60R11/04 ,  B60D1/28 ,  B60R1/00 ,  B60D1/64 ,  B60D1/06

CPC classification number: B60R11/04 ,  B60D1/28 ,  B60D1/64 ,  B60R1/003 ,  B60D1/06

Abstract: A vehicular trailer assist system includes a camera disposed at a rear portion of a vehicle and having a field of view exterior and at least rearward of the vehicle. At least a portion of a trailer hitched to the vehicle is within the field of view of the camera. A control includes electronic circuitry and associated software, with the electronic circuitry including a processor operable to process image data captured by the camera, with the image data captured by the camera being representative of at least the trailer hitched to the vehicle. The control, responsive to processing of image data captured by the camera, determines at least one deficiency in a hitch connection between the vehicle and the trailer. Responsive to determination of the at least one deficiency, the control alerts a driver of the vehicle of the determined deficiency.

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

IPC: G06V10/44 ,  G06T7/73 ,  H04N7/18 ,  B60R1/00 ,  B62D13/00 ,  G06V10/75 ,  G06V20/56

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.

公开(公告)号：US20230234502A1

公开(公告)日：2023-07-27

申请号：US18190380

申请日：2023-03-27

Applicant: Magna Electronics Inc.

Inventor： Akbar Assa ,  Shweta Suresh Daga ,  Brijendra Kumar Bharti ,  Guruprasad Mani Iyer Shankaranarayanan ,  Jyothi P. Gali ,  Anoop S. Mann ,  Alexander Velichko

IPC: B60R1/00 ,  G06V20/56 ,  G06F18/214 ,  G06F18/2411

CPC classification number: B60R1/00 ,  G06V20/56 ,  G06F18/2155 ,  G06F18/2411 ,  B60R2300/802 ,  B60R2300/20 ,  B60R2300/10 ,  B60R2300/607 ,  B60R2300/8086 ,  B60R2300/808

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. During a reversing maneuver of the vehicle toward a trailer that is spaced from the vehicle at a distance from the vehicle, the camera views at least a portion of a front profile of the trailer. An electronic control unit (ECU) includes an image processor operable to process image data captured by the camera. The vehicular trailer hitching assist system, via image processing at the ECU of image data captured by the camera during the reversing maneuver of the vehicle toward the trailer, determines a plurality of landmarks corresponding to the front profile of the trailer. Based at least in part on the determined plurality of landmarks, the vehicular trailer hitching assist system determines location of a trailer coupler of the trailer.

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：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：US11584439B2

公开(公告)日：2023-02-21

申请号：US17248419

申请日：2021-01-25

Applicant: Magna Electronics Inc.

Inventor： Jyothi P. Gali ,  Clarence P. McElroy ,  Timothy M. Phillips ,  Theodore J. Church

IPC: B62D15/02 ,  B62D13/06 ,  G06K9/00 ,  B60R1/00 ,  B60Q9/00 ,  H04N5/225 ,  H04N5/247 ,  G06V20/20 ,  G06V20/56

Abstract: A vehicular trailer guidance system includes an electronic control unit (ECU), a plurality of vehicle cameras and at least one trailer camera including a rear trailer camera disposed at a rear portion of a trailer hitched to the vehicle. A display screen is disposed in the vehicle and viewable by a driver of the vehicle. The display screen displays video images derived from captured image data, with the displayed video images including bird's-eye view images of a region at least partially surrounding the vehicle and trailer including an area rearward of the trailer hitched to the vehicle. During a reversing maneuver, and via processing of captured image data, an instruction for maneuvering the vehicle and trailer in reverse toward a target location is generated by the ECU. The generated instruction includes at least an instruction pertaining to steering of the vehicle during the reversing maneuver.

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：US11417116B2

公开(公告)日：2022-08-16

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

IPC: G06V20/58 ,  B60R1/00 ,  B60R11/04 ,  H04N5/225 ,  B62D13/06

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.