Magna Electronics Inc.

Alexander Velichko

Jyothi P Gali

Harold E Joseph

Prasanna Ananthakrishnan

Guruprasad Mani Iyer Shankaranarayanan

Nikhil Gupta

Brijendra Kumar Bharti

James Turk

Shweta Suresh Daga

Akbar Assa

Anoop S Mann

Mahdi Marsousi

Galina Okouneva

Mohammadmehdi Jalalmaab

Anam M Yunus

Joshua Teichroeb

Yuesheng Lu

Richard C Bozich

Xai Phan

Tao-I Hsu

Tzu-Ming Su

I-Te Yu

Nadine A Hazzouri

Truman S Shen

Kevin A Powell

Jagdish Rathod

Gajanan Subhash Kuchgave

Muhammad Mohteshim Khan

A vehicular trailer assist system includes a rearward viewing camera viewing a trailer hitched at a fifth wheel hitch at a bed of the vehicle. With the trailer hitched to the vehicle, the vehicular trailer assist system transforms fisheye-view frames of image data captured by the rearward viewing camera into bird's-eye view frames of image data. The vehicular trailer assist system determines the fifth wheel hitch within a transformed bird's-eye view frame of image data. The vehicular trailer assist system warps the transformed bird's-eye view frame of image data, which includes (i) an X-axis that indicates change in a trailer angle of the trailer relative to the vehicle and (ii) a Y-axis that indicates distance from the fifth wheel hitch. The vehicular trailer assist system, using the X-axis of the warped transformed bird's-eye view frame of image data, determines the trailer angle of the trailer relative to the vehicle.

Vehicular trailer angle detection system for fifth-wheel trailers

A vehicular trailer guidance system includes an electronic control unit (ECU) and a rear backup camera disposed at a vehicle. A human machine interface (HMI) is operable in (i) a trailer left-backup mode, (i) a trailer straight-backup mode and (iii) a trailer right-backup mode. Responsive to selection by the driver of the trailer left-backup mode or trailer right-backup mode, the ECU sets a desired trailer angle of the trailer tongue leftward or rightward to an angle that is commensurate with a driver-selected setting of an input device. Responsive to selection by the driver of the trailer straight-backup mode, the ECU sets the desired trailer angle to a zero degree angle. The ECU, while the vehicle is backing up the trailer, controls the power steering system of the vehicle to steer the vehicle to back up the trailer to have the determined trailer angle coincide with the set desired trailer angle.

Vehicular trailering guidance system

A vehicular parking assistance system includes a camera disposed at a vehicle and capturing image data. An electronic control unit (ECU) includes an image processor for processing image data captured by the camera. The parking assistance system, responsive to an input, determines a direction of travel for an automated parking maneuver. The parking assistance system, responsive to processing by the image processor of image data captured by the camera, determines a boundary of a free space in the direction of travel for the automated parking maneuver. The free space at least partially bounds an area where the vehicle can maneuver without colliding with a detected object. The parking assistance system, while driving the vehicle in the direction of travel, laterally adjusts a path of the vehicle based on the determined boundary of free space to avoid the detected object.

Vehicular intelligent remote parking assist system

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. The vehicular trailer hitching assist system, via image processing of image data captured by the camera during a reversing maneuver of the vehicle toward a trailer that is spaced rearward from the vehicle, detects the trailer. The vehicular trailer hitching assist system determines relative location of a trailer coupler of the detected trailer to a hitch ball of the vehicle and determines a path of travel for the vehicle to maneuver the vehicle toward the detected trailer to move the hitch ball of the vehicle toward the trailer coupler. The vehicular trailer hitching assist system at least in part maneuvers the vehicle along the determined path of travel to move the hitch ball of the vehicle toward the trailer coupler of the detected trailer.

Trailer hitching assist system with trailer coupler detection

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.

Vehicular trailering assist system

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.

A vehicular trailer assist system includes a rearward viewing camera disposed at a vehicle that views a trailer hitched at a fifth wheel hitch at a bed of the vehicle. With the trailer hitched to the fifth wheel hitch at the bed of the vehicle, the vehicular trailer assist system, via processing fisheye-view frames of image data captured by the camera, transforms fisheye-view frames of image data captured by the rearward viewing camera into bird's-eye view frames of image data. The vehicular trailer assist system determines a region of interest (ROI) in a transformed bird's-eye view frames of image data that includes a region where the fifth wheel hitch is present. The vehicular trailer assist system, via a Hough transform that transforms the determined ROI from a Cartesian coordinate system to a polar coordinate system, determines a trailer angle of the trailer relative to the vehicle.

A vehicular trailer hitching assist system includes a rearward-viewing camera disposed at a vehicle and viewing a hitch of the vehicle and a trailer coupler of a trailer that is positioned rearward of the vehicle and not coupled to the hitch of the vehicle. The vehicular trailer hitching assist system, via image processing of image data captured by the rearward-viewing camera, determines height of the trailer coupler relative to the hitch of the vehicle. The vehicular trailer hitching assist system, responsive to the determined height of the trailer coupler relative to the hitch of the vehicle being greater than a threshold amount, generates a signal to adjust the height of the trailer coupler.

Vehicular trailer hitching assist system

A vehicular vision system includes a camera viewing exterior of the vehicle and capturing image data, and an electronic control unit (ECU) having an image processor for processing captured image data to detect presence of objects in the view of the camera. The ECU, responsive to processing of captured image data, determines presence of an intersection controlled by at least one stop indicator, with one stop indicator designated for the lane along which the vehicle is traveling. The ECU determines a right-of-way order of other vehicles at the intersection relative to the equipped vehicle and determines when the equipped vehicle has the right-of-way based on the determined right-of-way order. The ECU provides an indication to the driver of the equipped vehicle when the equipped vehicle has the right-of-way.

Vehicular control system with controlled vehicle stopping and starting at intersection

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.

Vehicular control system

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.

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.

Vehicular trailering assist system with trailer collision angle detection

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.

Vehicular trailering assist system with trailer calibration feature

A vehicular trailering assist system includes at least one camera disposed at a trailer hitched to a hitch of a vehicle, and an electronic control unit (ECU). The ECU determines, during a first stage of a calibration maneuver of the vehicle and trailer, image coordinates of at least one ground feature point. The ECU, responsive to determining image coordinates of the at least one ground feature point, estimates orientation parameters of the camera based at least on the determined image coordinates and intrinsic camera parameters. As the vehicle and trailer travel further along the ground surface during a second stage of the calibration maneuver of the vehicle and trailer, and based on the estimated orientation parameters of the at least one camera, the vehicular trailering assist system determines misalignment of the at least one camera at the trailer.

Growing community of inventors

Toronto, Canada

Alexander Velichko