Magna Electronics Inc.

Magna International Inc.

Hilda Faraji

Nikhil Gupta

Ghanshyam Rathi

Jyothi P Gali

Galina Okouneva

Horst Daniel Diessner

Daan He

Goerg Pflug

Michael Schaffner

Christian Traub

Akinyele O Ikuseru

Richard C Bozich

Brijendra Kumar Bharti

Aleksandar Stefanovic

Sharon Zibman

Xai Phan

Bin Shi

Tom Perovic

Yong Zhou

Miad Moarref

A vehicular trailer angle detection system includes a camera disposed at a rear portion of a vehicle. The vehicular trailer angle detection system, via processing of frames of image data captured by the camera, tracks changes of features present in a current frame of captured image data and present in a previous frame of captured image data and determines features of the trailer based on the tracked changes of features. The determined features of the trailer have respective changes between the current frame of image data captured by the camera and the previous frame of image data captured by the camera. The vehicular trailer angle detection system determines angle of the trailer relative to the vehicle based at least in part on tracking of the determined features of the trailer over multiple captured frames of image data.

Vehicular trailer angle detection system

A vehicular trailer angle detection system includes a camera disposed at a rear portion of a vehicle. The system determines, via processing of frames of image data captured by the camera, features of a trailer present rearward of the vehicle and hitched to the vehicle by determining features that have similar position changes between a current frame of image data captured by the camera and a previous frame of image data captured by the camera. Responsive to movement of the trailer relative to the vehicle, and via processing of captured frames of image data, the system tracks determined features over multiple captured frames of image data for different positions of the trailer relative to the vehicle. The system determines angle of the trailer relative to the vehicle based at least in part on tracking of determined features of the trailer over multiple captured frames of image data.

A vehicular trailer hitching assist system includes a camera disposed at a rear portion of a vehicle and viewing a trailer hitch disposed at the vehicle. Responsive to processing at an electronic control unit (ECU) of frames of image data captured by the camera, a feature of the trailer hitch is detected. The system, at least in part via processing at the ECU of at least one frame of image data captured by the camera, determines a ground location at the ground below the detected feature of the trailer hitch, and determines a location of the trailer hitch at the vehicle. The vehicle is maneuvered toward a trailer for hitching the trailer to the trailer hitch of the vehicle based at least in part on (i) the determined location of the trailer hitch and (ii) the height of the detected feature of the trailer hitch above the ground location.

Vehicular trailer hitching assist system with determination of location of hitch

A method for determining features of a trailer being towed by a vehicle includes initiating a calibration drive of the vehicle and capturing frames of image data via a vehicle camera, and, via processing by an image processor of frames of captured image data, determining features of the trailer being towed by the vehicle during the calibration drive. The features of the trailer are determined by determining features that have similar changes between a current frame of captured image data and a previous frame of captured image data captured during the calibration drive. The features are tracked over multiple frames of captured image data for different angular positions of the trailer relative to the vehicle to determine trailer length from the hitch ball of the vehicle to an axle of the trailer. The trailer angle is determined based on the determined trailer length.

Method for determining features of a trailer towed by a vehicle

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. An electronic control unit (ECU) includes an image processor operable to process image data captured by the camera. The ECU, via image processing of image data captured by the camera, detects a trailer rearward of the vehicle and determines a first path of travel for the vehicle to follow to maneuver the vehicle toward the trailer and to align the tow ball of the vehicle with a trailer hitch of the trailer. The ECU generates an output to maneuver the vehicle along the determined first path of travel. Responsive to detection of an object entering the first path of travel, the ECU determines a second path of travel for the vehicle to follow that avoids the detected object entering the determined path of travel.

Vehicular trailer hitching assist system

A vehicular vision system includes a plurality of cameras disposed at a vehicle and capturing image data as the equipped vehicle is driven along a traffic lane of a road. Captured image data is processed to detect a rearward-approaching vehicle and determine a path of travel of the detected rearward-approaching vehicle. Responsive to determining that the path of travel of the detected rearward-approaching vehicle is along a side traffic lane adjacent to the traffic lane along which the equipped vehicle is driven, the vehicular vision system (i) displays at a video display screen video images derived at least from image data captured by the side camera that is at the side portion of the equipped vehicle that is adjacent to the side traffic lane and (ii) overlays a transparent graphic overlay overlaying the displayed video images that is based on the determined path of travel of the detected rearward-approaching vehicle.

Multi-camera vehicular vision system with graphic overlay

A vehicular vision system includes a camera disposed at a vehicle and operable to capture multiple frames of image data during a driving maneuver of the vehicle. A control includes an image processor that processes frames of captured image data to determine feature points in an image frame when the vehicle is operated within a first range of steering angles, and to determine motion trajectories of those feature points in subsequent image frames for the respective range of steering angles. The control determines a horizon line based on the determined motion trajectories. Responsive to determination that the determined horizon line is non-parallel to the horizontal axis of the image plane, at least one of pitch, roll or yaw of the camera is adjusted. Image data captured by the camera is processed at the control for object detection.

Vehicular vision system that dynamically calibrates a vehicular camera

A trailer assist system for a vehicle includes a camera disposed at a rear portion of a vehicle and viewing a trailer hitch disposed at the vehicle. A control includes an image processor that processes image data captured by the camera that is representative of images of the trailer hitch viewed by the camera. The control, responsive to processing at the control of image data captured by the camera, detects a feature of the trailer hitch at determines Cartesian coordinates of the trailer hitch location and transforms the Cartesian coordinates of the detected feature to cylindrical coordinates. The control, responsive at least in part to determining the cylindrical coordinates of the detected feature, determines a three-dimensional location of the trailer hitch at the vehicle.

Trailer assist system with estimation of 3D location of hitch

A method for stitching image data captured by multiple vehicular cameras includes equipping a vehicle with a vehicular vision system having a control and a plurality of cameras disposed at the vehicle so as to have respective fields of view exterior the vehicle. Image data captured by first and second cameras of the plurality of cameras is processed to detect and track an object present in and moving within an overlapping portion of the fields of view of the first and second cameras. Image data captured by the first and second cameras is stitched, via processing provided captured image data, to form stitched images. Stitching of captured image data is adjusted responsive to determination of a difference between a feature of a detected and tracked object as captured by the first camera and the feature of the detected and tracked object as captured by the second camera.

Method for stitching image data captured by multiple vehicular cameras

A trailer hitching assist system for a vehicle includes a camera disposed at a rear portion of a vehicle and having a field of view rearward of the vehicle. A control includes an image processor operable to process image data captured by the camera. The image processor, via image processing of image data captured by the camera, detects a trailer and trailer hitch rearward of the vehicle and determines a first path of travel for the vehicle to follow so as to maneuver the vehicle so as to have its tow ball aligned with the trailer hitch. The control maneuvers the vehicle along the determined first path of travel. Responsive to detection of an object entering the first path of travel, the control determines a second path of travel and maneuvers the vehicle along the second path of travel to avoid the detected object entering the determined path of travel.

Vehicle trailer hitch assist system

A method for dynamically calibrating a vehicular camera includes disposing a camera at a vehicle and operating the camera to capture multiple frames of image data while the vehicle is in motion and is steered within at least two ranges of steering angles. Feature points are determined in an image frame when the vehicle is steered within a respective range of steering angles, and motion trajectories of those feature points are tracked in subsequent image frames for the respective range of steering angles. A horizon line is determined based on the tracked feature points. Responsive to determination that the determined horizon line is non-parallel to the horizontal axis of the image plane, at least one of pitch, roll or yaw of the camera is adjusted. Image data captured by the camera is processed at the control for object detection.

Method for dynamically calibrating a vehicular camera

A method of detecting a trailer angle of a trailer being towed by a vehicle includes capturing frames of image data via a camera of the vehicle while the vehicle is towing a trailer, and, via processing by an image processor of frames of captured image data while the vehicle is towing the trailer, determining presence of the trailer being towed by the vehicle, and determining feature vectors of the trailer being towed by the vehicle. The feature vectors of the trailer are determined by determining features that have similar angular changes between a current frame of captured image data and a previous frame of captured image data. The angle of the trailer relative to the vehicle is determined responsive to tracking of determined feature vectors of the trailer present in the field of view of the camera over multiple frames of captured image data.

Trailer angle detection system for vehicle

A method for calibrating a vehicular camera includes providing at least a front or rear camera and a side camera with overlapping fields of view, and calibrating the front or rear camera, capturing a calibrated frame of image data with the front or rear camera, and capturing a sideward frame of image data with a side camera. At least one feature is determined present in the overlapping region of the calibrated frame, and pixel positions of the determined feature are predicted for the side camera. Misalignment of the side camera is determined based on a comparison of the predicted pixel positions of the determined feature to the pixel positions of the determined feature in the sideward frame of image data captured by the side camera. Processing of image data captured by the side camera is adjusted to accommodate the determined misalignment.

Method and system for calibrating vehicular cameras

A method for stitching images captured by multiple vehicular cameras includes disposing a plurality of cameras at the vehicle so as to have respective fields of view exterior the vehicle. Image data captured by first and second cameras of the plurality of cameras is processed to detect an object present in an overlapping portion of the fields of view of the first and second cameras. Image data captured by the first and second cameras is stitched, via processing provided captured image data, to form stitched images. Stitching of captured image data is adjusted responsive to determination of a difference between a characteristic of a feature of a detected object as captured by the first camera and the characteristic of the feature of the detected object as captured by the second camera in order to mitigate misalignment of stitched images.

Method for stitching images captured by multiple vehicular cameras

A trailer assist system for a vehicle includes a camera with a field of view encompassing a trailer hitch disposed at the vehicle. A control includes an image processor that processes image data captured by the camera that is representative of images of the trailer hitch present in the field of view of the camera. The control, responsive to processing at the control of image data captured by the camera, detects at least one feature of the trailer hitch at a Cartesian coordinate location and transforms the Cartesian coordinate location of the detected feature to a cylindrical coordinate location. The control generates a vertical segment that passes through the detected features and determines cylindrical coordinates of a ground point along the vertical segment. The control, responsive to determining the cylindrical coordinates of the ground point, determines a 3D location of the trailer hitch at the vehicle.

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Toronto, Canada

Hilda Faraji