US 11,756,230 B2
Vehicular trailer hitching assist system with determination of location of hitch
Nikhil Gupta, Brampton (CA); Galina Okouneva, Markham (CA); Hilda Faraji, Toronto (CA); and Jyothi P. Gali, Rochester Hills, MI (US)
Assigned to Magna Electronics Inc., Auburn Hills, MI (US)
Filed by Magna Electronics Inc., Auburn Hills, MI (US)
Filed on Mar. 18, 2022, as Appl. No. 17/655,383.
Application 17/655,383 is a continuation of application No. 16/947,464, filed on Aug. 3, 2020, granted, now 11,282,227.
Application 16/947,464 is a continuation of application No. 16/408,613, filed on May 10, 2019, granted, now 10,733,757, issued on Aug. 4, 2020.
Claims priority of provisional application 62/669,438, filed on May 10, 2018.
Prior Publication US 2022/0207767 A1, Jun. 30, 2022
Int. Cl. H04N 7/18 (2006.01); G06T 7/73 (2017.01); B60R 11/04 (2006.01); B60R 11/00 (2006.01); B60R 1/00 (2022.01); B60D 1/36 (2006.01)
CPC G06T 7/73 (2017.01) [H04N 7/183 (2013.01); B60D 1/36 (2013.01); B60R 1/00 (2013.01); B60R 11/04 (2013.01); B60R 2011/004 (2013.01); B60R 2300/607 (2013.01); B60R 2300/808 (2013.01); G06T 2207/30252 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A vehicular trailer hitching assist system, the vehicular trailer hitching assist system comprising:
a camera disposed at a rear portion of a vehicle equipped with the vehicular trailer hitching assist system and viewing a trailer hitch disposed at the vehicle;
an electronic control unit (ECU) comprising an image processor that processes frames of image data captured by the camera;
wherein, responsive to processing at the ECU of frames of image data captured by the camera, a feature of the trailer hitch is detected;
wherein the vehicular trailer hitching assist 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 based on a vertical segment extending through the detected feature;
wherein the vehicular trailer hitching assist system, based in part on height of the detected feature of the trailer hitch above the ground location below the detected feature of the trailer hitch, determines a location of the trailer hitch at the vehicle; and
wherein the vehicle is maneuvered toward a trailer for hitching a coupler of 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 below the detected feature of the trailer hitch.