US 12,136,270 B2
Vehicular trailer angle detection system for fifth-wheel trailers
Jyothi P. Gali, Rochester Hills, MI (US); Harold E. Joseph, Brampton (CA); Gajanan Subhash Kuchgave, Maharashtra (IN); Alexander Velichko, Toronto (CA); and Guruprasad Mani Iyer Shankaranarayanan, Mississauga (CA)
Assigned to Magna Electronics Inc., Auburn Hills, MI (US)
Filed by Magna Electronics Inc., Auburn Hills, MI (US)
Filed on Jan. 4, 2022, as Appl. No. 17/646,904.
Claims priority of provisional application 63/199,514, filed on Jan. 5, 2021.
Prior Publication US 2022/0215670 A1, Jul. 7, 2022
Int. Cl. G06V 20/56 (2022.01); G06T 5/92 (2024.01); G06T 7/13 (2017.01); G06T 7/20 (2017.01); G06V 10/25 (2022.01); G06V 10/44 (2022.01); G06V 10/48 (2022.01); H04N 23/698 (2023.01); H04N 23/80 (2023.01); B60R 1/26 (2022.01); B60R 11/00 (2006.01); B60R 11/04 (2006.01)
CPC G06V 20/56 (2022.01) [G06T 5/92 (2024.01); G06T 7/13 (2017.01); G06T 7/20 (2013.01); G06V 10/25 (2022.01); G06V 10/44 (2022.01); G06V 10/48 (2022.01); H04N 23/698 (2023.01); H04N 23/80 (2023.01); B60R 1/26 (2022.01); B60R 2011/004 (2013.01); B60R 11/04 (2013.01); B60R 2300/30 (2013.01); B60R 2300/607 (2013.01); B60R 2300/808 (2013.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicular trailer assist system, the vehicular trailer assist system comprising:
a rearward viewing camera disposed at a vehicle equipped with the vehicular trailer assist system, the rearward viewing camera viewing at least a portion of a trailer hitched at a fifth wheel hitch at a bed of the vehicle, wherein the rearward viewing camera captures fisheye-view frames of image data;
wherein the rearward viewing camera comprises a CMOS imaging array having at least one million photosensors arranged in rows and columns;
an electronic control unit (ECU) comprising electronic circuitry and associated software, wherein the electronic circuitry comprises an image processor operable to process fisheye-view frames of image data captured by the rearward viewing camera;
wherein, with the trailer hitched to the fifth wheel hitch at the bed of the vehicle, the vehicular trailer assist system, via image processing at the ECU of fisheye-view frames of image data captured by the rearward viewing camera, transforms frames of image data captured by the rearward viewing camera from fisheye-view frames of image data into bird's-eye view frames of image data;
wherein the vehicular trailer assist system determines a region of interest (ROI) in transformed bird's-eye view frames of image data;
wherein the determined ROI includes a region of the transformed bird's-eye view frames of image data where the fifth wheel hitch is present; and
wherein, with the trailer hitched to the fifth wheel hitch at the bed of the vehicle, 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 the trailer hitched at the fifth wheel hitch and determines a trailer angle of the trailer relative to the vehicle.