Patents by Inventor Alexander Velichko
Alexander Velichko has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 12071132Abstract: 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.Type: GrantFiled: January 6, 2022Date of Patent: August 27, 2024Assignee: Magna Electronics Inc.Inventors: Harold E. Joseph, Jagdish Rathod, Jyothi P. Gali, Alexander Velichko
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Patent number: 12036990Abstract: 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.Type: GrantFiled: November 20, 2020Date of Patent: July 16, 2024Assignee: Magna Electronics Inc.Inventors: Harold E. Joseph, Muhammad Mohteshim Khan, Alexander Velichko
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Patent number: 12024161Abstract: 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.Type: GrantFiled: September 11, 2023Date of Patent: July 2, 2024Assignee: Magna Electronics Inc.Inventors: Mahdi Marsousi, Harold E. Joseph, Nikhil Gupta, Alexander Velichko
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Publication number: 20240190342Abstract: 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.Type: ApplicationFiled: February 19, 2024Publication date: June 13, 2024Inventors: Akbar Assa, Shweta Suresh Daga, Brijendra Kumar Bharti, Guruprasad Mani Iyer Shankaranarayanan, Jyothi P. Gali, Anoop S. Mann, Alexander Velichko
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Publication number: 20240153279Abstract: 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.Type: ApplicationFiled: January 12, 2024Publication date: May 9, 2024Inventors: Jyothi P. Gali, Harold E. Joseph, Prasanna Ananthakrishnan, Alexander Velichko
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Publication number: 20240153232Abstract: 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.Type: ApplicationFiled: December 21, 2023Publication date: May 9, 2024Inventors: Jyothi P. Gali, Mohammadmehdi Jalalmaab, Prasanna Ananthakrishnan, Harold E. Joseph, Alexander Velichko
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Patent number: 11912199Abstract: 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.Type: GrantFiled: March 27, 2023Date of Patent: February 27, 2024Assignee: Magna Electronics Inc.Inventors: Akbar Assa, Shweta Suresh Daga, Brijendra Kumar Bharti, Guruprasad Mani Iyer Shankaranarayanan, Jyothi P. Gali, Anoop S. Mann, Alexander Velichko
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Patent number: 11875575Abstract: 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.Type: GrantFiled: July 23, 2021Date of Patent: January 16, 2024Assignee: Magna Electronics Inc.Inventors: Jyothi P. Gali, Harold E. Joseph, Prasanna Ananthakrishnan, Alexander Velichko
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Patent number: 11861878Abstract: 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.Type: GrantFiled: July 23, 2021Date of Patent: January 2, 2024Assignee: Magna Electronics Inc.Inventors: Jyothi P. Gali, Mohammadmehdi Jalalmaab, Prasanna Ananthakrishnan, Harold E. Joseph, Alexander Velichko
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Publication number: 20230415729Abstract: 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.Type: ApplicationFiled: September 11, 2023Publication date: December 28, 2023Inventors: Mahdi Marsousi, Harold E. Joseph, Nikhil Gupta, Alexander Velichko
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Patent number: 11820423Abstract: 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.Type: GrantFiled: March 20, 2023Date of Patent: November 21, 2023Assignee: Magna Electronics Inc.Inventors: Galina Okouneva, James Turk, Anam M. Yunus, Alexander Velichko
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Patent number: 11753002Abstract: 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.Type: GrantFiled: May 13, 2022Date of Patent: September 12, 2023Assignee: Magna Electronics Inc.Inventors: Mahdi Marsousi, Harold E. Joseph, Nikhil Gupta, Alexander Velichko
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Publication number: 20230234502Abstract: 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.Type: ApplicationFiled: March 27, 2023Publication date: July 27, 2023Inventors: Akbar Assa, Shweta Suresh Daga, Brijendra Kumar Bharti, Guruprasad Mani Iyer Shankaranarayanan, Jyothi P. Gali, Anoop S. Mann, Alexander Velichko
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Publication number: 20230227103Abstract: 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.Type: ApplicationFiled: March 20, 2023Publication date: July 20, 2023Inventors: Galina Okouneva, James Turk, Anam M. Yunus, Alexander Velichko
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Patent number: 11702017Abstract: A vehicular trailer assist system includes a camera 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. The control, during a turning portion of the calibration maneuver, and at least in part via processing of frames of image data captured by the camera, determines a hitch ball location of a hitch of the vehicle based on the determined initial trailer template. The control, after completion of the calibration maneuver, determines a current trailer angle of the trailer relative to the vehicle via processing of frames of image data captured by the camera and based on the determined hitch ball location as the vehicle is driven along a road.Type: GrantFiled: July 23, 2021Date of Patent: July 18, 2023Assignee: Magna Electronics Inc.Inventors: Jyothi P. Gali, Harold E. Joseph, Prasanna Ananthakrishnan, Alexander Velichko
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Patent number: 11662196Abstract: A vehicular trailer assist system includes a control that includes an image processor for processing image data captured by the camera representative of at least a portion of a trailer hitched to the vehicle. The control determines whether the trailer has been previously hitched to the vehicle. Responsive to the trailer not being previously hitched, the control operates in a trailer initial calibration mode. Responsive to the control recognizing the trailer, the control operates in a recognized trailer calibration mode. The control obtains calibration data unique to the hitched trailer. The control, responsive to obtaining the calibration data, processes image data captured by the camera using the calibration data to locate the current position of the trailer relative to the vehicle. The control, responsive to locating the current position of the trailer relative to the vehicle, determines a trailer angle based on the located current position.Type: GrantFiled: May 8, 2020Date of Patent: May 30, 2023Assignee: MAGNA ELECTRONICS INC.Inventors: Harold E. Joseph, Joshua Teichroeb, Alexander Velichko, Jyothi P. Gali, Guruprasad Mani Iyer Shankaranarayanan
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Patent number: 11613208Abstract: A trailering 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, the field of view encompassing at least a portion of a trailer rearward of the vehicle. The camera captures image data, which is representative of at least a front profile of the trailer, which includes a trailer coupler of the trailer. An ECU includes an image processor that processes image data captured by the camera. The ECU, responsive to image processing of captured image data, determines a location of the front profile of the trailer relative to the vehicle. Responsive to determining the location of the front profile, the ECU determines a plurality of outline landmarks that represent a shape of the front profile of the trailer. Based on the determined outline landmarks, the ECU determines a location of the trailer coupler.Type: GrantFiled: July 30, 2020Date of Patent: March 28, 2023Assignee: MAGNA ELECTRONICS INC.Inventors: Akbar Assa, Shweta Suresh Daga, Brijendra Kumar Bharti, Guruprasad Mani Iyer Shankaranarayanan, Jyothi P. Gali, Anoop S. Mann, Alexander Velichko
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Publication number: 20230093053Abstract: 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.Type: ApplicationFiled: September 21, 2022Publication date: March 23, 2023Inventors: Harold E. Joseph, Truman S. Shen, Jyothi P. Gali, Alexander Velichko, Kevin A. Powell
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Patent number: 11608112Abstract: 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 known intrinsic camera parameters. Responsive to estimating the orientation parameters of the camera, and based on the determined parameters of the camera, the ECU determines location of the at least one camera at the trailer.Type: GrantFiled: December 18, 2020Date of Patent: March 21, 2023Assignee: MAGNA ELECTRONICS INC.Inventors: Galina Okouneva, James Turk, Anam M. Yunus, Alexander Velichko
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Publication number: 20230001984Abstract: 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.Type: ApplicationFiled: December 16, 2020Publication date: January 5, 2023Inventors: Yuesheng Lu, Jyothi P. Gali, Richard C. Bozich, Alexander Velichko