Patents by Inventor Hilda Faraji

Hilda Faraji 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).

  • Publication number: 20220089088
    Abstract: 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.
    Type: Application
    Filed: December 6, 2021
    Publication date: March 24, 2022
    Inventors: Ghanshyam Rathi, Hilda Faraji, Nikhil Gupta, Christian Traub, Michael Schaffner, Goerg Pflug
  • Patent number: 11282227
    Abstract: 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.
    Type: Grant
    Filed: August 3, 2020
    Date of Patent: March 22, 2022
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Nikhil Gupta, Galina Okouneva, Hilda Faraji, Jyothi P. Gali
  • Patent number: 11192500
    Abstract: 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.
    Type: Grant
    Filed: September 21, 2020
    Date of Patent: December 7, 2021
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Ghanshyam Rathi, Hilda Faraji, Nikhil Gupta, Christian Traub, Michael Schaffner, Goerg Pflug
  • Publication number: 20210276557
    Abstract: 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.
    Type: Application
    Filed: May 24, 2021
    Publication date: September 9, 2021
    Inventors: Nikhil Gupta, Horst D. Diessner, Richard Bozich, Jyothi P. Gali, Aleksandar Stefanovic, Hilda Faraji, Miad Moarref, Xai Phan, Galina Okouneva, Brijendra Kumar Bharti
  • Publication number: 20210268962
    Abstract: 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.
    Type: Application
    Filed: May 17, 2021
    Publication date: September 2, 2021
    Inventors: Nikhil Gupta, Hilda Faraji, Daan He, Ghanshyam Rathi
  • Publication number: 20210201523
    Abstract: 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.
    Type: Application
    Filed: February 22, 2021
    Publication date: July 1, 2021
    Inventors: Horst D. Diessner, Jyothi P. Gali, Nikhil Gupta, Hilda Faraji, Galina Okouneva, Akinyele O. Ikuseru
  • Patent number: 11014561
    Abstract: 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.
    Type: Grant
    Filed: February 1, 2018
    Date of Patent: May 25, 2021
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Nikhil Gupta, Horst D. Diessner, Richard Bozich, Jyothi P. Gali, Aleksandar Stefanovic, Hilda Faraji, Miad Moarref, Xai Phan, Galina Okouneva, Brijendra Kumar Bharti
  • Patent number: 11007934
    Abstract: 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.
    Type: Grant
    Filed: May 4, 2020
    Date of Patent: May 18, 2021
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Nikhil Gupta, Hilda Faraji, Daan He, Ghanshyam Rathi
  • Patent number: 10930004
    Abstract: 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.
    Type: Grant
    Filed: February 3, 2020
    Date of Patent: February 23, 2021
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Horst D. Diessner, Jyothi P. Gali, Nikhil Gupta, Hilda Faraji, Galina Okouneva, Akinyele O. Ikuseru
  • Patent number: 10919458
    Abstract: 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.
    Type: Grant
    Filed: May 18, 2020
    Date of Patent: February 16, 2021
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Nikhil Gupta, Hilda Faraji, Daan He, Ghanshyam Rathi
  • Publication number: 20210001775
    Abstract: 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.
    Type: Application
    Filed: September 21, 2020
    Publication date: January 7, 2021
    Inventors: Ghanshyam Rathi, Hilda Faraji, Nikhil Gupta, Christian Traub, Michael Schaffner, Goerg Pflug
  • Publication number: 20200364896
    Abstract: 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.
    Type: Application
    Filed: August 3, 2020
    Publication date: November 19, 2020
    Inventors: Nikhil Gupta, Galina Okouneva, Hilda Faraji, Jyothi P. Gali
  • Patent number: 10780827
    Abstract: 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.
    Type: Grant
    Filed: November 25, 2019
    Date of Patent: September 22, 2020
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Ghanshyam Rathi, Hilda Faraji, Nikhil Gupta, Christian Traub, Michael Schaffner, Goerg Pflug
  • Publication number: 20200276939
    Abstract: 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.
    Type: Application
    Filed: May 18, 2020
    Publication date: September 3, 2020
    Inventors: Nikhil Gupta, Hilda Faraji, Daan He, Ghanshyam Rathi
  • Publication number: 20200262347
    Abstract: 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.
    Type: Application
    Filed: May 4, 2020
    Publication date: August 20, 2020
    Inventors: Nikhil Gupta, Hilda Faraji, Daan He, Ghanshyam Rathi
  • Patent number: 10733757
    Abstract: 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.
    Type: Grant
    Filed: May 10, 2019
    Date of Patent: August 4, 2020
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Nikhil Gupta, Galina Okouneva, Hilda Faraji, Jyothi P. Gali
  • Patent number: 10706291
    Abstract: A trailer angle detection system for a vehicle towing a trailer includes a camera disposed at a rear portion of the vehicle and having a field of view rearward of the vehicle. The camera includes a two dimensional imager array having multiple rows and columns of photosensing elements. An image processor processes image data captured by the camera. With the vehicle towing a trailer, and via processing by the image processor of image data captured by the camera, the trailer angle detection system detects a portion of the trailer that is being towed by the vehicle. The trailer angle detection system determines, via processing by the image processor of image data captured by the camera, an angle of the trailer relative to the vehicle responsive to determination of which columns of photosensing elements sense the detected portion of the trailer in the field of view of the camera.
    Type: Grant
    Filed: March 2, 2018
    Date of Patent: July 7, 2020
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Horst D. Diessner, Jyothi P. Gali, Nikhil Gupta, Hilda Faraji, Galina Okouneva
  • Publication number: 20200175707
    Abstract: 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.
    Type: Application
    Filed: February 3, 2020
    Publication date: June 4, 2020
    Inventors: Horst D. Diessner, Jyothi P. Gali, Nikhil Gupta, Hilda Faraji, Galina Okouneva, Akinyele O. Ikuseru
  • Patent number: 10654423
    Abstract: A method for dynamically ascertaining alignment of a vehicular camera relative to a vehicle to which the camera is attached includes determining a plurality of steering angle ranges for the vehicle, each of which is a range of steering angles that approximates straight vehicle motion over less than two seconds of travel time of the vehicle while the vehicle is in motion and turning. Image data captured by a camera of the vehicle is processed to determine a central vanishing point when the vehicle is in motion and moving straight. A plurality of feature points are selected in the image frames for each steering angle range, and a vanishing point for a plurality of tracked motion trajectories for each steering angle range is determined. An alignment of the camera is determined based at least in part on the determined central vanishing point and a determined vanishing line.
    Type: Grant
    Filed: December 4, 2017
    Date of Patent: May 19, 2020
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Nikhil Gupta, Hilda Faraji, Daan He, Ghanshyam Rathi
  • Patent number: 10640041
    Abstract: A method for dynamically calibrating without manual intervention a forward viewing vehicular camera with respect to its three rotational degrees of freedom includes disposing a camera at a vehicle and operating the camera to acquire multiple frames of image data as the vehicle is moving and steered through a plurality 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 vanishing point is established in the image plane for the feature points for the respective range of steering angles. Based on established vanishing points, a vanishing line is determined. When the vanishing line is determined to be non-horizontal, at least one of pitch, roll or yaw of the camera is adjusted.
    Type: Grant
    Filed: February 4, 2019
    Date of Patent: May 5, 2020
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Nikhil Gupta, Hilda Faraji, Daan He, Ghanshyam Rathi