Vehicular control system with trailering assist function
First Claim
1. A vehicular control system, said vehicular control system comprising:
- a camera disposed at a vehicle and having an exterior field of view at least rearward of the vehicle;
wherein said camera is operable to capture image data;
wherein a trailer is attached to the vehicle;
an image processor operable to process captured image data;
wherein image data captured by said camera during maneuvering of the vehicle and the trailer includes image data captured by said camera when the vehicle is maneuvered with the trailer at an angle relative to the vehicle;
wherein said vehicular control system, responsive at least in part to image processing by said image processor of image data captured by said camera, determines a trailer angle of the trailer;
wherein said vehicular control system is operable to determine a path of the trailer responsive at least to a steering angle of the vehicle and the determined trailer angle of the trailer relative to the vehicle;
wherein said vehicular control system determines an object present exterior of the vehicle which ought not to be impacted during maneuvering of the vehicle and the trailer;
wherein said vehicular control system determines drivable surfaces and prohibited spaces and distinguishes drivable surfaces from prohibited spaces;
wherein said vehicular control system, responsive to determination of objects present exterior of the vehicle which ought not to be impacted during maneuvering of the vehicle and trailer and distinguishing drivable surfaces from prohibited spaces, constructs a three dimensional model of the region encompassed by the field of view of said camera; and
wherein, in accordance with the constructed three dimensional model, and based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vehicular control system plans a driving path for the vehicle and trailer that avoids detected objects and that avoids determined prohibited spaces so that wheels of the vehicle and trailer do not run over or contact detected objects and do not violate determined prohibited spaces during maneuvering of the vehicle and trailer.
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Accused Products
Abstract
A vehicular control system includes a camera having an exterior field of view at least rearward of the vehicle and operable to capture image data. A trailer is attached to the vehicle and image data captured by the camera includes image data captured when the vehicle is maneuvered with the trailer at an angle relative to the vehicle. The vehicular control system determines a trailer angle of the trailer and is operable to determine a path of the trailer responsive at least to a steering angle of the vehicle and the determined trailer angle of the trailer. The vehicular control system determines an object present exterior of the vehicle and the vehicular control system distinguishes a drivable surface from a prohibited space, and the vehicular control system plans a driving path for the vehicle that neither impacts the object nor violates the prohibited space.
523 Citations
25 Claims
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1. A vehicular control system, said vehicular control system comprising:
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a camera disposed at a vehicle and having an exterior field of view at least rearward of the vehicle; wherein said camera is operable to capture image data; wherein a trailer is attached to the vehicle; an image processor operable to process captured image data; wherein image data captured by said camera during maneuvering of the vehicle and the trailer includes image data captured by said camera when the vehicle is maneuvered with the trailer at an angle relative to the vehicle; wherein said vehicular control system, responsive at least in part to image processing by said image processor of image data captured by said camera, determines a trailer angle of the trailer; wherein said vehicular control system is operable to determine a path of the trailer responsive at least to a steering angle of the vehicle and the determined trailer angle of the trailer relative to the vehicle; wherein said vehicular control system determines an object present exterior of the vehicle which ought not to be impacted during maneuvering of the vehicle and the trailer; wherein said vehicular control system determines drivable surfaces and prohibited spaces and distinguishes drivable surfaces from prohibited spaces; wherein said vehicular control system, responsive to determination of objects present exterior of the vehicle which ought not to be impacted during maneuvering of the vehicle and trailer and distinguishing drivable surfaces from prohibited spaces, constructs a three dimensional model of the region encompassed by the field of view of said camera; and wherein, in accordance with the constructed three dimensional model, and based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vehicular control system plans a driving path for the vehicle and trailer that avoids detected objects and that avoids determined prohibited spaces so that wheels of the vehicle and trailer do not run over or contact detected objects and do not violate determined prohibited spaces during maneuvering of the vehicle and trailer. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A vehicular control system, said vehicular control system comprising:
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a camera disposed at a vehicle and having an exterior field of view at least rearward of the vehicle; wherein said camera is operable to capture image data; wherein a trailer is attached to the vehicle; an image processor operable to process captured image data; wherein image data captured by said camera during maneuvering of the vehicle and the trailer includes image data captured by said camera when the vehicle is maneuvered with the trailer at an angle relative to the vehicle; wherein said vehicular control system, responsive at least in part to image processing by said image processor of image data captured by said camera, determines a trailer angle of the trailer; wherein said vehicular control system is operable to determine a path of the trailer responsive at least to a steering angle of the vehicle and the determined trailer angle of the trailer relative to the vehicle; wherein said vehicular control system determines an object present exterior of the vehicle which ought not be impacted during maneuvering of the vehicle and the trailer based at least in part on image processing by said image processor of image data captured by said camera; wherein said vehicular control system determines drivable surfaces and prohibited spaces and distinguishes drivable surfaces from prohibited spaces; wherein said vehicular control system, responsive to determination of objects present exterior of the vehicle which ought not to be impacted during maneuvering of the vehicle and trailer and distinguishing drivable surfaces from prohibited spaces, constructs a three dimensional model of the region encompassed by the field of view of said camera; wherein, in accordance with the constructed three dimensional model, and based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vehicular control system plans a driving path for the vehicle and trailer that avoids detected objects and that avoids determined prohibited spaces so that wheels of the vehicle and trailer do not run over or contact detected objects and do not violate determined prohibited spaces during maneuvering of the vehicle and trailer; and wherein said vehicular control system is operable to identify a certain trailer and to store properties of that certain trailer in a data file that is accessed when that certain trailer is connected at the vehicle and identified by said vehicular control system. - View Dependent Claims (20, 21)
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22. A vehicular control system, said vehicular control system comprising:
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a camera disposed at a vehicle and having an exterior field of view at least rearward of the vehicle; wherein said camera is operable to capture image data; wherein a trailer is attached to the vehicle; an image processor operable to process image data captured by said camera; wherein image data captured by said camera during maneuvering of the vehicle and the trailer includes image data captured by said camera when the vehicle is maneuvered with the trailer at an angle relative to the vehicle; wherein said vehicular control system, responsive at least in part to image processing by said image processor of image data captured by said camera, determines a trailer angle of the trailer; wherein said vehicular control system is operable to determine a path of the trailer responsive at least to a steering angle of the vehicle and the determined trailer angle of the trailer relative to the vehicle; wherein said vehicular control system determines an object present exterior of the vehicle which ought not be impacted during maneuvering of the vehicle and the trailer based at least in part on image processing by said image processor of image data captured by said camera; wherein said vehicular control system determines drivable surfaces and prohibited spaces and distinguishes drivable surfaces from prohibited spaces; wherein said vehicular control system, responsive to determination of objects present exterior of the vehicle which ought not to be impacted during maneuvering of the vehicle and trailer and distinguishing drivable surfaces from prohibited spaces, constructs a three dimensional model of the region encompassed by the field of view of said camera; wherein, in accordance with the constructed three dimensional model, and based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vehicular control system plans a driving path for the vehicle and trailer that avoids detected objects and that avoids determined prohibited spaces so that wheels of the vehicle and trailer do not run over or contact detected objects and do not violate determined prohibited spaces during maneuvering of the vehicle and trailer; wherein said vehicular control system is operable to identify a certain trailer and to store properties of that certain trailer in a data file that is accessed when that certain trailer is connected at the vehicle and identified by said vehicular control system; wherein, based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vehicular control system classifies at least one of (i) the determined object and (ii) a road surface viewed by said camera; and wherein, when the vehicle and the trailer are maneuvering, and based at least in part on image processing by said image processor of image data captured by said camera during maneuvering of the vehicle and the trailer, said vehicular control system estimates width of the trailer. - View Dependent Claims (23, 24, 25)
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Specification