Vehicular control system with trailering assist function

  • US 10,089,541 B2
  • Filed: 10/02/2017
  • Issued: 10/02/2018
  • Est. Priority Date: 09/26/2012
  • Status: Active Grant
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First Claim
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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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