Vehicular control system with trailering assist function

  • US 10,586,119 B2
  • Filed: 10/01/2018
  • Issued: 03/10/2020
  • 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, said camera having a field of view exterior of the vehicle;

    wherein a trailer is attached to the vehicle;

    wherein, during maneuvering of the vehicle and the trailer, said camera captures image data;

    an image processor that processes 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, 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 a dimension of the trailer;

    wherein said vehicular control system determines a path of the trailer responsive at least in part to a steering angle of the vehicle;

    wherein said vehicular control system detects an object present exterior of the vehicle which ought not be impacted during maneuvering of the vehicle and the trailer;

    wherein said vehicular control system detects the object 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; and

    wherein, responsive at least in part to detection of the object present exterior of the vehicle which ought not be impacted during maneuvering of the vehicle and the trailer, said vehicular control system plans a driving path for the vehicle and the trailer that avoids the detected object so that the vehicle and the trailer do not run over or contact the detected object.

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