Trailering assist system for vehicle

  • US 10,755,110 B2
  • Filed: 06/27/2014
  • Issued: 08/25/2020
  • Est. Priority Date: 06/28/2013
  • Status: Active Grant
First Claim
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1. A trailering assist system for a vehicle, said trailering assist system comprising:

  • a camera disposed at a vehicle equipped with said trailering assist system;

    wherein said camera comprises a two dimensional array of photosensing elements;

    wherein said camera has a field of view rearward of the equipped vehicle that encompasses a trailer that is being towed by the equipped vehicle, and wherein said camera is operable to capture image data;

    a control;

    said control comprising an image processor operable to process image data captured by said camera;

    wherein said control receives an input of vehicle parameters;

    wherein, responsive to receipt of said input of vehicle parameters and to processing of captured image data by said image processor, said trailering assist system is operable to determine an estimated trailer angle and an estimated steering wheel angle of the equipped vehicle;

    wherein the estimated trailer angle comprises an estimation of an angle of a longitudinal axis of the trailer relative to a longitudinal axis of the equipped vehicle;

    wherein said control compares said estimated vehicle steering wheel angle to an actual steering wheel angle of the equipped vehicle to determine a steering wheel angle error value, and wherein said steering wheel angle error value is derived from the difference between the estimated steering wheel angle and the actual steering wheel angle;

    wherein said steering wheel angle error value is used to modify the estimated trailer angle in subsequent determinations of the estimated trailer angle;

    wherein, while said steering wheel angle error value is within a threshold range, said trailering assist system continues to determine steering wheel angle error values in making subsequent determinations of the estimated trailer angle as the driver of the vehicle continues a driving maneuver; and

    wherein said control is operable to generate an output responsive to said steering wheel angle error value being at or above a threshold level.

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