Vehicular trailering system

  • US 10,870,449 B2
  • Filed: 10/01/2018
  • Issued: 12/22/2020
  • Est. Priority Date: 08/18/2015
  • Status: Active Grant
First Claim
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1. A vehicular trailering system, said vehicular trailering system comprising:

  • a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle;

    said plurality of cameras comprising a forward viewing camera disposed at a front portion of the vehicle, said forward viewing camera viewing at least forward of the vehicle;

    said plurality of cameras comprising a rearward viewing camera disposed at a rear portion of the vehicle, said rearward viewing camera viewing at least rearward of the vehicle;

    said plurality of cameras comprising a left-side viewing camera disposed at a left side portion of the vehicle, said left-side viewing camera viewing at least sideward of the vehicle;

    said plurality of cameras comprising a right-side viewing camera disposed at a right side portion of the vehicle, said right-side viewing camera viewing at least sideward of the vehicle;

    a control comprising an image processor;

    wherein said image processor processes image data captured by said plurality of cameras;

    wherein, with a trailer hitched to the vehicle, said vehicular trailering system determines trailer angle of the trailer relative to the vehicle responsive at least in part to processing by said image processor of image data captured by at least some one selected from the group consisting of said rearward viewing camera, said left-side viewing camera and said right-side viewing camera of said plurality of cameras during forward motion of the vehicle;

    wherein, with said plurality of cameras disposed at the vehicle and with the trailer hitched to the vehicle and during forward motion of the vehicle and responsive at least in part to processing by said image processor of image data captured by at least one selected from the group consisting of said forward viewing camera, said left-side viewing camera and said right-side viewing camera of said plurality of cameras, an object exterior of the vehicle is detected; and

    wherein, responsive to detection of the detected object, said vehicular trailering system plans a path of forward travel of the vehicle towing the trailer that avoids contact by the trailer with the detected object.

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