Vehicle vision system with trailer angle detection

  • US 9,558,409 B2
  • Filed: 12/11/2013
  • Issued: 01/31/2017
  • Est. Priority Date: 09/26/2012
  • Status: Active Grant
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First Claim
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1. A vehicular vision system, said vehicular vision system comprising:

  • a camera disposed at a vehicle and having an exterior field of view rearward of the vehicle, wherein said camera is operable to capture image data;

    an image processor operable to process captured image data;

    wherein, when the vehicle is towing a trailer, and based at least in part on image processing of image data captured by said camera during maneuvering of the vehicle and the trailer, said image processor (i) estimates a distance between a hitching point of the trailer and an axle of the trailer, and (ii) estimates a length of the trailer that includes the estimated distance between the hitching point of the trailer and the axle of the trailer and an estimated distance between the axle of the trailer and a rear end portion of the trailer;

    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 vision system, responsive at least in part to image processing of captured image data, is operable to determine a trailer angle of the trailer that is towed by the vehicle; and

    wherein said vision system is operable to determine a path of the trailer responsive to a steering angle of the vehicle and the determined trailer angle of the trailer and the estimated length of the trailer, and wherein said vision system is operable to display information for viewing by a driver of the vehicle to assist the driver in driving the vehicle with the trailer.

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