Trailering assist system with trailer angle detection

  • US 9,950,738 B2
  • Filed: 07/20/2015
  • Issued: 04/24/2018
  • Est. Priority Date: 01/26/2011
  • Status: Active Grant
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First Claim
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1. A trailering assist system for a vehicle, said trailering assist system comprising:

  • at least a rearward facing camera disposed at a rearward portion of a vehicle equipped with said trailering assist system;

    wherein said rearward facing camera is operable to capture image data representative of the scene rearward of the equipped vehicle;

    wherein, when a trailer is attached to the equipped vehicle and is rearward of the equipped vehicle, a processor is operable to process the captured image data and, responsive at least in part to processing of captured image data, is operable to determine a trailer angle of the trailer relative to a longitudinal axis of the equipped vehicle;

    wherein said processor, responsive to processing of captured image data, determines a location of a target at or of the trailer relative to the equipped vehicle and determines the trailer angle of the trailer responsive to the determined location;

    wherein the target comprises at least one of (a) an icon or shape or indicia disposed at a forward portion of the trailer, (b) an icon or shape or indicia established on a sheet attached at a forward portion of the trailer, (c) an icon or shape or indicia established at a forward portion of the trailer, (d) a target pattern established at a surface of the trailer or trailer tongue, (e) a colored pattern established at a surface of the trailer or trailer tongue and (f) a forward portion of the trailer;

    wherein said processor, responsive to processing of captured image data, determines a degree of swing or sway of the trailer during forward travel of the equipped vehicle and trailer; and

    wherein, during a reversing maneuver of the equipped vehicle and trailer, said processor is operable to process the captured image data to determine a rearward trajectory of the trailer.

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