CPC G06V 20/58 (2022.01) [B60Q 9/008 (2013.01); G06T 7/60 (2013.01); G06T 7/80 (2017.01); G06V 10/44 (2022.01); G08G 1/16 (2013.01); B60R 1/00 (2013.01); B60R 1/26 (2022.01); B60R 2300/307 (2013.01); B60R 2300/8093 (2013.01); G06T 2207/30261 (2013.01); H04N 7/183 (2013.01)] | 24 Claims |
1. A vehicular trailering assist system, the vehicular trailering assist system comprising:
a rear backup camera disposed at a rear portion of a vehicle equipped with the vehicular trailering assist system, the rear backup camera viewing at least rearward of the vehicle;
wherein, with a trailer hitched to the vehicle via a pivoting joint hitch connection of the trailer to the vehicle, the rear backup camera views at least a portion of the trailer hitched to the vehicle;
wherein the rear backup camera comprises a two dimensional imaging array having at least one million photosensor elements arranged in rows and columns;
wherein the rear backup camera captures frames of image data that include image data representative of at least a portion of the trailer hitched to the vehicle;
an electronic control unit (ECU) comprising electronic circuitry and associated software;
wherein the electronic circuitry comprises an image processor operable to process frames of image data captured by the rear backup camera;
wherein frames of image data are captured by the rear backup camera and are processed at the ECU during a calibration maneuver by the vehicle;
wherein the vehicular trailering assist system detects at least one edge of the trailer based on frames of image data captured by the rear backup camera during the calibration maneuver;
wherein the vehicular trailering assist system determines a trailer collision angle based on the at least one detected edge of the trailer;
wherein the vehicular trailering assist system, after completion of the calibration maneuver, and via processing of frames of image data captured by the rear backup camera as the vehicle is driven along a road, determines a current trailer angle of the trailer relative to a longitudinal axis of the vehicle as the vehicle is driven along the road; and
wherein the vehicular trailering assist system determines whether the current trailer angle is within a threshold amount of the determined trailer collision angle.
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