Abstract: A camera calibration method for calibrating at least one camera of a vehicle includes providing a target area for a vehicle to be positioned at, with the vehicle having a forward camera, a rearward camera and opposite side cameras. When the vehicle is positioned at the target area, a target is electronically generated at an area that is encompassed by the field of view of one of the cameras or at an overlapping portion of the fields of view of two of the cameras of the vehicle. Image data is captured by the two cameras that is representative of the generated target. Image data captured by the two cameras is processed to detect the target in the fields of view of the two cameras. At least one of the two cameras is calibrated responsive to detection of the target.

Abstract: A method for calibrating a camera of a vehicular vision system includes providing a camera and an image processor at the vehicle. A monoview noncoplanar three dimensional calibration pattern distributed on a semi-sphere is determined via processing of image data captured by the camera. Responsive to determination of the monoview noncoplanar three dimensional calibration pattern distributed on the semi-sphere, extrinsic parameters of the camera and intrinsic parameters of the camera are estimated. The system performs at least one of (i) a linear refinement of the estimated extrinsic parameters and intrinsic parameters and (ii) a non-linear refinement of the estimated extrinsic parameters and intrinsic parameters. Responsive to processing by the image processor of image data captured by the camera, the camera is calibrated at least in part by using the determined monoview noncoplanar three dimensional semi-spherical calibration pattern.

Abstract: A vehicular control system includes a camera having an exterior field of view at least rearward of the vehicle and operable to capture image data. A trailer is attached to the vehicle and image data captured by the camera includes image data captured when the vehicle is maneuvered with the trailer at an angle relative to the vehicle. The vehicular control system determines a path of the trailer responsive at least to a steering angle of the vehicle. The vehicular control system detects an object present exterior of the vehicle during maneuvering of the vehicle and the trailer and based at least in part on image processing of captured image data. The vehicular control system plans a driving path for the vehicle that avoids the detected object so that the vehicle and the trailer do not run over or contact the detected object.

Abstract: A trailer backup assist system of a vehicle includes a camera disposed at a vehicle and having a field of view exterior and rearward of the vehicle. An image processor is operable to process image data captured by the camera. With a trailer connected at the rear of the vehicle, the image processor is operable to determine an angle of the trailer relative to the longitudinal axis of the vehicle. A user input is operable by a user to select a general direction or zone of travel of the trailer during a reversing maneuver of the vehicle. Responsive to the determined trailer angle and the selected zone of travel, the trailer backup assist system is operable to control the steering of the vehicle to drive the vehicle and trailer rearward such that the trailer travels generally towards a region encompassed by the selected direction or zone of travel.

Abstract: A calibration system for calibrating a radar sensing system for a vehicle includes at least one calibrating radar transmitter spaced from a location where the vehicle may be positioned. The vehicle includes a radar sensor disposed at the vehicle so as to sense exterior of the vehicle. The radar sensor includes a plurality of transmitters that transmit radio signals and a plurality of receivers that receive radio signals that are transmitted radio signals reflected from an object. A processor is operable to process an output of the receivers. With the vehicle positioned at the location, the at least one calibrating transmitter transmits signals that are received by the receivers of the radar sensor. Responsive to processing by the processor of the output of the receivers when receiving signals transmitted by the at least one calibrating transmitter, the calibration system determines if the radar sensor is misaligned at the vehicle.

Abstract: A vehicular control system includes a camera having an exterior field of view at least rearward of the vehicle and operable to capture image data. A trailer is attached to the vehicle and image data captured by the camera includes image data captured when the vehicle is maneuvered with the trailer at an angle relative to the vehicle. The vehicular control system determines a trailer angle of the trailer and is operable to determine a path of the trailer responsive at least to a steering angle of the vehicle and the determined trailer angle of the trailer. The vehicular control system determines an object present exterior of the vehicle and the vehicular control system distinguishes a drivable surface from a prohibited space, and the vehicular control system plans a driving path for the vehicle that neither impacts the object nor violates the prohibited space.

Abstract: A method for calibrating a camera of a vehicular vision system includes providing a camera and an image processor at the vehicle. A monoview noncoplanar three dimensional calibration pattern distributed on a semi-sphere is determined via processing of image data captured by the camera. Responsive to determination of the monoview noncoplanar three dimensional calibration pattern distributed on the semi-sphere, extrinsic parameters of the camera and intrinsic parameters of the camera are estimated. The system performs at least one of (i) a linear refinement of the estimated extrinsic parameters and intrinsic parameters and (ii) a non-linear refinement of the estimated extrinsic parameters and intrinsic parameters. Responsive to processing by the image processor of image data captured by the camera, the camera is calibrated at least in part by using the determined monoview noncoplanar three dimensional semi-spherical calibration pattern.

Abstract: A vision system of a vehicle includes a camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle. The camera may include a fisheye lens. An image processor is operable to process image data captured by the camera. The vision system provides enhanced camera calibration using a monoview noncoplanar three dimensional calibration pattern. The system may include a plurality of cameras configured to be disposed at the vehicle so as to have respective fields of view exterior of the vehicle.

Abstract: A camera calibration system for a vehicle includes a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle. An image processor is operable to process image data captured by the cameras. The image processor is operable, via processing of image data captured by the cameras, to determine a change in orientation of at least one of the cameras. The image processor determines the change in orientation from a previous orientation during a previous ignition cycle of the vehicle and a current orientation at the onset of a current or subsequent ignition cycle of the vehicle.

Abstract: A vehicular control system includes a camera having an exterior field of view at least rearward of the vehicle and operable to capture image data. A trailer is attached to the vehicle and image data captured by the camera includes image data captured when the vehicle is maneuvered with the trailer at an angle relative to the vehicle. The vehicular control system determines a trailer angle of the trailer and is operable to determine a path of the trailer responsive at least to a steering angle of the vehicle and the determined trailer angle of the trailer. The vehicular control system determines an object present exterior of the vehicle and the vehicular control system distinguishes a drivable surface from a prohibited space, and the vehicular control system plans a driving path for the vehicle that neither impacts the object nor violates the prohibited space.

Abstract: A vehicular vision system includes a camera and an image processor operable to process captured image data. When the vehicle is towing a trailer, and based at least in part on image processing of image data captured by the camera during maneuvering of the vehicle and the trailer, the vision system estimates a length of the trailer. Image data captured during maneuvering of the vehicle and the trailer includes image data captured when the vehicle is maneuvered with the trailer at an angle relative to the vehicle. The vision system, responsive at least in part to image processing of captured image data, determines a trailer angle of the trailer that is towed by the vehicle, and 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.

Abstract: A camera for a vision system for a vehicle includes a front housing portion, a lens assembly disposed at the front housing portion and an imager disposed at a circuit element. A planar rigid spacer having uniform thickness is disposed between the lens assembly and the imager. At least a circumferential portion of a front surface of the planar rigid spacer is secured at a portion of the front housing portion and at least a circumferential portion of a rear surface of the planar rigid spacer is secured at one of the imager and the circuit element. The planar rigid spacer accurately spaces the imager from the lens assembly and the predetermined thickness of the planar rigid spacer is selected so that the lens assembly focuses incident light onto the imager.

Abstract: A vehicular camera calibration system includes a camera disposed at a vehicle and having a field of view exterior of the vehicle and being operable to capture image data. Responsive to processing of image data captured by the camera, the camera calibration system determines features at the ground adjacent to the vehicle and tracks the determined features over two or more frames of captured image data. Responsive to processing of frames of captured image data during movement of the vehicle along a straight path on a planar surface, the camera calibration system is operable to determine a misalignment of the camera. The camera calibration system calibrates the misaligned camera by using an assumption that the determined features lie in a plane parallel to the planar surface along which the vehicle is traveling. The camera calibration system calibrates the camera by reducing ambiguity in vectors normal to the planar surface.

Abstract: A vehicular vision system includes a camera and an image processor operable to process captured image data. When the vehicle is towing a trailer, and based at least in part on image processing of image data captured by the camera during maneuvering of the vehicle and the trailer, the vision system estimates a length of the trailer. Image data captured during maneuvering of the vehicle and the trailer includes image data captured when the vehicle is maneuvered with the trailer at an angle relative to the vehicle. The vision system, responsive at least in part to image processing of captured image data, determines a trailer angle of the trailer that is towed by the vehicle, and 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.

Abstract: A camera calibration method for calibrating at least one camera of a vehicle includes providing a target area for a vehicle to be positioned at, with the vehicle having a forward camera, a rearward camera and opposite side cameras. When the vehicle is positioned at the target area, a target is electronically generated at an area that is encompassed by the field of view of one of the cameras or at an overlapping portion of the fields of view of two of the cameras of the vehicle. Image data is captured by the two cameras that is representative of the generated target. Image data captured by the two cameras is processed to detect the target in the fields of view of the two cameras. At least one of the two cameras is calibrated responsive to detection of the target.

Abstract: A vehicular vision system includes at least one camera and an image processor. The camera is disposed at a vehicle and has an exterior field of view rearward of the vehicle. The camera is operable to capture image data. The image processor is operable to process captured image data. The vision system, responsive at least in part to image processing of captured image data, is operable to determine a trailer angle of a trailer that is towed by the vehicle. The vision system is operable to determine a path of the trailer responsive to a steering angle of the vehicle and the vision system is operable to display information for viewing by the driver to assist the driver in driving the vehicle with the trailer.

Abstract: A camera calibration system for calibrating cameras of a vehicle includes at least one reconfigurable calibration target established or disposed at a ground area at which a vehicle is positioned for a camera calibrating procedure. The camera calibration system is operable, responsive to an input indicative of a type or size of the vehicle positioned at the ground area, to reconfigure the at least one reconfigurable calibration target to adapt the calibration target for the particular type or size of the vehicle positioned thereat. The camera calibration system may reconfigure at least one of a size of the target and a location of the target. The camera calibration system may reconfigure the target via a covering element that selectively exposes a portion of the reconfigurable calibration target and covers another portion of the reconfigurable calibration target.

Abstract: A vision system of a vehicle includes a camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle. The camera may include a fisheye lens. An image processor is operable to process image data captured by the camera. The vision system provides enhanced camera calibration using a monoview noncoplanar three dimensional calibration pattern. The system may include a plurality of cameras configured to be disposed at the vehicle so as to have respective fields of view exterior of the vehicle.

Abstract: A trailer backup assist system of a vehicle includes a camera disposed at a vehicle and having a field of view exterior and rearward of the vehicle. An image processor is operable to process image data captured by the camera. With a trailer connected at the rear of the vehicle, the image processor is operable to determine an angle of the trailer relative to the longitudinal axis of the vehicle. A user input is operable by a user to select a general direction or zone of travel of the trailer during a reversing maneuver of the vehicle. Responsive to the determined trailer angle and the selected zone of travel, the trailer backup assist system is operable to control the steering of the vehicle to drive the vehicle and trailer rearward such that the trailer travels generally towards a region encompassed by the selected direction or zone of travel.

Abstract: A camera calibration system for calibrating cameras of a vehicle includes at least one reconfigurable calibration target established or disposed at a ground area at which a vehicle is positioned for a camera calibrating procedure. The camera calibration system is operable, responsive to an input indicative of a type or size of the vehicle positioned at the ground area, to reconfigure the at least one reconfigurable calibration target to adapt the calibration target for the particular type or size of the vehicle positioned thereat. The camera calibration system may reconfigure at least one of a size of the target and a location of the target. The camera calibration system may reconfigure the target via a covering element that selectively exposes a portion of the reconfigurable calibration target and covers another portion of the reconfigurable calibration target.