Abstract: A vehicular trailering assist system includes a rear backup camera disposed at a rear portion of a vehicle and a video display screen disposed in the vehicle and viewable by a driver of the vehicle. During a reversing maneuver of the vehicle with the trailer hitched thereto, the vehicular trailering assist system determines a projected path of travel of the vehicle with the trailer hitched thereto based at least in part on (i) image data captured by the rear backup camera, (ii) vehicle parameters provided to the vehicular trailering assist system and (iii) trailer parameters provided to the vehicular trailering assist system. During the reversing maneuver of the vehicle with the trailer hitched thereto, the video display screen displays the projected path for viewing by the driver of the equipped vehicle during the reversing maneuver.

Abstract: A method for generating fault modes and effects analysis for a vehicular advanced driver-assistance system includes providing a vehicle equipped with an advanced driver-assistance system, determining a plurality of system components of the advanced driver-assistance system, and determining fault propagation paths between each of the system components. Internal component fault propagations of each of the system components of the plurality of system components are determined. Inter-component failure propagations along each of the determined fault propagation paths are determined. Each of (i) a severity of failure for each system component, (ii) a probability of failure occurrence for each system component, and (iii) a detectability of failure for each system component is determined. A critical item list report is generated based at least in part on the determined severity of failure, the determined probability of failure occurrence, and the determined detectability of failure.

Abstract: A vehicular trailer assist system includes a camera disposed at a rear portion of a vehicle, a plurality of sensors, and an electronic control unit (ECU) having a processor for processing image data captured by the camera and sensor data captured by the plurality of sensors. The ECU, responsive to processing of image data captured by the camera, determines a trailer angle of the trailer relative to the vehicle. The ECU, responsive to processing of sensor data captured by the plurality of sensors, predicts a yaw rate of the vehicle and a trailer angle of the trailer relative to the vehicle at a future time. The ECU, responsive to predicting the yaw rate, determines a corrected vehicle yaw rate based on processing of captured image data and captured sensor data, and determines a corrected trailer angle, and determines a vehicle heading and position and a trailer heading and position.

Abstract: A vehicular trailering assist system includes a rear backup camera disposed at a rear portion of a vehicle and a video display screen disposed in the vehicle and viewable by a driver of the vehicle. During a reversing maneuver of the vehicle with the trailer hitched thereto, the vehicular trailering assist system determines a projected path of travel of the vehicle with the trailer hitched thereto based at least in part on (i) image data captured by the rear backup camera, (ii) vehicle parameters provided to the vehicular trailering assist system and (iii) trailer parameters provided to the vehicular trailering assist system. During the reversing maneuver of the vehicle with the trailer hitched thereto, the video display screen displays the projected path for viewing by the driver of the equipped vehicle during the reversing maneuver.

Abstract: A method of assisting a driver in maneuvering a vehicle with a trailer hitched to the vehicle includes equipping a vehicle with a trailering assist system that includes (i) a camera disposed at the vehicle and viewing a trailer that is hitched the vehicle and (ii) a control having an image processor. During a reversing maneuver of the vehicle and trailer, image data is captured by the camera and vehicle parameters are provided to the control. Responsive to the vehicle parameters and processing of captured image data, the trailering assist system estimates an estimated trailer angle and an estimated vehicle steering wheel angle. The estimated vehicle steering wheel angle and an actual steering wheel angle are compared to determine a steering wheel angle error. The estimated trailer angle is modified in subsequent determinations of the estimated trailer angle based at least in part on the determined steering wheel angle error.

Abstract: A vehicular control system includes a camera, a yaw rate sensor, wheel sensors, an accelerometer and a steering sensor. A control includes a processor that estimates the actual yaw rate of the vehicle based on (a) a first yaw rate derived from yaw rate data provided by the yaw rate sensor, and (b) at least one selected from the group consisting of (i) a second yaw rate derived from wheel sensor data provided by the wheel sensors, (ii) a third yaw rate derived from acceleration data provided by the accelerometer, and (iii) a fourth yaw rate derived from steering data provided by the steering sensor. The vehicular control system at least in part controls the vehicle based on (i) image data captured by the camera as the vehicle travels along a road and (ii) the estimated actual yaw rate of the vehicle.

Abstract: A vehicular trailer assist system includes a camera disposed at a rear portion of a vehicle, a plurality of sensors, and an electronic control unit (ECU) having a processor for processing image data captured by the camera and sensor data captured by the plurality of sensors. The ECU, responsive to processing of image data captured by the camera, determines a trailer angle of the trailer relative to the vehicle. The ECU, responsive to processing of sensor data captured by the plurality of sensors, predicts a yaw rate of the vehicle and a trailer angle of the trailer relative to the vehicle at a future time. The ECU, responsive to predicting the yaw rate, determines a corrected vehicle yaw rate based on processing of captured image data and captured sensor data, and determines a corrected trailer angle, and determines a vehicle heading and position and a trailer heading and position.

Abstract: A vehicular control system includes a forward viewing camera having a field of view forward of the vehicle. A control includes an image processor operable to process image data captured by the camera to determine road curvature of a curved section of a road being traveled by the vehicle. Based on the determined road curvature, the control determines tangents to the determined road curvature along the curved section of the road. The control steers the equipped vehicle along the curved section of the road by adjusting steering of the vehicle to follow the determined tangents to the determined road curvature as the vehicle moves along the curved section of the road.

Abstract: A vehicular driving assist system includes a plurality of vehicle speed sensors disposed at a vehicle, with each of the vehicle speed sensors generating an output representative of a respective sensed or estimated speed of the vehicle. A control includes circuitry and associated software. The circuitry of the control includes a processor for processing outputs of the plurality of vehicle speed sensors to determine a current speed of the vehicle. The control uses a multi-sensor filter to determine a single filtered current vehicle speed based on the outputs of the vehicle speed sensors.

Abstract: A vehicular trailering assist system includes a rearward viewing camera at a vehicle and an electronic control unit (ECU). During a reversing maneuver of the vehicle and trailer while the vehicle is in motion and the trailer is hitched to the vehicle, the ECU (i) determines a target trajectory for the trailer, (ii) determines a lateral path deviation of the trailer that represents a deviation of a current trajectory of the trailer from the target trajectory for the trailer, (iii) determines a trailer heading angle correction, and (iv) determines a target trailer angle of the trailer relative to the vehicle based on the current trailer angle of the trailer and the trailer heading angle correction. Responsive to determination of the target trailer angle of the trailer, the ECU controls steering of the vehicle to achieve the target trailer angle and direct the vehicle and the trailer towards the target trajectory.

Abstract: A method of assisting a driver in maneuvering a vehicle with a trailer hitched to the vehicle includes equipping a vehicle with a trailering assist system that includes (i) a camera disposed at the vehicle and viewing a trailer that is hitched the vehicle and (ii) a control having an image processor. During a reversing maneuver of the vehicle and trailer, image data is captured by the camera and vehicle parameters are provided to the control. Responsive to the vehicle parameters and processing of captured image data, the trailering assist system estimates an estimated trailer angle and an estimated vehicle steering wheel angle. The estimated vehicle steering wheel angle and an actual steering wheel angle are compared to determine a steering wheel angle error. The estimated trailer angle is modified in subsequent determinations of the estimated trailer angle based at least in part on the determined steering wheel angle error.

Abstract: A trailering assist system for a vehicle includes a camera disposed at a vehicle, with the camera having a field of view rearward of the vehicle that encompasses a trailer that is being towed by the vehicle. The camera is operable to capture image data. A control of the system includes an image processor operable to process captured image data. Responsive to input of vehicle parameters and processing of captured image data by the image processor, the trailering assist system is operable to determine an estimated trailer angle and an estimated vehicle steering wheel angle. The control compares the estimated vehicle steering wheel angle to a measured or determined or actual vehicle steering wheel angle to determine an error value. The control is operable to generate an output when the error value is at or above a threshold level.

Abstract: A vehicular control system includes a camera, a yaw rate sensor, wheel sensors, an accelerometer and a steering sensor. A control includes a processor that estimates the actual yaw rate of the vehicle based on (a) a first yaw rate derived from yaw rate data provided by the yaw rate sensor, and (b) at least one selected from the group consisting of (i) a second yaw rate derived from wheel sensor data provided by the wheel sensors, (ii) a third yaw rate derived from acceleration data provided by the accelerometer, and (iii) a fourth yaw rate derived from steering data provided by the steering sensor. The vehicular control system at least in part controls the vehicle based on (i) image data captured by the camera as the vehicle travels along a road and (ii) the estimated actual yaw rate of the vehicle.

Abstract: A yaw rate estimation system for a vehicle includes a camera, a yaw rate sensor, wheel sensors, an accelerometer and a steering sensor. A control includes a processor that estimates the actual yaw rate of the vehicle by processing (i) a first yaw rate derived from yaw rate data provided by the yaw rate sensor, (ii) a second yaw rate derived from wheel sensor data provided by the wheel sensors, (iii) a third yaw rate derived from acceleration data provided by the accelerometer, and (iv) a fourth yaw rate derived from steering data provided by the steering sensor. The vehicular control system utilizes (i) image data captured by the camera as the vehicle is being driven along a road and (ii) the estimated actual yaw rate of the vehicle as the vehicle is being driven along the road.

Abstract: A vehicular control system includes a forward viewing camera having a field of view forward of the vehicle. A control includes an image processor operable to process image data captured by the camera to determine road curvature of a curved section of a road being traveled by the vehicle. Based on the determined road curvature, the control determines tangents to the determined road curvature along the curved section of the road. The control steers the equipped vehicle along the curved section of the road by adjusting steering of the vehicle to follow the determined tangents to the determined road curvature as the vehicle moves along the curved section of the road.

Abstract: A control system for a vehicle includes a forward viewing camera having a field of view forward of the vehicle. A control includes an image processor operable to process image data captured by the camera to determine lane boundaries of a lane of travel of the vehicle and to determine road curvature of a curved section of a road being traveled by the vehicle. The control, responsive at least in part to processing of captured image data, determines an end of the curved section where the road straightens. The control, responsive to a determination that the vehicle is at the end of the curved section where the road straightens, determines a wheel angle to adjust a wheel of the vehicle to such that the vehicle travels parallel to a tangent of the road after the vehicle has traversed the curved section and is at a straight section of the road.

Abstract: A yaw rate estimation system for a vehicle includes a camera, a yaw rate sensor, wheel sensors, an accelerometer and a steering sensor. A control includes a processor that estimates the actual yaw rate of the vehicle by processing (i) a first yaw rate derived from yaw rate data provided by the yaw rate sensor, (ii) a second yaw rate derived from wheel sensor data provided by the wheel sensors, (iii) a third yaw rate derived from acceleration data provided by the accelerometer, and (iv) a fourth yaw rate derived from steering data provided by the steering sensor. The vehicular control system utilizes (i) image data captured by the camera as the vehicle is being driven along a road and (ii) the estimated actual yaw rate of the vehicle as the vehicle is being driven along the road.

Abstract: A yaw rate estimation system for a vehicle includes a control receiving inputs indicative of (i) a first yaw rate determined by a yaw rate sensor of the vehicle, (ii) a second yaw rate derived from ABS wheel sensors of the vehicle, (iii) a third yaw rate derived from a lateral acceleration of the vehicle and (iv) a fourth yaw rate derived from a steering wheel angle, wheel angle and rate of change of steering wheel angle. The control is operable to process the inputs to estimate the yaw rate of the vehicle, with the estimated yaw rate derived from the inputs.

Abstract: A control system for a vehicle includes a forward viewing camera having a field of view forward of the vehicle. A control includes an image processor operable to process image data captured by the camera to determine lane boundaries of a lane of travel of the vehicle and to determine road curvature of a curved section of a road being traveled by the vehicle. The control, responsive at least in part to processing of captured image data, determines an end of the curved section where the road straightens. The control, responsive to a determination that the vehicle is at the end of the curved section where the road straightens, determines a wheel angle to adjust a wheel of the vehicle to such that the vehicle travels parallel to a tangent of the road after the vehicle has traversed the curved section and is at a straight section of the road.

Abstract: A control system of a vehicle includes an image sensor and a control having an image processor. The image sensor is disposed at the vehicle and has a field of view exterior and forward of the vehicle. The image processor is operable to process image data captured by the image sensor to determine a curvature of a road being traveled by the vehicle. Responsive at least in part to processing by the image processor of captured image data, the control is operable to determine tangents at locations along the determined curvature. Responsive to determination of the tangents, the control is operable generate an output to adjust the vehicle steering to guide the vehicle in a direction that generally corresponds to determined tangents at respective locations of the vehicle's path of travel along the curvature of the road.