Abstract: A vehicular trailering assist system includes a camera disposed at a vehicle and viewing at least rearward of the vehicle. The vehicular trailering assist system transforms captured image data into a bird's-eye view of the hitch of the trailer, and accesses a plurality of stored trailer templates, with each respective trailer template being generated during a previous calibration of the system for a respective trailer. The vehicular trailering assist system generates a matching score based on a comparison between a stored trailer template and the transformed bird's-eye view. The vehicular trailering assist system, responsive to determining that the matching score for one of the plurality of stored trailer templates exceeds a threshold matching score, tracks a trailer angle of the trailer using the one plurality of stored trailer templates.

Abstract: A vehicular driver assistance system includes a front camera module (FCM) disposed at a vehicle. The system, responsive to processing captured image data, generates FCM lane information including information regarding a traffic lane the vehicle is currently traveling along. An e-Horizon module (EHM) generates EHM lane information including information regarding the traffic lane the vehicle is currently traveling along. The vehicular driver assistance system determines an FCM correlation using the FCM lane information and sensor data captured by at least one exterior sensor. The vehicular driver assistance system determines an EHM correlation using the EHM lane information and the sensor data captured by the at least one exterior sensor. Responsive to determining the FCM correlation and the EHM correlation, the system controls lateral movement of the vehicle based on one selected from the group consisting of (i) the FCM lane information and (ii) the EHM lane information.

Abstract: A vehicular trailering assist system includes a forward-viewing camera disposed at a vehicle and viewing at least forward of the vehicle and a rear backup camera disposed at the vehicle and viewing at least a portion of a trailer hitched to the vehicle. With the vehicle operating in a calibration state, the vehicular trailering assist system, via processing of image data captured by the rear backup camera, determines a portion of the trailer hitched to the vehicle and determines a trailer collision angle. With the trailer hitched to the vehicle and with the vehicle not operating in the calibration state, the vehicular trailering assist system, via processing of image data captured by the rear backup camera, determines a current angle of the trailer relative to a longitudinal axis of the vehicle and determines whether the determined current trailer angle is within a threshold amount of the determined trailer collision angle.

Abstract: A vehicular trailer assist system includes a camera disposed at a vehicle and viewing at least a portion of a trailer hitched to the vehicle. With the trailer hitched to the vehicle and while the vehicle is operating in a calibration state and being driven straight, the system determines edges of the trailer. With the trailer hitched to the vehicle and after the vehicle is driven straight and while the vehicle is operating in the calibration state and being driven along a curved path, and at least in part via processing of captured frames of image data, the system determines a hitch point of the trailer hitched to the vehicle. With the vehicle not operating in the calibration state, and based in part on the determined hitch point of the trailer hitched to the vehicle, the system determines a jack-knife angle of the trailer relative to the vehicle.

Abstract: A vehicular parking assistance system includes a camera disposed at a vehicle and capturing image data. An electronic control unit (ECU) includes an image processor for processing image data captured by the camera. The parking assistance system, responsive to an input, determines a direction of travel for an automated parking maneuver. The parking assistance system, responsive to processing by the image processor of image data captured by the camera, determines a boundary of a free space in the direction of travel for the automated parking maneuver. The free space at least partially bounds an area where the vehicle can maneuver without colliding with a detected object. The parking assistance system, while driving the vehicle in the direction of travel, laterally adjusts a path of the vehicle based on the determined boundary of free space to avoid the detected object.

Abstract: A vehicular trailer assist system includes a camera disposed at a vehicle and viewing at least a portion of a trailer hitched to the vehicle. The system, during a first turning maneuver of a calibration maneuver of the vehicle and trailer, stores a subset of the frames of image data captured by the camera. Each stored frame of the stored subset of the frames captures the trailer at a respective different trailer angle relative to a longitudinal axis of the vehicle. The system determines image data edges for each stored frame of image data. The system, after performing the first turning maneuver of the calibration maneuver and during a second turning maneuver of the calibration maneuver, and based at least in part on the determined image data edges for the stored frames of image data, determines a jack-knife angle of the trailer relative to the longitudinal axis of the vehicle.

Abstract: A vehicular trailer hitching assist system includes a rearward-viewing camera mounted at a pickup truck. Responsive to determination that the trailer coupler is exterior the bed of the pickup truck and the height of the trailer coupler is greater than a first threshold amount, a first reversing maneuver is performed to reverse the pickup truck until the trailer coupler is within the bed of the pickup truck. With the trailer coupler within the bed of the pickup truck and the height of the trailer coupler greater than a second threshold amount, a trailer height adjustment signal is generated. With the trailer coupler within the bed of the pickup truck and the determined height of the trailer coupler being less than or equal to the second threshold amount, a second reversing maneuver is performed to reverse the pickup truck to couple the trailer coupler with the hitch of the pickup truck.

Abstract: A vehicular trailering assist system includes a rear backup camera disposed at a vehicle and viewing at least rearward of the vehicle and at least a portion of a trailer hitched to the vehicle. The camera captures frames of image data that include image data representative of at least a portion of the trailer hitched to the vehicle. Frames of image data captured by the camera are processed at an electronic control unit during a calibration maneuver by the vehicle to determine a trailer collision angle. The vehicular trailering assist system, after completion of the calibration maneuver, determines a current trailer angle of the trailer relative to a longitudinal axis of the vehicle as the vehicle is driven along the road. The vehicular trailering assist system determines whether the current trailer angle is within a threshold amount of the determined trailer collision angle.

Abstract: A vehicular vision system includes a camera module mounted at an in-cabin side of a windshield of a vehicle and an electronic control unit (ECU) comprising electronic circuitry and associated software. The ECU, responsive to processing of location data captured by a global positioning system, determines a current geographical location of the vehicle. The ECU, with the vehicle approaching an intersection of another road, and at least in part via processing at the ECU of image data captured by the camera, determines a right-of-way order of other vehicles at the intersection based on (i) the current geographical location of the vehicle and (ii) an order of arrival of the other vehicles at the intersection relative to arrival of the equipped vehicle at the intersection. Based on the determined right-of-way order of the other vehicles at the intersection, the ECU determines when the vehicle has the right-of-way at the intersection.

Abstract: A vehicular trailer assist system includes a rearward viewing camera disposed at a vehicle that views a trailer hitched at a fifth wheel hitch at a bed of the vehicle. With the trailer hitched to the fifth wheel hitch at the bed of the vehicle, the vehicular trailer assist system, via processing fisheye-view frames of image data captured by the camera, transforms fisheye-view frames of image data captured by the rearward viewing camera into bird's-eye view frames of image data. The vehicular trailer assist system determines a region of interest (ROI) in a transformed bird's-eye view frames of image data that includes a region where the fifth wheel hitch is present. The vehicular trailer assist system, via a Hough transform that transforms the determined ROI from a Cartesian coordinate system to a polar coordinate system, determines a trailer angle of the trailer relative to the vehicle.

Abstract: A vehicular trailer hitching assist system includes a rearward-viewing camera disposed at a vehicle and viewing a hitch of the vehicle and a trailer coupler of a trailer that is positioned rearward of the vehicle and not coupled to the hitch of the vehicle. The vehicular trailer hitching assist system, via image processing of image data captured by the rearward-viewing camera, determines height of the trailer coupler relative to the hitch of the vehicle. The vehicular trailer hitching assist system, responsive to the determined height of the trailer coupler relative to the hitch of the vehicle being greater than a threshold amount, generates a signal to adjust the height of the trailer coupler.

Abstract: A vehicular vision system includes a camera viewing exterior of the vehicle and capturing image data, and an electronic control unit (ECU) having an image processor for processing captured image data to detect presence of objects in the view of the camera. The ECU, responsive to processing of captured image data, determines presence of an intersection controlled by at least one stop indicator, with one stop indicator designated for the lane along which the vehicle is traveling. The ECU determines a right-of-way order of other vehicles at the intersection relative to the equipped vehicle and determines when the equipped vehicle has the right-of-way based on the determined right-of-way order. The ECU provides an indication to the driver of the equipped vehicle when the equipped vehicle has the right-of-way.

Abstract: A vehicular control system includes a plurality of sensors disposed at a vehicle so as to have a combined field of sensing forward, rearward and sideward of the vehicle. Data captured by the sensors as the vehicle moves along a road is processed at a control for detecting objects present exterior the vehicle. The control designates a plurality of locations within the fields of sensing. As the vehicle moves along the road, the control increases a value for each designated location when an object is detected at that designated location, and decreases the value for each designated location when an object is not detected at that designated location, and generates an object map based on values for the designated locations. The greater the value for a particular designated location, the greater the probability an object is present at that particular designated location.

Abstract: A vehicular trailer hitching assist system includes a rear backup camera disposed at a rear portion of a vehicle. At least a hitching portion of a trailer hitched to a hitch of the vehicle is viewed by the rear backup camera. Image data captured by the rear backup camera is processed at an image processor. The vehicular trailer hitching assist system, via processing at the image processor of the image data captured by the rear backup camera, determines an incorrect connection of the hitching portion of the trailer to the hitch of the vehicle. The vehicular trailer hitching assist system, responsive to determination of the incorrect connection of the hitching portion of the trailer to the hitch of the vehicle, limits operation of the vehicle or alerts a driver of the vehicle of the determined incorrect connection of the hitching portion of the trailer to the hitch of the vehicle.

Abstract: A vehicular trailering assist system includes a camera disposed at a vehicle and capturing image data representative of at least a portion of a trailer hitched to the vehicle. The vehicular trailering assist system, responsive to processing of captured image data, determines that the system has not been previously calibrated for the trailer hitched to the vehicle. The vehicular trailering assist system, responsive to determining that the system has not been previously calibrated for the trailer, determines whether a dedicated calibration maneuver is triggered. The vehicular trailering assist system, responsive to determining that the dedicated calibration of the trailer is not triggered and responsive to processing of captured image data, monitors maneuvers performed by the vehicle while the trailer is hitched to the vehicle without prompting the driver for calibration maneuvers. The vehicular trailering assist system, using the monitored maneuvers, calibrates the system for the trailer.

Abstract: A vehicular trailering assist system includes a camera disposed at a vehicle and viewing at least rearward of the vehicle. The vehicular trailering assist system transforms captured image data into a bird's-eye view of the hitch of the trailer, and accesses a plurality of stored trailer templates, with each respective trailer template being generated during a previous calibration of the system for a respective trailer. The vehicular trailering assist system generates a matching score based on a comparison between a stored trailer template and the transformed bird's-eye view. The vehicular trailering assist system, responsive to determining that the matching score for one of the plurality of stored trailer templates exceeds a threshold matching score, tracks a trailer angle of the trailer using the one plurality of stored trailer templates.

Abstract: A vehicular trailering assist system includes a rear backup camera disposed at a vehicle and viewing at least rearward of the vehicle and at least a portion of a trailer hitched to the vehicle. The camera captures frames of image data that include image data representative of at least a portion of the trailer hitched to the vehicle. Frames of image data captured by the camera are processed at an electronic control unit during a calibration maneuver by the vehicle to determine a trailer collision angle. The vehicular trailering assist system, after completion of the calibration maneuver, determines a current trailer angle of the trailer relative to a longitudinal axis of the vehicle as the vehicle is driven along the road. The vehicular trailering assist system determines whether the current trailer angle is within a threshold amount of the determined trailer collision angle.

Abstract: A vehicular trailer assist system includes a camera disposed at a vehicle and viewing at least a portion of a trailer hitched to the vehicle. The system, during a first turning maneuver of a calibration maneuver of the vehicle and trailer, stores a subset of the frames of image data captured by the camera. Each stored frame of the stored subset of the frames captures the trailer at a respective different trailer angle relative to a longitudinal axis of the vehicle. The system determines image data edges for each stored frame of image data. The system, after performing the first turning maneuver of the calibration maneuver and during a second turning maneuver of the calibration maneuver, and based at least in part on the determined image data edges for the stored frames of image data, determines a jack-knife angle of the trailer relative to the longitudinal axis of the vehicle.

Abstract: A vehicular trailer assist system includes a camera disposed at a rear portion of a vehicle and having a field of view exterior and at least rearward of the vehicle. At least a portion of a trailer hitched to the vehicle is within the field of view of the camera. A control includes electronic circuitry and associated software, with the electronic circuitry including a processor operable to process image data captured by the camera, with the image data captured by the camera being representative of at least the trailer hitched to the vehicle. The control, responsive to processing of image data captured by the camera, determines at least one deficiency in a hitch connection between the vehicle and the trailer. Responsive to determination of the at least one deficiency, the control alerts a driver of the vehicle of the determined deficiency.

Abstract: A vehicular trailer assist system includes a camera disposed at a rear portion of a vehicle and having an exterior field of view that includes at least a portion of a trailer hitched to the vehicle. A control, responsive to processing of frames of image data captured by the camera and during a calibration maneuver by the vehicle, determines a trailer template of trailer hitched to the vehicle. The control, during a turning portion of the calibration maneuver, determines a trailer collision angle based on the determined trailer template. The control, after completion of the calibration maneuver, determines a current trailer angle of the trailer relative to the vehicle as the vehicle is driven along a road. The control alerts an operator of the vehicle if the current trailer angle is within a threshold amount of the determined trailer collision angle.