Abstract: A vehicular control system includes a forward-viewing camera, a forward-sensing sensor and an in-cabin-sensing sensor. With the system controlling driving of the vehicle, the system determines a triggering event that triggers handing over driving of the vehicle to a driver of the vehicle before the vehicle encounters an event point associated with the triggering event. The vehicular control system (i) determines a total action time available before the vehicle encounters the event point, (ii) estimates a driver takeover time for the driver to take over control of the vehicle and (iii) estimates a handling time for the driver to control the vehicle to avoid encountering the event point. Responsive to the vehicular control system determining that the estimated driver takeover time is less than the difference between the determined total action time and the estimated handling time, control of the vehicle is handed over to the driver of the vehicle.

Abstract: A vehicular driving assist system includes a plurality of cameras disposed at a vehicle and an image processor that processes captured image data. With a trailer equipped with at least one trailer camera hitched to the vehicle, a display screen displays video images derived from captured image data. The system determines a reversing path for the vehicle and trailer to follow to assist the driver in backing up the trailer, and generates a graphic overlay at the display screen that indicates the determined reversing path. During the backing up maneuver of the trailer hitched to the vehicle, and responsive to determination of an object rearward of the trailer, the system (i) determines an adjusted reversing path to avoid the object and (ii) adjusts the graphic overlay to indicate the adjusted reversing path of the vehicle and trailer for the driver to follow in backing up the trailer.

Abstract: A vehicular control system includes at least one processor that processes image data captured by a forward viewing camera and radar data captured by a forward sensing radar sensor. With the system controlling driving of the vehicle, the system determines a triggering event that requires driving of the vehicle to be handed over to a driver of the vehicle before the vehicle encounters an event point, and the system (i) determines a total action time until the vehicle encounters the event, (ii) estimates a driver take over time for the driver to take over control and (iii) estimates a handling time for the driver to control the vehicle to avoid encountering the event point. Based on the determined and estimated times, the system (i) requests the driver take over control of the vehicle or (ii) controls the vehicle to slow down and stop the vehicle before the event point.

Abstract: A vehicular control system includes at least one processor that processes image data captured by a forward viewing camera and radar data captured by a forward sensing radar sensor. With the system controlling driving of the vehicle, the system determines a triggering event that requires driving of the vehicle to be handed over to a driver of the vehicle before the vehicle encounters an event point, and the system (i) determines a total action time until the vehicle encounters the event, (ii) estimates a driver take over time for the driver to take over control and (iii) estimates a handling time for the driver to control the vehicle to avoid encountering the event point. Based on the determined and estimated times, the system (i) requests the driver take over control of the vehicle or (ii) controls the vehicle to slow down and stop the vehicle before the event point.

Abstract: A vehicular control system includes a control having a processor that processes image data captured by a forward viewing camera. When the control system is controlling driving of the vehicle, the control determines a triggering event that requires driving of the vehicle to be handed over to a driver of the vehicle before the vehicle encounters an event point. Responsive to determination of the triggering event, the control (i) determines a total action time until the vehicle encounters the event, (ii) estimates a driver take over time for the driver to take over control and (iii) estimates a handling time for the vehicle to be controlled to avoid encountering the event point, and, responsive to the determination and estimations, the control system (i) allows the driver to take over control of the vehicle or (ii) controls the vehicle to slow down and stop the vehicle before the event point.

Abstract: A method for automated parking of a vehicle includes providing image data captured by at least one vision sensor of the vehicle to an electronic control unit (ECU), and providing a parking scene map to the ECU. A free parking space present in the parking scene map is selected as a target parking space, and a parking path from a current vehicle location to the target parking space is formulated. The vehicle is autonomously maneuvered along the parking path towards the target parking space. Responsive to detection of a pedestrian in the target parking space or along the parking path, the vehicle is stopped until the detected pedestrian moves out of the target parking space or out of the parking path. After the detected pedestrian has moved out of the target parking space or out of the parking path, the vehicle continues autonomous maneuvering along the parking path towards the target parking space.

Abstract: A vehicular driving assist system includes a plurality of cameras disposed at a vehicle and an image processor that processes captured image data. With a trailer equipped with at least one trailer camera hitched to the vehicle, a display screen displays video images derived from captured image data. The system determines a reversing path for the vehicle and trailer to follow to assist the driver in backing up the trailer, and generates a graphic overlay at the display screen that indicates the determined reversing path. During the backing up maneuver of the trailer hitched to the vehicle, and responsive to determination of an object rearward of the trailer, the system (i) determines an adjusted reversing path to avoid the object and (ii) adjusts the graphic overlay to indicate the adjusted reversing path of the vehicle and trailer for the driver to follow in backing up the trailer.

Abstract: A vehicular trailering system includes a plurality of cameras disposed at a vehicle, and a control having an image processor that processes image data captured by the plurality of cameras. With a trailer hitched to the vehicle, the system determines trailer angle of the trailer relative to the vehicle responsive at least in part to processing of image data captured by at least some of the cameras during forward motion of the vehicle. With the cameras disposed at the vehicle and with the trailer hitched to the vehicle and responsive at least in part to processing of image data captured by at least some of the cameras during forward motion of the vehicle, an object exterior of the vehicle is detected. Responsive to detection of the detected object, the system plans a path of forward travel of the vehicle towing the trailer that avoids contact with the detected object.

Abstract: A vehicular control system includes a control having a processor that processes image data captured by a forward viewing camera. When the control system is controlling driving of the vehicle, the control determines a triggering event that requires driving of the vehicle to be handed over to a driver of the vehicle before the vehicle encounters an event point. Responsive to determination of the triggering event, the control (i) determines a total action time until the vehicle encounters the event, (ii) estimates a driver take over time for the driver to take over control and (iii) estimates a handling time for the vehicle to be controlled to avoid encountering the event point, and, responsive to the determination and estimations, the control system (i) allows the driver to take over control of the vehicle or (ii) controls the vehicle to slow down and stop the vehicle before the event point.

Abstract: A control system that is operable to control a vehicle in an autonomous or semi-autonomous mode includes a processor that processes data captured by a plurality of exterior sensing sensors. When the control system is operating in the autonomous or semi-autonomous mode and responsive to a determination of an upcoming event that requires the system to hand over control of the vehicle to a driver before the vehicle encounters the event, the control determines (i) a total action time until the vehicle encounters the event, (ii) an estimated time for the driver to take over control and (iii) an estimated handling time for the vehicle to be controlled before the vehicle encounters the event. Responsive to the determinations, the control system (i) allows the driver to take over control of the vehicle or (ii) controls the vehicle to slow down and stop the vehicle before the vehicle encounters the event.

Abstract: A method for automated parking of a vehicle includes providing image data captured by at least one vision sensor of the vehicle to an ECU, and providing a parking scene map to the ECU. A free parking space present in the parking scene map is selected as a target parking space, and a parking path from a current vehicle location to the target parking space is formulated. The vehicle is autonomously maneuvered along the parking path towards the target parking space. Responsive to detection of a pedestrian in the target parking space or along the parking path, the vehicle is stopped until the detected pedestrian moves out of the target parking space or out of the parking path. After the detected pedestrian has moved out of the target parking space or out of the parking path, the vehicle continues autonomous maneuvering along the parking path towards the target parking space.

Abstract: A parking assist system of a vehicle includes a plurality of sensors disposed at a vehicle and having respective fields of sensing exterior of the vehicle. A vehicle control is operable to determine a target parking space responsive to the processor. The control (i) uses two intersecting lines, with one passing through a start node and one passing through an end node, (ii) uses circles that are tangent to respective ones of the intersecting lines, with each circle having a radius that approximates a minimum turning radius of the vehicle, and (iii) determines possible paths of travel using straight path sections tangent to one or more of the circles and curved path sections that follow a curvature of one or more of the circles. The control selects a target path of travel in accordance with a plurality of objectives for the path of travel of the vehicle.

Abstract: A vehicular trailering system includes a plurality of cameras disposed at a vehicle, and a control having an image processor that processes image data captured by the plurality of cameras. With a trailer hitched to the vehicle, the system determines trailer angle of the trailer relative to the vehicle responsive at least in part to processing of image data captured by at least some of the cameras during forward motion of the vehicle. With the cameras disposed at the vehicle and with the trailer hitched to the vehicle and responsive at least in part to processing of image data captured by at least some of the cameras during forward motion of the vehicle, an object exterior of the vehicle is detected. Responsive to detection of the detected object, the system plans a path of forward travel of the vehicle towing the trailer that avoids contact with the detected object.

Abstract: A driver assist system for a vehicle includes a plurality of vehicle cameras and at least one trailer camera, with the vehicle cameras configured to be disposed at a vehicle and having respective fields of view exterior of the vehicle and the trailer camera configured to be disposed at a trailer towed by the vehicle. An image processor is operable to process image data captured by the vehicle cameras and the trailer camera. Responsive to processing of captured image data during forward or rearward motion of the vehicle and trailer, the image processor is operable to calibrate the trailer camera with the vehicle cameras. Responsive to processing of captured image data during forward or rearward motion of the vehicle and trailer, the image processor is operable to determine objects rearward of the trailer that are not in the fields of view of the vehicle cameras.

Abstract: A control system that is operable to control a vehicle in an autonomous or semi-autonomous mode includes a processor that processes data captured by a plurality of exterior sensing sensors. When the control system is operating in the autonomous or semi-autonomous mode and responsive to a determination of an upcoming event that requires the system to hand over control of the vehicle to a driver before the vehicle encounters the event, the control determines (i) a total action time until the vehicle encounters the event, (ii) an estimated time for the driver to take over control and (iii) an estimated handling time for the vehicle to be controlled before the vehicle encounters the event. Responsive to the determinations, the control system (i) allows the driver to take over control of the vehicle or (ii) controls the vehicle to slow down and stop the vehicle before the vehicle encounters the event.

Abstract: An autonomous parking system for a vehicle includes a plurality of sensors disposed at the vehicle and sensing exterior of the vehicle. A control is operable to control steering, moving and stopping of the vehicle responsive at least in part to processing by a processor of captured data. Responsive to a user input, the control autonomously drives the vehicle from a drop-off location to a parking space and parks the vehicle at the parking space, and responsive to another user input, the control autonomously drives the vehicle from the parking space to a pick-up location, wherein one of (i) the pick-up location is different than the drop-off location, (ii) the control is operable to move the vehicle after it is parked and before or without actuation of the other user input, and (iii) the control communicates with controls of other vehicles in determining the parking space for the equipped vehicle.

Abstract: A driver assist system for a vehicle includes a plurality of vehicle cameras and at least one trailer camera, with the vehicle cameras configured to be disposed at a vehicle and having respective fields of view exterior of the vehicle and the trailer camera configured to be disposed at a trailer towed by the vehicle. An image processor is operable to process image data captured by the vehicle cameras and the trailer camera. Responsive to processing of captured image data during forward or rearward motion of the vehicle and trailer, the image processor is operable to calibrate the trailer camera with the vehicle cameras. Responsive to processing of captured image data during forward or rearward motion of the vehicle and trailer, the image processor is operable to determine objects rearward of the trailer that are not in the fields of view of the vehicle cameras.

Abstract: A parking assist system of a vehicle includes a plurality of sensors disposed at a vehicle and having respective fields of sensing exterior of the vehicle. A vehicle control is operable to determine a target parking space responsive to the processor. The control (i) uses two intersecting lines, with one passing through a start node and one passing through an end node, (ii) uses circles that are tangent to respective ones of the intersecting lines, with each circle having a radius that approximates a minimum turning radius of the vehicle, and (iii) determines possible paths of travel using straight path sections tangent to one or more of the circles and curved path sections that follow a curvature of one or more of the circles. The control selects a target path of travel in accordance with a plurality of objectives for the path of travel of the vehicle.