10-06-2021 дата публикации
Номер: US20210170947A1
Принадлежит:
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. 1. A vehicular trailer assist system , the vehicular trailer assist system comprising:a camera disposed at a rear portion of a vehicle and viewing at least a portion of a trailer hitched to the vehicle;a plurality of sensors disposed at the vehicle, wherein the plurality of sensors comprises at least two selected from the group consisting of (i) a steering wheel angle sensor, (ii) a wheel speed sensor, (iii) a gyroscope, (iv) an accelerometer, (v) a transmission position sensor;an electronic control unit (ECU) comprising electronic circuitry and associated software;wherein the electronic circuitry of the ECU comprises a processor for processing image data captured by the camera and sensor data captured by the plurality of sensors;wherein, as the vehicle and trailer travel along a road, the ECU, responsive to processing of image data captured by the camera, determines trailer angle of the trailer relative to the vehicle that the trailer is hitched to;wherein, as the vehicle and trailer travel along the road, the ECU, responsive to processing of sensor data captured by the plurality of ...
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