# US 10,870,449 B2 · Vehicular trailering system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,870,449 B2 - Document ID: US10870449B2 - Status: Granted - Kind: B2 - Application number: 16/147,946 - Filed: 2018-10-01 - Published: 2019-02-07 - Granted: 2020-12-22 - Earliest claimed: 2015-08-18 - Assignees: Magna Electronics Inc. - Applicants: Magna Electronics Inc. - Inventors: Achim Gieseke; Ralph Latotzki; Ruediger Boegel - Web page: https://patentgrep.com/patent/US10870449B2 ## CPC - B62D 13/06: for backing a normally drawn trailer - B60R 1/26: to the rear of the vehicle - B60R 1/27: providing all-round vision, e.g. using omnidirectional cameras - B60W 10/184: with wheel brakes - B60W 10/20: including control of steering systems - B60W 30/06: Automatic manoeuvring for parking - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B62D 15/0295: {by overlaying a vehicle path based on present steering angle over an image without processing that image} - B60R 2300/806: for aiding parking - B60R 2300/8086: for vehicle path indication - B60R 2300/8093: for obstacle warning - B60W 2300/14: Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2520/06: Direction of travel - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## 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. ## Claims ### Claim 1 A vehicular trailering system, said vehicular trailering system comprising: a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle; said plurality of cameras comprising a forward viewing camera disposed at a front portion of the vehicle, said forward viewing camera viewing at least forward of the vehicle; said plurality of cameras comprising a rearward viewing camera disposed at a rear portion of the vehicle, said rearward viewing camera viewing at least rearward of the vehicle; said plurality of cameras comprising a left-side viewing camera disposed at a left side portion of the vehicle, said left-side viewing camera viewing at least sideward of the vehicle; said plurality of cameras comprising a right-side viewing camera disposed at a right side portion of the vehicle, said right-side viewing camera viewing at least sideward of the vehicle; a control comprising an image processor; wherein said image processor processes image data captured by said plurality of cameras; wherein, with a trailer hitched to the vehicle, said vehicular trailering system determines trailer angle of the trailer relative to the vehicle responsive at least in part to processing by said image processor of image data captured by at least some one selected from the group consisting of said rearward viewing camera, said left-side viewing camera and said right-side viewing camera of said plurality of cameras during forward motion of the vehicle; wherein, with said plurality of cameras disposed at the vehicle and with the trailer hitched to the vehicle and during forward motion of the vehicle and responsive at least in part to processing by said image processor of image data captured by at least one selected from the group consisting of said forward viewing camera, said left-side viewing camera and said right-side viewing camera of said plurality of cameras, an object exterior of the vehicle is detected; and wherein, responsive to detection of the detected object, said vehicular trailering system plans a path of forward travel of the vehicle towing the trailer that avoids contact by the trailer with the detected object. ### Claim 2 (depends on 1) The vehicular trailering system of claim 1, comprising a display screen disposed in the vehicle that is viewable by a driver of the vehicle, wherein said vehicular trailering system displays at said display screen video images derived from image data captured by at least some of said plurality of cameras. ### Claim 3 (depends on 2) The vehicular trailering system of claim 2, wherein said vehicular trailering system is operable to generates graphic overlays that are displayed at said display screen to indicate the planned path of forward travel of the vehicle towing the trailer. ### Claim 4 (depends on 3) The vehicular trailering system of claim 3, wherein, responsive to determination of the detected object moving, said vehicular trailering system adjusts the planned path of forward travel of the vehicle towing the trailer to avoid the detected moving object. ### Claim 5 (depends on 1) The vehicular trailering system of claim 1, wherein said front portion at which said forward viewing camera is disposed comprises a portion of an in-cabin side of a windshield of the vehicle, and wherein said forward viewing camera that is disposed at the in-cabin side of the windshield of the vehicle views forward of the vehicle through the windshield. ### Claim 6 (depends on 1) The vehicular trailering system of claim 1, wherein said vehicular trailering system is operable to generate an alert to a driver of the vehicle. ### Claim 7 (depends on 1) The vehicular trailering system of claim 1, wherein said vehicular trailering system is operable to control a braking system of the vehicle. ### Claim 8 (depends on 1) The vehicular trailering system of claim 1, wherein said vehicular trailering system is operable to control a steering system of the vehicle. ### Claim 9 (depends on 1) The vehicular trailering system of claim 1, wherein said vehicular trailering system uses a two stage path planner. ### Claim 10 (depends on 1) The vehicular trailering system of claim 1, wherein the detected object is a pedestrian. ### Claim 11 (depends on 10) The vehicular trailering system of claim 10, wherein, responsive at least in part to processing by said image processor of image data captured by at least said forward viewing camera, said vehicular trailering system distinguishes a moving pedestrian from a static pedestrian. ### Claim 12 (depends on 10) The vehicular trailering system of claim 10, wherein, responsive at least in part to processing by said image processor of image data captured by at least said forward viewing camera determining that a moving pedestrian stops, said vehicular trailering system changes the planned path of forward travel of the vehicle towing the trailer to avoid contact with the stopped pedestrian. ### Claim 13 A vehicular trailering system, said vehicular trailering system comprising: a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle; said plurality of cameras comprising a forward viewing camera disposed at the in-cabin side of a windshield of the vehicle, said forward viewing camera viewing forward of the vehicle through the windshield; said plurality of cameras comprising a rearward viewing camera disposed at a rear portion of the vehicle, said rearward viewing camera viewing at least rearward of the vehicle; said plurality of cameras comprising a left-side viewing camera disposed at a left side portion of the vehicle, said left-side viewing camera viewing at least sideward of the vehicle; said plurality of cameras comprising a right-side viewing camera disposed at a right side portion of the vehicle, said right-side viewing camera viewing at least sideward of the vehicle; a control comprising an image processor; wherein said image processor processes image data captured by said plurality of cameras; wherein, with a trailer hitched to the vehicle, said vehicular trailering system determines trailer angle of the trailer relative to the vehicle responsive at least in part to processing by said image processor of image data captured by at least one selected from the group consisting of said rearward viewing camera, said left-side viewing camera and said right-side viewing camera of said plurality of cameras during forward motion of the vehicle; wherein, with said plurality of cameras disposed at the vehicle and with the trailer hitched to the vehicle and during forward motion of the vehicle and responsive at least in part to processing by said image processor of image data captured by at least one selected from the group consisting of said forward viewing camera, said left-side viewing camera and said right-side viewing camera of said plurality of cameras, another vehicle exterior of the vehicle is detected; wherein, responsive to detection of the detected other vehicle, said vehicular trailering system plans a path of forward travel of the vehicle towing the trailer that avoids contact by the trailer with the detected other vehicle; and wherein said vehicular trailering system is operable to control a braking system of the vehicle and wherein said vehicular trailering system is operable to control a steering system of the vehicle. ### Claim 14 (depends on 13) The vehicular trailering system of claim 13, wherein, responsive at least in part to processing by said image processor of image data captured by at least said forward viewing camera, said vehicular trailering system distinguishes a moving other vehicle from a static other vehicle. ### Claim 15 (depends on 14) The vehicular trailering system of claim 14, wherein, responsive at least in part to processing by said image processor of image data captured by at least said forward viewing camera determining that a moving other vehicle stops, said vehicular trailering system changes the planned path of forward travel of the vehicle towing the trailer to avoid contact with the static other vehicle. ### Claim 16 (depends on 14) The vehicular trailering system of claim 14, wherein, responsive to determination of the detected other vehicle moving, said vehicular trailering system adjusts the planned path of forward travel of the vehicle towing the trailer to avoid the detected moving other vehicle. ### Claim 17 A vehicular trailering system, said vehicular trailering system comprising: a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle; said plurality of cameras comprising a forward viewing camera disposed at the in-cabin side of a windshield of the vehicle, said forward viewing camera viewing forward of the vehicle through the windshield; said plurality of cameras comprising a rearward viewing camera disposed at a rear portion of the vehicle, said rearward viewing camera viewing at least rearward of the vehicle; said plurality of cameras comprising a left-side viewing camera disposed at a left side portion of the vehicle, said left-side viewing camera viewing at least sideward of the vehicle; said plurality of cameras comprising a right-side viewing camera disposed at a right side portion of the vehicle, said right-side viewing camera viewing at least sideward of the vehicle; a control comprising an image processor; wherein said image processor processes image data captured by said plurality of cameras; wherein, with a trailer hitched to the vehicle, said vehicular trailering system determines trailer angle of the trailer relative to the vehicle responsive at least in part to processing by said image processor of image data captured by at least one selected from the group consisting of said rearward viewing camera, said left-side viewing camera and said right-side viewing camera of said plurality of cameras during forward motion of the vehicle; wherein, with said plurality of cameras disposed at the vehicle and with the trailer hitched to the vehicle and during forward motion of the vehicle and responsive at least in part to processing by said image processor of image data captured by at least one selected from the group consisting of said forward viewing camera, said left-side viewing camera and said right-side viewing camera of said plurality of cameras, a pedestrian exterior of the vehicle is detected; wherein, responsive to detection of the detected pedestrian, said vehicular trailering system plans a path of forward travel of the vehicle towing the trailer that avoids contact by the trailer with the detected pedestrian; and wherein said vehicular trailering system is operable to control a braking system of the vehicle and wherein said vehicular trailering system is operable to control a steering system of the vehicle. ### Claim 18 (depends on 17) The vehicular trailering system of claim 17, wherein, responsive at least in part to processing by said image processor of image data captured by at least said forward moving camera, said vehicular trailering system distinguishes a moving pedestrian from a static pedestrian. ### Claim 19 (depends on 17) The vehicular trailering system of claim 17, wherein, responsive at least in part to processing by said image processor of image data captured by at least said forward viewing camera determining that a moving pedestrian stops, said vehicular trailering system changes the planned path of forward travel of the vehicle towing the trailer to avoid contact with the stopped pedestrian. ### Claim 20 (depends on 17) The vehicular trailering system of claim 17, wherein, responsive to determination of the detected pedestrian moving, said vehicular trailering system adjusts the planned path of forward travel of the vehicle towing the trailer to avoid the moving pedestrian.