Vehicular trailering assist system with trailer state estimation

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 sensors, estimates a velocity of the vehicle;
• wherein the ECU, responsive to processing of sensor data captured by the plurality of sensors, determines a tire radius estimation;
• wherein, as the vehicle and trailer travel along the road, the ECU, responsive to processing of sensor data captured by the plurality of sensors and based on the estimated velocity of the vehicle and responsive to determining the tire radius estimation, determines (i) a predicted vehicle yaw rate of the vehicle and (ii) a predicted trailer angle of the trailer relative to a longitudinal axis of the vehicle;
• wherein, as the vehicle and trailer travel along the road, the ECU determines the predicted vehicle yaw rate and the predicted trailer angle based on a constant velocity and steering angle model;
• wherein, as the vehicle and trailer travel along the road, the ECU, responsive to determining the predicted vehicle yaw rate, determines a corrected vehicle yaw rate based on processing of image data captured by the camera and based on sensor data captured by at least one of the plurality of sensors;
• wherein, as the vehicle and trailer travel along the road, the ECU, responsive to determining the predicted trailer angle, determines a corrected trailer angle based on processing of image data captured by the camera and based on sensor data captured by at least one of the plurality of sensors;
• and
• wherein, responsive to determining the corrected vehicle yaw rate and the corrected trailer angle, the ECU determines a vehicle trajectory and a trailer trajectory as the vehicle and trailer travel along the road.