Vehicular trailering assist system with driver monitoring and gesture detection

A vehicular trailering assist system, the vehicular trailering assist system comprising:

• a rearward viewing camera disposed at a rear portion of a vehicle equipped with the vehicular trailering assist system and viewing at least rearward of the vehicle, wherein, with a trailer hitched at a hitch of the vehicle, the rearward viewing camera views at least a portion of the trailer hitched at the hitch of the vehicle, and wherein the rearward viewing camera is operable to capture image data;
• wherein the rearward viewing camera comprises a CMOS imaging array having at least one million photosensors arranged in rows and columns;
• a driver monitoring camera disposed at an interior portion of the vehicle and viewing at least a head region of a driver of the vehicle, wherein the driver monitoring camera is operable to capture image data;
• an electronic control unit (ECU) comprising electronic circuitry and associated software;
• wherein the electronic circuitry of the ECU comprises an image processor for processing image data captured by the rearward viewing camera and for processing image data captured by the driver monitoring camera;
• wherein, during a reversing maneuver of the vehicle with the trailer hitched at the hitch of the vehicle and based at least in part on processing of image data captured by the rearward viewing camera, the vehicular trailering assist system controls steering of the vehicle;
• wherein, based on processing of image data captured by the driver monitoring camera, the vehicular trailering assist system monitors the driver;
• wherein, during the reversing maneuver of the vehicle with the trailer hitched at the hitch of the vehicle and based at least in part on monitoring of the driver, the vehicular trailering assist system adjusts control of steering of the vehicle;
• wherein, during the reversing maneuver of the vehicle with the trailer hitched at the hitch of the vehicle, and based on processing of image data captured by the driver monitoring camera, and responsive to determining a gesture performed by the driver of the vehicle, the vehicular trailering assist system adjusts control of steering of the vehicle to maneuver the trailer toward a direction corresponding to the determined gesture;
• wherein the determined gesture comprises a determined mouth movement of the driver;
• wherein, based on determination of a mouth movement of the driver corresponding to a driver side of the vehicle, the vehicular trailering assist system adjusts control of steering of the vehicle to maneuver the trailer toward the driver side of the vehicle;
• and
• wherein, based on determination of a mouth movement of the driver corresponding to a passenger side of the vehicle, the vehicular trailering assist system adjusts control of steering of the vehicle to maneuver the trailer toward the passenger side of the vehicle.

A vehicular trailering assist system, the vehicular trailering assist system comprising:

• a rearward viewing camera disposed at a rear portion of a vehicle equipped with the vehicular trailering assist system and viewing at least rearward of the vehicle, wherein, with a trailer hitched at a hitch of the vehicle, the rearward viewing camera views at least a portion of the trailer hitched at the hitch of the vehicle, and wherein the rearward viewing camera is operable to capture image data;
• wherein the rearward viewing camera comprises a CMOS imaging array having at least one million photosensors arranged in rows and columns;
• a driver monitoring camera disposed at an interior portion of the vehicle and viewing at least a head region of a driver of the vehicle, wherein the driver monitoring camera is operable to capture image data;
• an electronic control unit (ECU) comprising electronic circuitry and associated software;
• wherein the electronic circuitry of the ECU comprises an image processor for processing image data captured by the rearward viewing camera and for processing image data captured by the driver monitoring camera;
• wherein, during a reversing maneuver of the vehicle with the trailer hitched at the hitch of the vehicle and based at least in part on processing of image data captured by the rearward viewing camera, the vehicular trailering assist system controls steering of the vehicle;
• wherein, based on processing of image data captured by the driver monitoring camera, the vehicular trailering assist system monitors the driver;
• wherein, during the reversing maneuver of the vehicle with the trailer hitched at the hitch of the vehicle and based at least in part on monitoring of the driver, the vehicular trailering assist system adjusts control of steering of the vehicle;
• wherein, during the reversing maneuver of the vehicle with the trailer hitched at the hitch of the vehicle, and based on processing of image data captured by the driver monitoring camera, and responsive to determining a gesture performed by the driver of the vehicle, the vehicular trailering assist system adjusts control of steering of the vehicle to maneuver the trailer toward a direction corresponding to the determined gesture;
• wherein the determined gesture comprises a determined head pose of the driver;
• wherein, based on determination of a driver-side head pose of the driver toward a driver side of the vehicle, the vehicular trailering assist system adjusts control of steering of the vehicle to maneuver the trailer toward the driver side of the vehicle;
• and
• wherein, based on determination of a passenger-side head pose of the driver toward a passenger side of the vehicle, the vehicular trailering assist system adjusts control of steering of the vehicle to maneuver the trailer toward the passenger side of the vehicle.

A vehicular trailering assist system, the vehicular trailering assist system comprising:

• a rearward viewing camera disposed at a rear portion of a vehicle equipped with the vehicular trailering assist system and viewing at least rearward of the vehicle, wherein, with a trailer hitched at a hitch of the vehicle, the rearward viewing camera views at least a portion of the trailer hitched at the hitch of the vehicle, and wherein the rearward viewing camera is operable to capture image data;
• wherein the rearward viewing camera comprises a CMOS imaging array having at least one million photosensors arranged in rows and columns;
• a driver monitoring camera disposed at an interior portion of the vehicle and viewing at least a head region of a driver of the vehicle, wherein the driver monitoring camera is operable to capture image data;
• an electronic control unit (ECU) comprising electronic circuitry and associated software;
• wherein the electronic circuitry of the ECU comprises an image processor for processing image data captured by the rearward viewing camera and for processing image data captured by the driver monitoring camera;
• wherein, during a reversing maneuver of the vehicle with the trailer hitched at the hitch of the vehicle and based at least in part on processing of image data captured by the rearward viewing camera, the vehicular trailering assist system controls steering of the vehicle;
• wherein, based on processing of image data captured by the driver monitoring camera, the vehicular trailering assist system monitors the driver;
• wherein, during the reversing maneuver of the vehicle with the trailer hitched at the hitch of the vehicle and based at least in part on monitoring of the driver, the vehicular trailering assist system adjusts control of steering of the vehicle;
• wherein, during the reversing maneuver of the vehicle with the trailer hitched at the hitch of the vehicle, and based on processing of image data captured by the driver monitoring camera, and responsive to determining a gesture performed by the driver of the vehicle, the vehicular trailering assist system adjusts control of steering of the vehicle to maneuver the trailer toward a direction corresponding to the determined gesture;
• wherein the determined gesture comprises a determined hand gesture of the driver;
• wherein based on determination of a driver-side hand gesture of the driver toward a driver side of the vehicle, the vehicular trailering assist system adjusts control of steering of the vehicle to maneuver the trailer toward the driver side of the vehicle;
• and
• wherein, based on determination of a passenger-side hand gesture of the driver toward a passenger side of the vehicle, the vehicular trailering assist system adjusts control of steering of the vehicle to maneuver the trailer toward the passenger side of the vehicle.