Vehicular trailering assist system with targetless determination of misalignment of at least one trailer camera
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United States of America Patent
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Nov 21, 2023
Grant Date -
Jul 20, 2023
app pub date -
Mar 20, 2023
filing date -
Dec 26, 2019
priority date (Note) -
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status (Latency Note)
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Abstract
A vehicular trailering assist system includes at least one camera disposed at a trailer hitched to a hitch of a vehicle, and an electronic control unit (ECU). The ECU determines, during a first stage of a calibration maneuver of the vehicle and trailer, image coordinates of at least one ground feature point. The ECU, responsive to determining image coordinates of the at least one ground feature point, estimates orientation parameters of the camera based at least on the determined image coordinates and intrinsic camera parameters. As the vehicle and trailer travel further along the ground surface during a second stage of the calibration maneuver of the vehicle and trailer, and based on the estimated orientation parameters of the at least one camera, the vehicular trailering assist system determines misalignment of the at least one camera at the trailer.
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