Patent attributes
A method of calibrating a vehicular trailering assist system includes hitching a trailer to a vehicle having a rearward viewing camera. Frames of image data are captured by the camera when the vehicle is towing the trailer hitched to the vehicle to determine presence of the trailer and to determine if the particular trailer is a trailer for which the system is calibrated. Responsive to determination that the particular trailer is not a trailer for which the system is calibrated, the system assigns an initial trailer beam length before starting a calibration drive and collects data during the calibration drive. The system iteratively estimates the trailer beam length and, when the predicted trailer angle least deviates from the current determined trailer angle during the calibration drive, the system determines a final estimated trailer beam length for use by the vehicular trailering assist system in determining trailer angles.
