Patent attributes
A vehicular trailer assist system includes a rearward viewing camera disposed at a vehicle that views a trailer hitched at a fifth wheel hitch at a bed of the vehicle. With the trailer hitched to the fifth wheel hitch at the bed of the vehicle, the vehicular trailer assist system, via processing fisheye-view frames of image data captured by the camera, transforms fisheye-view frames of image data captured by the rearward viewing camera into bird's-eye view frames of image data. The vehicular trailer assist system determines a region of interest (ROI) in a transformed bird's-eye view frames of image data that includes a region where the fifth wheel hitch is present. The vehicular trailer assist system, via a Hough transform that transforms the determined ROI from a Cartesian coordinate system to a polar coordinate system, determines a trailer angle of the trailer relative to the vehicle.
