US Patent 9558409 Vehicle vision system with trailer angle detection

A vehicular vision system includes at least one camera and an image processor. The camera is disposed at a vehicle and has an exterior field of view rearward of the vehicle. The camera is operable to capture image data. The image processor is operable to process captured image data. The vision system, responsive at least in part to image processing of captured image data, is operable to determine a trailer angle of a trailer that is towed by the vehicle. The vision system is operable to determine a path of the trailer responsive to a steering angle of the vehicle and the vision system is operable to display information for viewing by the driver to assist the driver in driving the vehicle with the trailer.