FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system for a vehicle and, more particularly, to a vehicle vision system that utilizes one or more cameras at a vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known. Examples of such known systems are described in U.S. Pat. Nos. 5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporated herein by reference in their entireties. Trailer assist systems are known that may determine an angle of a trailer hitched at a vehicle. Examples of such known systems are described in U.S. Pat. Nos. 9,085,261 and/or 6,690,268, which are hereby incorporated herein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a driver assistance system or vision system or imaging system for a vehicle that utilizes a camera disposed at a rear portion of a vehicle and having a field of view exterior of the vehicle, the field of view encompassing at least a portion of a trailer hitched to the vehicle. The system also includes a control comprising an image processor operable to process image data captured by the camera, with the image data captured by the camera representative of the trailer hitched to the vehicle. The control, responsive to image processing of captured image data of a portion of the trailer hitched at the trailer hitch, transforms an image of the trailer hitch from a pivoting orientation of the portion of the trailer that pivots about the trailer hitch to a vertical orientation of the portion of the trailer that moves laterally across the transformed image. The control transforms pivotal movement of the portion of the trailer that pivots about the trailer hitch to lateral movement of the trailer hitch in the transformed image. The control determines a trailer angle of the trailer relative to the vehicle based on the lateral position of the trailer hitch in the image data.

These and other objects, advantages, purposes and features of the present invention will become apparent upon review of the following specification in conjunction with the drawings.

