A vehicle control apparatus and method include: a sensor sensing current trailer connection information, current trailer load information, current trailer traction information, and current trailer relative angle information; a determination unit determining whether a trailer is in a mounted state by using the sensed current trailer connection information, and determining whether an ESC is in an unstable operation state by using the sensed current trailer load information, current trailer traction information, and current trailer relative angle information when the trailer is in the mounted state; and a control unit transmitting a compensation signal to an ESC apparatus to compensate the ESC apparatus in accordance with the set target ESC stable operation control information to operate the ESC apparatus in a stable operation state according to the sensed current trailer load information, current trailer traction information, and current trailer relative angle information when the ESC is in the unstable operation state.

A driving assistance device of a vehicle connected to a trailer, a vehicle system including the same, and a method thereof are provided. The vehicle driving assistance device includes a processor that determines a driving situation and a braking situation of a vehicle towing a trailer based on vehicle's internal signals and determines an amount of rear wheel steering control and an amount of braking control based on the driving situation and the braking situation of the vehicle and a storage storing the amount of rear wheel steering control and the amount of braking control, determined by the processor, and the vehicle's internal signals.

A system for assisting in aligning a vehicle for hitching with a trailer includes a steering system that adjusts a vehicle steering angle, a braking system that adjusts a vehicle speed, an imaging system that receives image data of a drawbar assembly being receivable in a hitch receiver, and a controller. The controller is configured to detect an edge of the drawbar assembly from the image data, target an endpoint at a fixed offset from the edge and a stationary point on the vehicle, and maneuver, via the steering and braking systems, the vehicle along a path to align the endpoint with the trailer.

A system for assisting in aligning a vehicle for hitching with a trailer includes a steering system that adjusts a vehicle steering angle, a braking system that adjusts a vehicle speed, an imaging system that receives image data of a drawbar assembly being receivable in a hitch receiver, and a controller. The controller is configured to detect an edge of the drawbar assembly from the image data, target an endpoint at a fixed offset from the edge and a stationary point on the vehicle, and maneuver, via the steering and braking systems, the vehicle along a path to align the endpoint with the trailer.

Examples of techniques for controlling a vehicle based on trailer sway are disclosed. In one example implementation according to aspects of the present disclosure, a computer-implemented method includes estimating, by a processing device, an estimated articulation angle between a vehicle and a trailer coupled to the vehicle. The method further includes calculating, by the processing device, an expected articulation angle between the vehicle and the trailer. The method further includes comparing, by the processing device, the estimated articulation angle and the expected articulation angle to determine whether the trailer is experiencing trailer sway. The method further includes, responsive to determining that the trailer is experiencing sway, controlling, by the processing device, the vehicle to reduce the trailer sway.

Examples of techniques for controlling a vehicle based on trailer sway are disclosed. In one example implementation according to aspects of the present disclosure, a computer-implemented method includes estimating, by a processing device, an estimated articulation angle between a vehicle and a trailer coupled to the vehicle. The method further includes calculating, by the processing device, an expected articulation angle between the vehicle and the trailer. The method further includes comparing, by the processing device, the estimated articulation angle and the expected articulation angle to determine whether the trailer is experiencing trailer sway. The method further includes, responsive to determining that the trailer is experiencing sway, controlling, by the processing device, the vehicle to reduce the trailer sway.

A trailer sideswipe avoidance system for a vehicle towing a trailer is provided herein. The trailer sideswipe avoidance system includes a sensor system configured to detect objects in an operating environment of the vehicle. A controller receiving inputs from the sensor system is configured to determine a travel path of the towed trailer as the vehicle turns, determine whether an object detected in the operating environment of the vehicle is in the travel path of the towed trailer, determine a time until sideswiping of the object with the towed trailer, compare the time until sideswiping with a threshold time value, and prompt one or more vehicle systems to execute a sideswipe avoidance measure when the time until sideswiping is less than the threshold time value.

A trailer sideswipe avoidance system for a vehicle towing a trailer is provided herein. The trailer sideswipe avoidance system includes a sensor system configured to detect objects in an operating environment of the vehicle. A controller receiving inputs from the sensor system is configured to determine a travel path of the towed trailer as the vehicle turns, determine whether an object detected in the operating environment of the vehicle is in the travel path of the towed trailer, determine a time until sideswiping of the object with the towed trailer, compare the time until sideswiping with a threshold time value, and prompt one or more vehicle systems to execute a sideswipe avoidance measure when the time until sideswiping is less than the threshold time value.

A towbar controlled steering system is disclosed. A towbar pivots about a pivot point on a wagon front axle, with steering rods connected to steered wheels. At the towbar, the steering rods are attached to a carriage that moves ends of the steering rods in front of (towing position) or behind (backing position) the towbar pivot point. When backing, the wheels are steered in opposite directions as sideways towbar displacement. An automated system senses towbar angle and attenuates steering sensitivity while backing to keep the wagon along a backwards track defined by the tow vehicle.

A steerable axle includes a housing defining a ball seat therein, a ball member received within the ball seat and defining a cutout portion to receive a portion of a ball bearing therein, an interstitial space defined by a surface of the ball seat and a surface of the ball member, and a ball bearing disposed within the interstitial space and received into the cutout portion of the ball member. The ball bearing moves within the interstitial space when the ball member rotates along the x or y axis, but is restricted from movement along the z axis. Restriction of movement of the ball bearing along the z axis results in a corresponding restriction of movement of the ball member along the z axis.