A control apparatus for a rear wheel steering system is provided to control the rear wheel steering system by calculating a target rear wheel steering angle using sensors included in a parking assist system. The control apparatus includes a first sensor and a second sensor spaced apart from each other and mounted on a rear portion of a vehicle, a determiner configured to determine whether a trailer is mounted at a rear side of the vehicle using the first sensor or the second sensor, and a controller configured to control the rear wheel steering system according to a target rear wheel steering angle calculated using the first and second sensors when it is determined that the trailer is mounted at the rear side of the vehicle.

A control apparatus for a rear wheel steering system is provided to control the rear wheel steering system by calculating a target rear wheel steering angle using sensors included in a parking assist system. The control apparatus includes a first sensor and a second sensor spaced apart from each other and mounted on a rear portion of a vehicle, a determiner configured to determine whether a trailer is mounted at a rear side of the vehicle using the first sensor or the second sensor, and a controller configured to control the rear wheel steering system according to a target rear wheel steering angle calculated using the first and second sensors when it is determined that the trailer is mounted at the rear side of the vehicle.

An object of the present invention is to estimate a center-of-gravity position and inertia moment of a trailer and supply the center-of-gravity position and inertia moment for control of an articulated vehicle so as to enable further stabilization of a posture of the articulated vehicle during traveling.

A vehicle control device of the present invention is a vehicle control device mounted on a tractor which pulls a trailer, and is provided with: a steering angle control unit that controls a steering angle of wheels of the tractor independently of steering by a driver; and a trailer characteristic estimation unit that estimates a characteristic of the trailer based on a behavior of the tractor during wheel steering by the steering angle control unit.

An object of the present invention is to estimate a center-of-gravity position and inertia moment of a trailer and supply the center-of-gravity position and inertia moment for control of an articulated vehicle so as to enable further stabilization of a posture of the articulated vehicle during traveling.

A vehicle control device of the present invention is a vehicle control device mounted on a tractor which pulls a trailer, and is provided with: a steering angle control unit that controls a steering angle of wheels of the tractor independently of steering by a driver; and a trailer characteristic estimation unit that estimates a characteristic of the trailer based on a behavior of the tractor during wheel steering by the steering angle control unit.

A vehicular trailer assist system includes a camera disposed at a vehicle and viewing at least a portion of a trailer hitched to the vehicle. A control, responsive to processing of frames of image data captured by the camera and during a calibration maneuver by the vehicle, determines an initial trailer template of trailer hitched to the vehicle. During a turning portion of the calibration maneuver, a subset of frames of image data is stored, each stored frame of image data including the trailer at a different trailer angle relative to a longitudinal axis of the vehicle. The control, responsive to storing the subset of frames of image data, converts each stored frame of image data to an edge image and matches each edge image to the determined initial trailer template, and determines a location of a hitch ball of the vehicle.

A vehicular trailer assist system includes a camera disposed at a vehicle and viewing at least a portion of a trailer hitched to the vehicle. A control, responsive to processing of frames of image data captured by the camera and during a calibration maneuver by the vehicle, determines an initial trailer template of trailer hitched to the vehicle. During a turning portion of the calibration maneuver, a subset of frames of image data is stored, each stored frame of image data including the trailer at a different trailer angle relative to a longitudinal axis of the vehicle. The control, responsive to storing the subset of frames of image data, converts each stored frame of image data to an edge image and matches each edge image to the determined initial trailer template, and determines a location of a hitch ball of the vehicle.

A method for maneuvering a vehicle-trailer system in a reverse direction is provided. The method includes receiving images from a camera positioned on a rear portion of the trailer. The method includes: identifying one or more guide representations within the received images; and transmitting the received images to a user interface. The method also includes receiving from the user interface, an indication of a guide representation from the one or more guide representations. The method includes determining a path that includes maneuvers configured to move the vehicle-trailer system along the path to follow the guide associated with the identified guide representation while maintaining a minimum distance from the guide positioned behind the trailer. The method also includes transmitting to a drive system of the vehicle, one or more commands causing the vehicle-trailer system to autonomously move the vehicle-trailer system along the vehicle-trailer path in the reverse direction.

A system for monitoring a trailer includes a detection device configured to monitor a connection between a coupler attached to the trailer and a trailer hitch attached to a vehicle and generate data related to the connection, and a processing device configured to receive the data from the detection device, and analyze the data to detect whether a partial detachment condition is present. Based on detecting the partial detachment condition, the processing device is configured to generate a notification to a driver to alert the driver of the partial detachment condition and/or control operation of the vehicle.

The disclosed technology provides a delivery trailer to be hitched to an autonomous vehicle for autonomous delivery of packages. The delivery trailer can include sensors to provide data to the autonomous vehicle to which it is to overcome limitations caused by any occlusion of sensors on the autonomous vehicle by the trailer. Furthermore, the present technology addresses several challenges related to autonomous package delivery.

The disclosed technology provides a delivery trailer to be hitched to an autonomous vehicle for autonomous delivery of packages. The delivery trailer can include sensors to provide data to the autonomous vehicle to which it is to overcome limitations caused by any occlusion of sensors on the autonomous vehicle by the trailer. Furthermore, the present technology addresses several challenges related to autonomous package delivery.