A hitch angle detection system is provided herein. Ultrasonic transducers are disposed on a rear vehicle structure and are configured to transmit ultrasonic waves in a rearward vehicle direction. An ultrasonic reflector is disposed on a trailer and is configured to reflect incident ultrasonic waves back toward the corresponding ultrasonic transducers. A processor is configured to derive distance measurements between the ultrasonic transducers and the ultrasonic reflector and determine a hitch angle based on the derived distance measurements.

A hitch angle detection system is provided herein. Ultrasonic transducers are disposed on a rear vehicle structure and are configured to transmit ultrasonic waves in a rearward vehicle direction. An ultrasonic reflector is disposed on a trailer and is configured to reflect incident ultrasonic waves back toward the corresponding ultrasonic transducers. A processor is configured to derive distance measurements between the ultrasonic transducers and the ultrasonic reflector and determine a hitch angle based on the derived distance measurements.

A trailer angle detection system and method of detecting a trailer of a vehicle including a wide-angle camera and a controller. The controller is configured to receive a signal from the wide-angle camera representative of an area behind the vehicle. The controller transforms the signal into a top-down image. The controller determines a first plurality of values. Each of the first plurality of values is indicative of an amount of symmetry in a region of the top-down image. The controller determines a second plurality of values. Each of the second plurality of values is indicative of how closely a shape in the top-down image matches a predetermined shape. Then, the controller determines an estimate of an articulation angle based on the first plurality of values and the second plurality of values. Then controller performs an automated vehicle maneuver based on the estimate of the articulation angle.

A control system of a self-driving tractor can access sensor data to determine a set of trailer configuration parameters of a cargo trailer coupled to the self-driving tractor. Based on the set of trailer configuration parameters, the control system can configure a motion planning model for autonomously controlling the acceleration, braking, and steering systems of the tractor.

A control system of a self-driving tractor can access sensor data to determine a set of trailer configuration parameters of a cargo trailer coupled to the self-driving tractor. Based on the set of trailer configuration parameters, the control system can configure a motion planning model for autonomously controlling the acceleration, braking, and steering systems of the tractor.

A steering system for steering a heavy haul trailer dolly comprising a turntable mounted on the dolly for connecting to another trailer unit. The dolly comprising a main frame, a wheel group mounted to the main frame, and a pivot frame mounted to the main frame between the turntable and the wheel group. A counter-steering linkage connects the pivot frame and the turntable. Hydraulic cylinders connect the pivot frame and the wheel group. To automatically steer the dolly, the hydraulic cylinders are locked in length. Rotation of the turntable in one direction causes the pivot frame and the wheel group to rotate in the opposite direction. To steer the dolly directly, the hydraulic cylinders are operated to extend and retract, pushing and pulling against the pivot frame and turntable to rotate the wheel group.

A steering system for steering a heavy haul trailer dolly comprising a turntable mounted on the dolly for connecting to another trailer unit. The dolly comprising a main frame, a wheel group mounted to the main frame, and a pivot frame mounted to the main frame between the turntable and the wheel group. A counter-steering linkage connects the pivot frame and the turntable. Hydraulic cylinders connect the pivot frame and the wheel group. To automatically steer the dolly, the hydraulic cylinders are locked in length. Rotation of the turntable in one direction causes the pivot frame and the wheel group to rotate in the opposite direction. To steer the dolly directly, the hydraulic cylinders are operated to extend and retract, pushing and pulling against the pivot frame and turntable to rotate the wheel group.

A method for providing a warning that a trailer being towed by a vehicle will cross out of a travel lane when in a curve for the current vehicle path prior to the vehicle entering the curve. The method determines that the vehicle is approaching the curve, determines a radius of curvature of the curve, determines a lane width of the travel lane, and identifying a length of the trailer. The method also determines a predicted steering angle of the vehicle necessary to follow the radius of curvature of the curve, a turn radius of the vehicle for traveling through the curve using the predicted steering angle, and a turn radius of the trailer using the turn radius of the vehicle. The method then determines whether the trailer will cross out of the travel lane based on the curvature of the curve and the turn radius of the trailer.

A method for providing vehicle steering control through a curve in an autonomously driven or semi-autonomously driven vehicle that is towing a trailer. The method determines that the trailer will cross out of the travel lane based on the curvature of the curve and the turn radius of the trailer. The method calculates a start turn radius of the vehicle for a start location of the curve, an end turn radius of the vehicle for an end location of the curve, and a turn end point proximate the end location or a turn start point proximate the start location. The method provides initial and boundary conditions for determining a desired path of the vehicle through the curve that prevents the trailer from crossing out of the lane and determines the desired path based on the initial and boundary conditions by solving a polynomial equation.

A method for providing vehicle steering control through a curve in an autonomously driven or semi-autonomously driven vehicle that is towing a trailer. The method determines that the trailer will cross out of the travel lane based on the curvature of the curve and the turn radius of the trailer. The method calculates a start turn radius of the vehicle for a start location of the curve, an end turn radius of the vehicle for an end location of the curve, and a turn end point proximate the end location or a turn start point proximate the start location. The method provides initial and boundary conditions for determining a desired path of the vehicle through the curve that prevents the trailer from crossing out of the lane and determines the desired path based on the initial and boundary conditions by solving a polynomial equation.