Methods and systems for autonomous and semi-autonomous vehicle routing are disclosed. Roadway suitability for autonomous operation is scored to facilitate use in route determination. Maps of roadways suitable for various levels of autonomous operation may be generated. Such map data may be used by autonomous vehicles or other computer devices in determining routes based upon criteria for vehicle trips. Such routes may be automatically updated based upon changes in road conditions, vehicle conditions, operator conditions, or environmental conditions. Emergency routing using such map data is described, such as automatic routing and travel when a passenger is experiencing a medical emergency.

Methods and systems for autonomous and semi-autonomous vehicle control relating to malfunctions are disclosed. Malfunctioning sensors or software of autonomous vehicles may be identified from operating data of the vehicle, and a component maintenance requirement status associated with such malfunctioning component may be generated. Based upon such status, usage restrictions may be enacted to limit operation of the vehicle while the component is malfunctioning. This may include disabling or restricting use of certain autonomous or semi-autonomous features of the vehicle until the component is repaired or replaced. Repair may be accomplished by automatically scheduling repair of the vehicle or installing an updated or uncorrupted version of a software program, in various embodiments.

A tow aid system used while operating a wrecker adapted to tow a vehicle, the wrecker comprising an underlift arm extending rearward from the wrecker, wherein the underlift arm is adapted to lift at least a part of the vehicle for towing. The tow aid system comprises: axle load sensors mounted along different longitudinal positions on the wrecker, the axle load sensors generating signals indicative of loads along the different longitudinal positions; an underlift arm load sensor mounted about the underlift arm, the underlift arm load sensor generating signals indicative of a load applied on the underlift arm while holding the vehicle in a towing position; and a controller processing the signals from the axle load sensors and the underlift arm load sensor to calculate operating limits of the wrecker.

A tow aid system used while operating a wrecker adapted to tow a vehicle, the wrecker comprising an underlift arm extending rearward from the wrecker, wherein the underlift arm is adapted to lift at least a part of the vehicle for towing. The tow aid system comprises: axle load sensors mounted along different longitudinal positions on the wrecker, the axle load sensors generating signals indicative of loads along the different longitudinal positions; an underlift arm load sensor mounted about the underlift arm, the underlift arm load sensor generating signals indicative of a load applied on the underlift arm while holding the vehicle in a towing position; and a controller processing the signals from the axle load sensors and the underlift arm load sensor to calculate operating limits of the wrecker.

A tow dolly cross rail assembly includes a male bar and a pair of female bars arranged in a slidable relationship, forming an arched configuration that creates a positive camber effect at dolly tires at the outer ends of the bars. The male bar comprises an apex that forms an angle that orients upwardly, forming an angle between about 165° to 179°. The center male bar and pair of female bars are arranged in a slidable relationship with each other. The midpoint of the center male bar forms an apex. The inner end of female bars is in a slidable relationship with free ends of center male bar. The female bars telescopically slide along the free ends of center male bar for increasing and decreasing length of cross rail. The arched configuration of the center male bar slopes the female bars to create a positive camber at the dolly tires.

Methods and systems for autonomous vehicle recharging or refueling are disclosed. Autonomous electric vehicles may be automatically recharged by routing the vehicles to available charging stations when not in operation, according to methods described herein. A charge level of the battery of an autonomous electric vehicle may be monitored until it reaches a recharging threshold, at which point an on-board computer may generate a predicted use profile for the vehicle. Based upon the predicted use profile, a time and location for the vehicle to recharge may be determined. In some embodiments, the vehicle may be controlled to automatically travel to a charging station, recharge the battery, and return to its starting location in order to recharge when not in use.

Methods and systems for autonomous vehicle recharging or refueling are disclosed. Autonomous electric vehicles may be automatically recharged by routing the vehicles to available charging stations when not in operation, according to methods described herein. A charge level of the battery of an autonomous electric vehicle may be monitored until it reaches a recharging threshold, at which point an on-board computer may generate a predicted use profile for the vehicle. Based upon the predicted use profile, a time and location for the vehicle to recharge may be determined. In some embodiments, the vehicle may be controlled to automatically travel to a charging station, recharge the battery, and return to its starting location in order to recharge when not in use.

Methods and systems autonomously parking and retrieving vehicles are disclosed. Available parking spaces or parking facilities may be identified, and the vehicle may be navigated to an available space from a drop-off location without passengers. Special-purpose sensors, GPS data, or wireless signal triangulation may be used to identify vehicles and available parking spots. Upon a user request or a prediction of upcoming user demand, the vehicle may be retrieved autonomously from a parking space. Other vehicles may be autonomously moved to facilitate parking or retrieval.

A tow aid system used while operating a towing vehicle adapted to tow a towed vehicle, the towing vehicle comprising an underlift arm extending rearward from the towing vehicle, wherein the underlift arm is adapted to lift at least a part of the vehicle for towing. The tow aid system comprises: a plurality of geometry sensors and force sensors mounted to components of the towing vehicle that are indicative of a load applied on the underlift arm while holding the part of the towed vehicle in a towing position; and a controller processing the signals from the sensors to calculate the payload resulting from lifting the part of the towed vehicle, and operating limits of the towing vehicle.

A tow aid system used while operating a towing vehicle adapted to tow a towed vehicle, the towing vehicle comprising an underlift arm extending rearward from the towing vehicle, wherein the underlift arm is adapted to lift at least a part of the vehicle for towing. The tow aid system comprises: a plurality of geometry sensors and force sensors mounted to components of the towing vehicle that are indicative of a load applied on the underlift arm while holding the part of the towed vehicle in a towing position; and a controller processing the signals from the sensors to calculate the payload resulting from lifting the part of the towed vehicle, and operating limits of the towing vehicle.