A method for determining a drivable area by a vehicle. The method comprising; obtaining data related to a track of the vehicle, wherein the data comprises a plurality of corresponding positions, headings and articulation angles of the vehicle along the track, obtaining size information of the vehicle, determining a swept area of the vehicle for the track based on the data and on the size information of the vehicle, configuring a sensor on the vehicle to detect when the vehicle drives over an obstacle, recording any obstacles detected by the sensor, and determining the drivable area based on the swept area and on recorded obstacles.

The technology relates to determining whether a vehicle operating in an autonomous driving mode is experiencing an anomalous condition, for instance due to a loss of tire pressure, a mechanical failure, or a shift or loss of cargo. The actual current pose of the vehicle is compared to an expected pose of the vehicle, where the expected pose is based on a model of the vehicle. If a pose discrepancy is identified, the anomalous condition is determined from information associated with the pose discrepancy. The vehicle is then able to take corrective action based on the nature of the anomalous condition. The corrective action may include making a real-time driving change, modifying a planned route, alerting a remote operations center, or communicating with one or more other vehicles.

A system for calibrating a backup assist system for a trailer attached to a vehicle is provided which includes a hitch sensor continuously measuring a hitch angle between the vehicle and the trailer. A controller is configured to determine an offset of the measured hitch angle. The controller is configured to calculate and store in memory a forward offset if no reverse offset is stored.

A trailer-camera system for a vehicle coupled to a trailer. The system includes a first plurality of cameras configured to capture a video image including a region of interest surrounding the trailer, a second plurality of cameras configured to capture a video image including a region of interest surrounding the vehicle, and an electronic processor. The processor is configured to receive images from the first and second plurality of cameras and determine a trailer angle. The processor is further configured to generate a first 360-degree image view of an area surrounding the trailer based on an image stitching of the first plurality of images, generate a second 360-degree image view of an area surrounding the vehicle based on an image stitching of the second plurality of images, and generate a combined 360-degree image view from the first and second views based on the trailer angle.

A vehicle has a trailer backup steering input apparatus, a trailer backup assist control module coupled to the a trailer backup steering input apparatus, and an electric power assist steering system coupled to the trailer backup assist control module. The trailer backup steering input apparatus is configured for outputting a trailer path curvature signal approximating a desired curvature for a path of travel of a trailer towably coupled to the vehicle. The trailer backup assist control module is configured for determining vehicle steering information as a function of the trailer path curvature signal. The electric power assist steering system is configured for controlling steering of steered wheels of the vehicle as a function of the vehicle steering information.

A method for estimating a position of a trailer relative to a truck of a road train includes providing or obtaining a kinematic model of the road train, providing or obtaining a length estimation of the trailer, and measuring an articulation angle between the truck and the trailer. The method further includes determining a position of the trailer relative to the truck using the kinematic model, the length estimation, and the measured articulation angle.

The disclosure relates to a method for assisting a towing vehicle in the event of a loss of traction via a trailer vehicle. The method includes determining a differential slip between a driven wheel and a driveless wheel of the towing vehicle via a brake control unit and generating an acceleration demand dependent on the determined differential slip. The method further includes transmitting the acceleration demand to a trailer brake control unit, generating an activation signal for an electric drive of the trailer vehicle in dependence upon the acceleration demand in the trailer brake control unit, transmitting an activation signal to the electric drive of the trailer vehicle and generating a drive torque via the electric drive in dependence upon the activation signal. The disclosure furthermore relates to a towing vehicle, a trailer vehicle, and a combination thereof for carrying out the method.

The technology relates to determining whether a vehicle operating in an autonomous driving mode is experiencing an anomalous condition, for instance due to a loss of tire pressure, a mechanical failure, or a shift or loss of cargo. The actual current pose of the vehicle is compared to an expected pose of the vehicle, where the expected pose is based on a model of the vehicle. If a pose discrepancy is identified, the anomalous condition is determined from information associated with the pose discrepancy. The vehicle is then able to take corrective action based on the nature of the anomalous condition. The corrective action may include making a real-time driving change, modifying a planned route, alerting a remote operations center, or communicating with one or more other vehicles.

A sensor arrangement for detecting an object in a surrounding of a trailer when towed by a vehicle, the sensor arrangement including: at least one sensor mountable at a rear side of the vehicle with a field of view underneath the trailer and configured to capture a detection signal from the object; and a control unit configured to receive a sensor signal from the at least one sensor, wherein the sensor signal is indicative of the object and the control unit is configured to confirm a presence of the object behind or at a side of the trailer.

A method for determining a length of a trailer attached to a tow vehicle having one or more sensors positioned on a back portion of the tow vehicle facing the trailer is disclosed. The method includes receiving, at a data processing hardware in communication with the one or more sensors, first sensor data associated with a first position of the tow vehicle. The method includes receiving, at the data processing hardware, second sensor data associated with a second position of the tow vehicle. The second position is different from the first position. The method also includes receiving, at the data processing hardware, third sensor data associated with a third position of the tow vehicle. The third position is different from the first position and the second position. The method includes determining, at the data processing hardware, a length of the trailer based on the first, second, and third sensor data.