A driving support device that controls a steering unit such that a hitch angle between a tow vehicle, which tows a towed vehicle, and the towed vehicle becomes a target angle set as a target includes: an image control unit that causes a display unit to perform display of a captured image obtained by an imaging unit provided in the tow vehicle or the towed vehicle in a mirror image state and display of a setting image including a slider indicating the target angle input through an input unit; an acquisition unit that acquires input of the target angle at the time of backward movement of the tow vehicle from the input unit, in a state where the setting image is displayed; and a setting unit that sets the target angle based on the input.

A method of controlling a mobile machine having a set of ground engaging elements includes receiving an image of terrain proximate the mobile machine, detecting a contour of the terrain, determining a projected path of the set of ground engaging elements based on the detected contour of the terrain, and controlling a display device to display the image with an overlay representing the projected path of the ground engaging elements.

A system for controlling a motion of a trailer-based vehicle from an initial state till a target state, wherein each state includes a location and a heading of the trailer-based vehicle. The trailer-based vehicle includes a tractor and at least one trailer attached to the tractor such that the motion of the tractor controls the motion of the trailer. The system is configured to collect a set of motion primitives parameterized on quantized pseudo-trailer-configuration from a finite set of quantized pseudo-trailer-configurations, and repetitively select a node based on corresponding cost, and apply motion primitives at the selected node based on corresponding pseudo-trailer-configuration to add new nodes having pseudo-trailer-configurations belonging to set of all possible values. The system is configured to connect a sequence of multiple motion primitives into motion path connecting initial state with target state and control the motion of the tractor-trailer according to the motion path.

Methods, systems, and apparatuses are provided for a vehicle tethered by a hitch to a trailer. The method includes generating sensor data from one or more sensors that are responsive to forces applied to the hitch by a vehicle mechanically coupled to the hitch; receiving sensor data to compute a direction for the guidance of the trailer; monitoring a set of parameters reflecting forces in a lateral and traverse direction derived from data generated by the sensors wherein the set of parameters include at least one parameter of a magnitude of force, and at least one parameter of the direction of force acting upon the hitch; and calculating at least a rate-of-change of the magnitude of force and direction over time to determine a trajectory for the trailer that enables the trailer to follow the lead vehicle without a tractive effort of the lead vehicle.

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 system for assisting in aligning a vehicle for hitching with a trailer includes an imager outputting image data of a field of view to the rear of the vehicle and a controller identifying at least one of a trailer or a coupler of the trailer within the image data. The controller further determines that the at least one of the trailer or the coupler is outside of a specified area relative to the vehicle and outputs an instruction for movement of the vehicle determined to position the one of the trailer or the coupler within the specified area. Upon determining that the at least one of the coupler and the trailer is within the specified area, the coupler outputs a steering signal to the vehicle to cause the vehicle to steer to align a hitch ball of the vehicle with the coupler.

Systems, methods, and apparatus are provided in a vehicle to reduce the likelihood of a trailer jackknife condition. The method includes: receiving trailer profile information; receiving a dynamic vehicle steering angle (δ) and dynamic hitch articulation angle (θ) while the vehicle is moving in a reverse direction; continuously calculating a maximum safe vehicle speed (v.sub.max) at which to proceed in reverse without jackknifing based on the trailer profile information, the δ, the θ, a predetermined safe time to jackknife (TTJ_ne), and a maximum hitch articulation angle (θ.sub.JK); comparing a current vehicle longitudinal speed (v) to the v.sub.max; automatically generating a speed correction signal to cause the vehicle to slow down below the v.sub.max when the v exceeds the v.sub.max; and sending the speed correction signal to a vehicle motion control system to instruct the vehicle motion control system to reduce the v below the v.sub.max.

A vehicle operable to pull a trailer comprising a payload is provided, that includes a plurality of sensors configured to capture sensor data related to the vehicle, the trailer, or both, and a controller configured to (i) receive the sensor data from the plurality of sensors, (ii) determine, based on the sensor data, one or more parameters associated with the trailer, the payload, or both, (iii) update, based on an analysis of the one or more parameters, a confidence level associated with an operation of the vehicle with the trailer and the payload, and (iv) based on the confidence level, responsively execute an autonomous control strategy comprising one or more adjustments to the operation of the vehicle.

A system for implementing a lane bias maneuver to avoid a vehicle comprises an autonomous vehicle and a control device associated with the autonomous vehicle. The control device detects a presence of a vehicle from sensor data revied from sensors of the autonomous vehicle. The control device determines a lateral distance between the autonomous vehicle and the vehicle. The control device compares the lateral distance with a threshold distance. The control device determines whether to instruct the autonomous vehicle to perform a lane bias maneuver based on the comparison between the lateral distance and the threshold distance. The lane bias maneuver comprises driving the autonomous vehicle off-center in a current lane traveled by the autonomous vehicle toward an opposite direction with respect to the vehicle until the lateral distance between the autonomous vehicle and the vehicle is at least equal to the threshold distance.

Systems for detecting movement of a trailer having a rearward facing camera and linked to a tow vehicle. The systems include taking a first image and a second image with the camera and comparing the images. A first amount of trailer movement is determined between the second image and the first image. The systems may also take additional images and determine a second amount of trailer movement occurring between the additional images. Tracking the first amount and the second amount of trailer movement determines an amount of trailer sway. The determined trailer sway may be compared to a maximum allowable sway and, if the movement is greater than the maximum allowable sway, mitigating sway of the trailer with the tow vehicle.