Systems and methods for dynamic predictive control of autonomous vehicles are disclosed. In one aspect, an in-vehicle control system for a semi-truck includes one or more control mechanisms configured to control movement of the semi-truck and a processor. The system further includes computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to receive a desired trajectory and a vehicle status of the semi-truck, determine a dynamic model of the semi-truck based on the desired trajectory and the vehicle status, determine at least one quadratic program (QP) problem based on the dynamic model, generate at least one control command for controlling the semi-truck by solving the at least one QP problem, and provide the at least one control command to the one or more control mechanisms.

A maneuvering assistant system for a vehicle combination comprising an interface configured to receive measurements from a camera, processing circuitry implementing a Kalman filter configured to observe an articulation angle of the vehicle combination on the basis of the measurements from the camera, a signal analyzer configured to repeatedly estimate a signal noise of the camera measurement and to adjust the Kalman filter on the basis of statistics derived from the estimated signal noise, and an assistance unit configured to receive an estimate of the articulation angle from the Kalman filter and provide drive actions based on the estimate.

Upon initiation of trailer-hitching, an image is obtained of an area behind and in a horizontal plane with respect to a vehicle, the area including a rearwardly extending trailer hitch, with a hitch ball mounted thereto, mounted to the vehicle. The hitch ball is located in the image. An overshoot zone, having a length extending from a vehicle rear bumper to a nearest point on the vehicle hitch ball and having a width that is a sum of a diameter of the hitch and two times a lateral offset, is defined within the area, as is a misaligned zone having a border extending from the vehicle rear bumper to a line tangent to a rearmost point of the hitch ball. A vehicle action is caused upon determining that the trailer coupling is detected in the overshoot zone or the misaligned zone.

A method for ascertaining a spatial orientation of a trailer of an autonomously driving towing vehicle with trailer. In the method, sensor data of a plurality of different sensor types are processed, so that the trailer and objects in the environment are identified in the sensor data, the sensor data communicated by the various sensor types and processed in this way being combined with one another, and the movement path of the trailer relative to the objects in the environment being determined on the basis of these combined sensor data.

According to a method for assisting reverse driving of a combination (1), an actual value for a hitch angle of the combination (1) is determined by a computing unit (6) depending on sensor data generated by a hitch angle sensor. A hitch length of a trailer (3), given by a distance between a trailer body (11) and a hitch (7) of a vehicle (2), is determined depending on environmental sensor data of the combination (1). A collision value for the hitch angle is determined by the computing unit (6) depending on the hitch length, and the safety measure is triggered by the computing unit (6) depending on the actual value and the collision value for the hitch angle.

The systems and methods disclosed herein are configured to determine if a trailer backup assist system is needed to assist a driver with a procedure to backup a trailer that is connected to a vehicle. The estimation of need for assistance may be determined by an assistance model. If assistance is needed, the systems and methods provide an input to initiate a process to enable the trailer backup assist system.

A vehicle lane management system and a method of operating a vehicle lane management system is provided. The lane management system minimizes unnecessary driver warnings regarding lane departure and/or vehicle operation intervention actions to alter lane position when a vehicle is to be operated in a turn in conditions where the driver is or will be intentionally placing wheels of the vehicle outside of lane boundaries. The conditions for suppressing lane departure warnings and/or interventions include a vehicle speed being below a threshold speed and an upcoming turn radius being below a predetermined minimum turn radius.

An apparatus for controlling platooning includes a recognizing device to recognize front information of a vehicle by using at least one sensor, a communication device to support vehicle to vehicle communication, and a processor connected with the recognizing device and the communication device. The processor acquires information on a first line in front of the vehicle, through the recognizing device, receives information on a second line, which is transmitted from a preceding vehicle, through the communication device, generates information on a third line by using the information on the first line and the information on the second line, based on information on the preceding vehicle, generates information on a final line by using the information on the first line, the information on the second line, and the information on the third line, and plans a path for the platooning by utilizing the information on the final line.

A method for detecting inattentive vehicle operation in a commercial vehicle includes monitoring a motion of a rear portion of a trailer and identifying a motion trend. The method compares the motion trend with a set of known inattentive driving trends and identifies an inattentive driving event when the identified trend matches a known inattentive driving trend in the set of known inattentive driving trends.

The present disclosure provides a rear wheel steering (RWS) control method and system for a cargo trailer. The RWS control method may include determining a driving mode of a vehicle connected to the cargo trailer, executing an RWS control logic of the cargo trailer based on the driving mode and an input signal from the vehicle corresponding to the driving mode, and performing RWS control for the cargo trailer based on the RWS control logic.