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 device for detecting a failure of an actuator of a vehicle includes: a training device that trains a model using training data comprising behavior data of the vehicle and a steering compensation angle, and a controller that detects the failure of the actuator in the vehicle based on the model.

Methods and apparatus are provided for articulating mirrors for trailering in a motor vehicle. The method includes receiving a trailer dimension, receiving an indication of a trailering mode, receiving an image of a trailer hitch assembly in response to the indication of the trailering mode, estimating a hitch articulation angle in response to the image, estimating a trailer rear corner position in response to the hitch articulation angle and the trailer dimension, generating a mirror control signal to adjust a mirror position such that the trailer rear corner position is within a mirror field of view, and adjusting the mirror position in response to the mirror control signal.

A system may comprise one or more processors, and a memory storing instructions that, when executed by the one or more processors, causing the system to perform receiving, from a first sensor coupled to a front part of a vehicle, a first set of sensor data that include data of a first edge of a body part, or from a second sensor coupled to the front part of the vehicle, a second set of sensor data that include data of a second edge of the body part. The system may perform calculating, based on the first or second set of the sensor data, location of the first edge or the second edge of the body part relative to the front part, and determining whether the relative location of the first edge or the second edge is within an expected location range. The system may perform sending a notification that driving adjustment of the vehicle is required if the relative location is outside the expected location range.

A method for determining, by a utility vehicle having a trailer coupling, an articulation angle between the utility vehicle and a coupled vehicle trailer includes determining, with a model, a modelled value of the articulation angle or an articulation angle change. The method further includes determining, with a sensor unit, a measured value of an articulation angle or of an articulation angle change, and deriving, from the measured value, a correction value. The method additionally includes correcting the modelled value as a function of the correction value, and outputting the corrected modelled value as an output value of an articulation 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 and. 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 trailer backup assist system for motor vehicles includes an auxiliary user input feature that can be used by a vehicle operator to provide a steering curvature command corresponding to a desired vehicle path curvature without requiring a user to move a steering wheel of the motor vehicle. The trailer backup assist system is configured to control a vehicle speed while the vehicle is backing up with a trailer attached thereto utilizing an input comprising at least one of a steering curvature command and an angle of a trailer relative to the vehicle. The trailer backup assist system controls at least one of a brake system, an engine torque, and a transmission gear selection to thereby control vehicle speed in a reverse direction.

The disclosure relates to a method for estimating a maximum safe articulation angle (Φlim) to be used in reversing of a vehicle combination (1) comprising a towing vehicle (10) and at least one trailer (20), said method comprising: S1) providing a preset maximum safe articulation angle (Φlim) for the towing vehicle (10) or the vehicle combination (1), S2) receiving a signal being indicative of an articulation angle (Φ) of the vehicle combination (1) during forward driving of the vehicle combination (1), and S3) updating the maximum safe articulation angle (Vim) when the articulation angle (Φ) of the vehicle combination (1) during forward driving is larger than the preset maximum safe articulation angle (Φlim). The disclosure also relates to a method for reversing a vehicle combination (10), to a control unit (11), to a towing vehicle (10), to a computer program and to a computer readable medium.

A method for determining, by a utility vehicle having a trailer coupling, an articulation angle between the utility vehicle and a coupled vehicle trailer includes determining, with a model, a modelled value of the articulation angle or an articulation angle change. The method further includes determining, with a sensor unit, a measured value of an articulation angle or of an articulation angle change, and deriving, from the measured value, a correction value. The method additionally includes correcting the modelled value as a function of the correction value, and outputting the corrected modelled value as an output value of an articulation angle.

A trailer includes a battery and an axle or a tandem axle with wheels driven by way of electric motors. The battery supplies electricity to the electric motors during trailer travel, and a sensor detects forces on a coupling of the trailer in at least one of the following directions: longitudinal direction of the trailer and/or transverse direction of the trailer and/or perpendicular direction, and a controller controls the electric motors, so that a minimum and/or a maximum limit value is adhered to.