A collision avoidance support device for a vehicle that includes an obstacle detection device for detecting an obstacle in front of the vehicle and an electronic control unit configured to perform automatic brake control that automatically applies braking force to a vehicle when it is determined that the obstacle detection device have detected an obstacle and the vehicle may collide with the obstacle, and the electronic control unit is configured to prohibit the automatic brake control when it is determined that the vehicle is not towing a trailer and a turning index value indicating a degree of turning of the vehicle is equal to or larger than a first reference value, and prohibit the automatic brake control when it is determined that the vehicle is towing a trailer and the turning index value is equal to or larger than a second reference value smaller than the first reference value.

An example method includes detecting, via sensor data collected from sensors located on the AV, an upcoming object located on a roadway. The method further includes determining, from the sensor data, a relative distance and a relative direction of the upcoming object with respect to the autonomous vehicle. The method further includes mapping the upcoming object to an absolute location with respect to the roadway based on map data that describes upcoming topology of the roadway and a location of the autonomous vehicle. The method further includes associating the upcoming object with a lane of the roadway based on the absolute location mapped to the upcoming object and based on lane geometry data for the roadway. The method further includes operating the autonomous vehicle based on a relationship between the lane associated with the upcoming object and a current lane in which the autonomous vehicle is located.

In method and system for navigation support of an electric vehicle towing a trailer, the method for navigation support of an electric vehicle (EV) towing a trailer includes specifying, by a navigation system of the EV, a destination of the EV for a planned trip with the EV via a navigation system of the EV; detecting, by a trailer detection device of the EV, that a trailer is connected to the EV; assessing, by the navigation system, charging stations along potential routes for the specified destination that are suitable for recharging the EV in a state that the trailer is connected to the EV; and at least one of: indicating the suitable charging stations via the navigation system; and determining candidate routes for the planned trip by the navigation system based on the specified destination and the suitable charging stations.

Methods and systems are provided for a vehicle towing a trailer. In one embodiment, a method includes: receiving, by a processor, image data from one or more image sensors of the vehicle; determining, by the processor, a change in vehicle height based on the image data; determining, by the processor, at least one of a vehicle load and a trailer tongue load based on the change in vehicle height; and generating, by the processor, at least one of notification data and control data to control the vehicle based on the at least one of the vehicle load and the trailer tongue load.

Method and systems for displaying vehicle range and remaining energy to a driver is disclosed that includes a nominal range, based on a battery state of charge, and a dynamic range, based on the battery state of charge and a vehicle characteristic. The range indicator may be a linear battery icon that presents the nominal range as a first display element and the dynamic range as a second display element. The first display element may comprise a first bar length of a faded color and the second display element may comprise a second bar length of a full color.

A computer system has processing circuitry to acquire a longitudinal velocity of a vehicle combination comprising a tractor unit and at least one trailing unit; and determine an upper limit and/or a lower limit for a control parameter for at least one unit of the vehicle combination based on the acquired longitudinal velocity; and transmit the upper and/or lower limit to a controller of the at least one unit of the vehicle combination.

A lane departure suppression device includes an object information acquisition device that acquires information on an object around a vehicle, and a control unit that executes, when determination is made that there is a possibility that the vehicle crosses a departure determination reference line based on information acquired by the object information acquisition device, lane departure suppression control such that the possibility is reduced. The control unit is configured to change the departure determination reference line such that determination is made more easily that there is the possibility when the vehicle is towing a trailer than when the vehicle is not towing the trailer.

A method of planning a path for reversing a trailer along a defined path a includes defining a desired end point for a trailer path and determining a set of reversing trailer curvatures for moving the trailer between each of a plurality of possible waypoints along a possible trailer path. A steering angle is determined for each of the curvatures. The reversing trailer path to the end point is then created based on a set of waypoints selected based on the determined reversing trailer curvature at each of the plurality of possible waypoints that meets a defined path determination criteria.

Methods and systems are provided for a vehicle towing a trailer. In one embodiment, a method includes: receiving, by a processor, sensor data from one or more sensors of the vehicle; estimating, by a processor, a steering torque value based on the sensor data; estimating, by the processor, a steering angle value based on the sensor data; determining, by the processor, a trailer tongue value based on the steering torque value and the steering angle value; and generating, by the processor, a control signal to control the vehicle based on the trailer tongue value.

A computer system has processing circuitry to handle an autonomous vehicle configured in a first degradation state. The first degradation state controls a functionality limitation of the vehicle. The processing circuitry detects a need for the vehicle to transition from the first degradation state to a second degradation state. The second degradation state is indicative of an updated functionality limitation of the vehicle. The processing circuitry is configured to, based on a predefined model, determine whether the vehicle can safely transition from the first degradation state to the second degradation state. The processing circuitry is configured to, upon determining that the vehicle cannot safely transition from the first degradation state to the second degradation state, trigger a safety action.