A system for assisting in aligning a vehicle for hitching with a trailer includes a steering system that adjusts a vehicle steering angle, a braking system that adjusts a vehicle speed, an imaging system that receives image data of a drawbar assembly being receivable in a hitch receiver, and a controller. The controller is configured to detect an edge of the drawbar assembly from the image data, target an endpoint at a fixed offset from the edge and a stationary point on the vehicle, and maneuver, via the steering and braking systems, the vehicle along a path to align the endpoint with the trailer.

A system for assisting in aligning a vehicle for hitching with a trailer includes a steering system that adjusts a vehicle steering angle, a braking system that adjusts a vehicle speed, an imaging system that receives image data of a drawbar assembly being receivable in a hitch receiver, and a controller. The controller is configured to detect an edge of the drawbar assembly from the image data, target an endpoint at a fixed offset from the edge and a stationary point on the vehicle, and maneuver, via the steering and braking systems, the vehicle along a path to align the endpoint with the trailer.

Methods, apparatus, systems, and articles of manufacture are disclosed for high-traffic density transportation pathways. An example system includes a convoy moving at a first speed, the convoy including a first and second powertrain vehicle, a first land vehicle disposed between the first powertrain vehicle and the second powertrain vehicle, the first land vehicle including a first transit carrier, and a second land vehicle coupled to the first land vehicle, the second land vehicle including a second transit carrier having a first movement system and first stacking couplers, and a transit pod coupled to the second transit carrier, the transit pod having second stacking couplers, the second stacking couplers coupled to the first stacking couplers, and a controller to, in response to a request for a third transit carrier traveling at a second speed to join the convoy, instruct the third transit carrier to join the convoy at the first speed.

Methods, apparatus, systems, and articles of manufacture are disclosed for high-traffic density transportation pathways. An example system includes a convoy moving at a first speed, the convoy including a first and second powertrain vehicle, a first land vehicle disposed between the first powertrain vehicle and the second powertrain vehicle, the first land vehicle including a first transit carrier, and a second land vehicle coupled to the first land vehicle, the second land vehicle including a second transit carrier having a first movement system and first stacking couplers, and a transit pod coupled to the second transit carrier, the transit pod having second stacking couplers, the second stacking couplers coupled to the first stacking couplers, and a controller to, in response to a request for a third transit carrier traveling at a second speed to join the convoy, instruct the third transit carrier to join the convoy at the first speed.

A system for trailer coupler localization for guidance during a hitching maneuver for a vehicle includes a trailer device including a trailer coupler and a graphic providing structure affixed to the trailer coupler. The structure includes at least one predefined graphic image. The system further includes a rear facing camera device attached to the vehicle and providing a captured image of the predefined graphic image. The system further includes a computerized controller, including programming to receive and analyze the captured image of the predefined graphic image to determine a relative position of the graphic providing structure to the camera device. The controller further includes programming to utilize the analysis to determine a relative position of the trailer coupler to a trailer hitch ball of the vehicle and to provide an output to control the hitching maneuver based upon the relative position.

A vehicle system configured to control a trailer alignment routine comprises a hitch mounted on a vehicle and a controller. The controller is configured to identify a coupler position of a trailer and control motion of the vehicle toward an aligned position. The controller is further configured to calculate a stopping threshold relative to the coupler position. The stopping threshold comprises a semicircle concentric to the coupler position. The controller is further configured to control a braking procedure in response to the hitch passing the stopping threshold.

A vehicle system configured to control a trailer alignment routine comprises a hitch mounted on a vehicle and a controller. The controller is configured to identify a coupler position of a trailer and control motion of the vehicle toward an aligned position. The controller is further configured to calculate a stopping threshold relative to the coupler position. The stopping threshold comprises a semicircle concentric to the coupler position. The controller is further configured to control a braking procedure in response to the hitch passing the stopping threshold.

A method for assisting a coupling procedure at an agricultural implement interface includes determining via a control unit whether a set-down procedure associated with unhitching the implement is being executed, determining cartographically via the control unit in communication with a position detection unit a set-down location of the implement and a driving trajectory travelled by the agricultural tractor from the set-down location along a defined route, storing via the control unit the set-down location and the driving trajectory as an associated dataset in a memory unit together with type information about the implement provided by an information unit, retrieving via the control unit the associated dataset to re-hitch the implement, and guiding via the control unit the agricultural tractor back from a defined start position along the driving trajectory to the set-down location by issuing associated control commands.

A trailer assist system for a vehicle includes a camera disposed at the vehicle and viewing at least rearward of the vehicle including at least a portion of a trailer hitched to the vehicle. A control includes an image processor operable to process image data captured by the camera. The control, responsive to image processing at the control of captured image data, determines at least two feature points on the trailer and determines at least two matched feature point pairs from feature matching over two or more frames of captured image data. The control determines a perpendicular bisector of a respective line segment extending between the determined at least two matched point pairs, (iii) determines an intersection point of the perpendicular bisectors of the determined at least two matched point pairs, and (iv) determines a location of the hitch ball based at least in part on the intersection point.

A trailer assist system for a vehicle includes a camera disposed at the vehicle and viewing at least rearward of the vehicle including at least a portion of a trailer hitched to the vehicle. A control includes an image processor operable to process image data captured by the camera. The control, responsive to image processing at the control of captured image data, determines at least two feature points on the trailer and determines at least two matched feature point pairs from feature matching over two or more frames of captured image data. The control determines a perpendicular bisector of a respective line segment extending between the determined at least two matched point pairs, (iii) determines an intersection point of the perpendicular bisectors of the determined at least two matched point pairs, and (iv) determines a location of the hitch ball based at least in part on the intersection point.