A vehicle, hitch, and articulating trailer include vehicle to vehicle and infrastructure communications and vehicle computing systems, which have a controller coupled to and/or including one or more of a dynamics measurement unit, a transceiver, and a position sensor, among other components. The controller(s) are configured to, in response to detecting positions of trailer corners from the position sensor, generate vehicle and trailer relative orientation and navigation data including location, velocity, and orientation, utilizing vehicle and trailer electronic polyhedrons articulating about a hitch point and representing the combination vehicle and trailer predicted path and envelopes. In response to detected trailer movement relative to the hitch point, the generated articulated polyhedrons are generated with the navigation data, which includes the location, speed, and orientation, which are in turn communicated to nearby vehicles and roadway infrastructure. Initial trailer vertices may be generated with wireless and mobile devices to generate the trailer polyhedron.

Apparatuses, systems, and methods for determining and verifying operational states of fifth wheels. Certain methods for determining the operational state of the fifth wheel may include sensing, with at least one sensor, magnetic flux caused by a magnet on a movable component movable to lock the fifth wheel to a kingpin of a towed vehicle and determining an end position of the movable component based on the magnetic flux. The end position of the movable component is then compared to a threshold position and an operational state of the fifth wheel is determined based on the comparison of the end position of the movable component to the threshold position.

Methods and apparatus are disclosed for a load-sensing hitch utilizing a system of strain gauges. An example apparatus includes a hitch including a first support including a first end, a second end, and a mid-portion located between the first end and the second end, the mid-portion having a cross-sectional area smaller than the cross-sectional area of the first end or the cross-sectional area of the second end, a strain gauge located at the mid-portion of the first support, a frame attachment to couple the hitch to a frame of a vehicle, the support coupled to the frame attachment, and a load manager to determine a load condition based on sensor data from the strain gauge.

A method for estimating an effective length of a first vehicle segment of a vehicle combination, the vehicle combination comprising a towing vehicle which is connected to the first vehicle segment via a first articulation joint and a perception sensor mounted on one of the towing vehicle and the first vehicle segment and arranged to obtain an image of the other one of the towing vehicle and the first vehicle segment; the method comprising identifying that the vehicle combination is provided in a first steady vehicle state, identifying that a turning and driving manoeuvre is initiated, identifying when the vehicle combination reaches a second steady vehicle state, determining a time period required for driving the vehicle combination from the first steady vehicle state to the second steady vehicle state, and estimating the effective length by use of the time period, the specific angular change, and the specific speed.

The present document describes a sensor bracket and a vehicle, the sensor bracket comprising: a first cross beam, the first side thereof being mounted to the frame cross beam of a tail portion of a tractor; at least two vertical beams perpendicularly mounted to the first cross beam; and a second cross beam located below the first cross beam and connecting at least two vertical beams; wherein each of the vertical beams has a first sliding groove and the second cross beam is operable to slide up and down along the first sliding grooves. The sensor bracket of the present application has a simple structure and stable performance, and adopts the frame cross beam of the original vehicle for mounting, making it easy to operate, easy to replace, and easy to adjust.

The present document describes a sensor bracket and a vehicle, the sensor bracket comprising: a first cross beam, the first side thereof being mounted to the frame cross beam of a tail portion of a tractor; at least two vertical beams perpendicularly mounted to the first cross beam; and a second cross beam located below the first cross beam and connecting at least two vertical beams; wherein each of the vertical beams has a first sliding groove and the second cross beam is operable to slide up and down along the first sliding grooves. The sensor bracket of the present application has a simple structure and stable performance, and adopts the frame cross beam of the original vehicle for mounting, making it easy to operate, easy to replace, and easy to adjust.

Systems and methods for coordinating and providing braking assistance between towing vehicles and towed vehicles during towing events, such as bidirectional charging towing events, are provided. The towing braking assistance may be provided by the towed vehicle in the form of an assistive braking torque output to assist the towing vehicle with meeting a target deceleration rate during the towing event. The assistive braking torque output may be provided to account for mutual vehicle deceleration events, brake compensation or brake fade events, and stability events of the coupled vehicles during the towing events, for example.

Systems and methods for coordinating and providing braking assistance between towing vehicles and towed vehicles during towing events, such as bidirectional charging towing events, are provided. The towing braking assistance may be provided by the towed vehicle in the form of an assistive braking torque output to assist the towing vehicle with meeting a target deceleration rate during the towing event. The assistive braking torque output may be provided to account for mutual vehicle deceleration events, brake compensation or brake fade events, and stability events of the coupled vehicles during the towing events, for example.

A method for autonomously maneuvering a tow vehicle towards a trailer positioned behind the tow vehicle is provided. The method includes receiving one or more images from one or more cameras positioned on a back portion of the tow vehicle. The method also includes identifying a trailer representation within the one or more images. The trailer representation being indicative of the trailer positioned behind the tow vehicle. The method also includes setting a vertical center of the trailer representation as a target. The method also includes determining a first steering wheel angle to turn the tow vehicle such that the vehicle autonomously maneuvers in a direction towards the target. The method also includes transmitting instructions to a drive system causing the tow vehicle to maneuver based on the first steering wheel angle.

Systems and methods for coordinating and providing steering assistance between towing vehicles and towed vehicles during towing events. The towing steering assistance may be provided by the towed vehicle in the form of assistive steering maneuvers to assist the towing vehicle with turning during the towing event. The assistive steering maneuvers may be provided to account for turning maneuvers, steering compensation, and stability events of the coupled vehicles during the towing events, for example.