One general aspect includes a system having a memory configured to include one or more executable instructions and a processor configured to execute the executable instructions, where the executable instructions enable the processor to estimate a rate of change of a hitch angle between a trailer and vehicle, the estimated rate of change of the hitch angle being based on a turn angle for a plurality of rear wheels of the vehicle as well as a speed of the vehicle.

A method for determining a drivable area by a vehicle. The method comprising; obtaining data related to a track of the vehicle, wherein the data comprises a plurality of corresponding positions, headings and articulation angles of the vehicle along the track, obtaining size information of the vehicle, determining a swept area of the vehicle for the track based on the data and on the size information of the vehicle, configuring a sensor on the vehicle to detect when the vehicle drives over an obstacle, recording any obstacles detected by the sensor, and determining the drivable area based on the swept area and on recorded obstacles.

Systems, methods, and other embodiments described herein relate to generating depth estimates of an environment depicted in a monocular image. In one embodiment, a method includes identifying semantic features in the monocular image according to a semantic model. The method includes injecting the semantic features into a depth model using pixel-adaptive convolutions. The method includes generating a depth map from the monocular image using the depth model that is guided by the semantic features. The pixel-adaptive convolutions are integrated into a decoder of the depth model. The method includes providing the depth map as the depth estimates for the monocular image.

A trailer sideswipe avoidance system for a vehicle towing a trailer is provided herein. The trailer sideswipe avoidance system includes a sensor system configured to detect objects in an operating environment of the vehicle. A controller receiving inputs from the sensor system is configured to determine a travel path of the towed trailer as the vehicle turns, determine whether an object detected in the operating environment of the vehicle is in the travel path of the towed trailer, determine a time until sideswiping of the object with the towed trailer, compare the time until sideswiping with a threshold time value, and prompt one or more vehicle systems to execute a sideswipe avoidance measure when the time until sideswiping is less than the threshold time value.

A trailer-camera system for a vehicle coupled to a trailer. The system includes a first plurality of cameras configured to capture a video image including a region of interest surrounding the trailer, a second plurality of cameras configured to capture a video image including a region of interest surrounding the vehicle, and an electronic processor. The processor is configured to receive images from the first and second plurality of cameras and determine a trailer angle. The processor is further configured to generate a first 360-degree image view of an area surrounding the trailer based on an image stitching of the first plurality of images, generate a second 360-degree image view of an area surrounding the vehicle based on an image stitching of the second plurality of images, and generate a combined 360-degree image view from the first and second views based on the trailer angle.

An electronic control unit that is installed on a vehicle connected to a trailer and capable of towing the trailer changes travel control of the vehicle according to a type of the trailer when the trailer is connected to the vehicle.

A rear-side alarm device and a rear-side alarm method thereof. The rear-side alarm device includes a sensor and a controller. The sensor monitors a rear area or a rear-side area of a vehicle. If a trailer connected to the vehicle is detected, the controller sets a system deactivation area and a system activation area, based on status information of the trailer, and controls an alarm operation to be performed by judging whether or not another vehicle has entered into the system activation area. The rear-side alarm device can operate normally even in the case in which a trailer is connected to a vehicle, thereby providing driving safety to a driver.

A method for controlling autonomous driving for an autonomous driving vehicle, includes collecting sensing information on autonomous driving in an autonomous driving mode, calculating an initial longitudinal control value based on the sensing information on the autonomous driving, correcting the initial longitudinal control value based on the sensing information, and performing a longitudinal driving control by transmitting the corrected longitudinal control value to a lower controller.

A vehicle operable to pull a trailer comprising a payload is provided, that includes a plurality of sensors configured to capture sensor data related to the vehicle, the trailer, or both, and a controller configured to (i) receive the sensor data from the plurality of sensors, (ii) determine, based on the sensor data, one or more parameters associated with the trailer, the payload, or both, (iii) update, based on an analysis of the one or more parameters, a confidence level associated with an operation of the vehicle with the trailer and the payload, and (iv) based on the confidence level, responsively execute an autonomous control strategy comprising one or more adjustments to the operation of the vehicle.

A system for implementing a lane bias maneuver to avoid a vehicle comprises an autonomous vehicle and a control device associated with the autonomous vehicle. The control device detects a presence of a vehicle from sensor data revied from sensors of the autonomous vehicle. The control device determines a lateral distance between the autonomous vehicle and the vehicle. The control device compares the lateral distance with a threshold distance. The control device determines whether to instruct the autonomous vehicle to perform a lane bias maneuver based on the comparison between the lateral distance and the threshold distance. The lane bias maneuver comprises driving the autonomous vehicle off-center in a current lane traveled by the autonomous vehicle toward an opposite direction with respect to the vehicle until the lateral distance between the autonomous vehicle and the vehicle is at least equal to the threshold distance.