A method S100 can include: determining a set of inputs S110; determining a vehicle state estimate S120; determining a vehicle command based on the vehicle state estimate S130; and optionally controlling the vehicle based on the vehicle command S140. However, the method S100 can additionally or alternatively include any other suitable elements. The method S100 functions to facilitate vehicle reversal and/or tractable vehicle control (e.g., during reversal). Additionally or alternatively, the method can function to reduce and/or eliminate unrecoverable vehicle state incidence during vehicle reversal (a.k.a., vehicle backing). Additionally or alternatively, the method can function to autonomously augment and/or assist vehicle control (e.g., during vehicle reversal).

A kingpin assembly includes a housing having a recess located therein, a kingpin having at least a portion located within the recess of the housing, wherein the kingpin is secured within the recess of the housing, and wherein the kingpin includes an axis extending along a length of the kingpin, and a sensor arrangement configured to sense a force exerted on the kingpin in a first direction that is substantially perpendicular to the longitudinal axis, and a second direction that is substantially perpendicular to the first direction.

A rotary position sensor senses rotation of a first member, having a first torque coupling surface, about an axis relative to a second member by sensing movement of a torque receiving component of the rotary. The isolator may include a mount, a linkage and a torsion spring. The linkage is to be coupled to the torque receiving component of the rotary sensor. The linkage has a second torque coupling surface separable from the first torque coupling surface by a play gap, wherein during rotation of the first member, the first torque coupling surface is to contact the second torque coupling surface to transmit torque to the linkage. The torsion spring is captured between the mount and the linkage independent of the torque receiving component to resiliently bias the second torque coupling surface through the play gap and into engagement with the first torque coupling surface.

A system for estimating an articulation angle between a first and a second connected vehicle section of an articulated vehicle combination, the system comprising a primary image obtaining device configured to be mounted on a first position of one of the vehicle sections and to obtain images of the other vehicle section during use; a secondary image obtaining device configured to be mounted on a second position of one of the vehicle sections and to obtain images of the other vehicle section during use, the second position being different from the first position, and/or a mounting orientation at the second position of the second image obtaining device being different from a mounting orientation at the first position of the primary image obtaining device.

A sensor device for a towing vehicle coupling with which a trailer vehicle is coupleable to a towing vehicle wherein the towing vehicle coupling has a coupling element for releasably coupling a coupling mating element, which elements are secured to the towing vehicle and the trailer vehicle, and when coupled rotate relative to each another about at least one joint rotational axis, forming a joint, wherein the sensor device has a follower which: is mounted on a bearing body such that it can rotate relative to the coupling element about a follower rotational axis; can be rotatably carried about the follower rotational axis by the rotation of the coupling mating element about the at least one joint rotational axis in order to sense a rotation of the coupling mating element relative to the coupling element about the at least one joint rotational axis, and wherein the sensor device has at least one sensor for sensing a respective rotational position of the follower relative to the bearing body in relation to the follower rotational axis.

A kingpin assembly includes a housing having a recess located therein, a kingpin having at least a portion located within the recess of the housing, wherein the kingpin is secured within the recess of the housing, and wherein the kingpin includes an axis extending along a length of the kingpin, and a sensor arrangement configured to sense a force exerted on the kingpin in a first direction that is substantially perpendicular to the longitudinal axis.

A method for providing a driver of a vehicle towing a trailer with reversing information, comprising the steps of: capturing image data of a region behind the trailer; measuring an angle between the vehicle and the trailer; generating auxiliary data 5 comprising reversing aid information at least in part in accordance with the angle; generating display data in accordance with the image data and the auxiliary data; and presenting the display data on a display.

The present invention provides a steering system for an in-wheel motor vehicle capable of controlling driving torques and speeds of in-wheel motors mounted in left and right wheels to be different from each other at the time of curve driving of the vehicle to generate a steering angle of the wheel for the curve driving, and performing a steering angle control of sensing the generated steering angle and fixing the steering angle to a desired steering angle.

A sensor system, for determining an angular change between a utility vehicle and a coupled vehicle trailer, includes a sensor unit having a wheel mounted so as to be rotatable about an axis, and a rotary encoder connected to the wheel and configured to detect a change in position of the wheel. The sensor system further includes a mount having at least one first fixed part configured to connect the sensor system to the utility vehicle or a part thereof, and at least one movable part connected to the sensor unit and mounted so as to be movable on the fixed part. In addition, the sensor system includes a positioning mechanism configured to provide sprung bearing of the movable part in an operating position such that the wheel of the sensor unit can be moved into contact with a vehicle trailer or a part of the vehicle trailer.

A system for monitoring a steering angle of a wheel of a steering assembly of a vehicle may include a sensor cap configured to be coupled to a steering knuckle of the steering assembly at an open end of a bore defined by the steering knuckle such that the sensor cap is mounted for rotation with the steering knuckle about a kingpin. In addition, the system may include a kingpin sensor configured to be coupled between the sensor cap and the kingpin. The kingpin sensor may be configured to detect relative rotation between the steering knuckle and the kingpin.