Methods for reversing determination for a vehicle asset are provided. The methods include capturing by a telematics device coupled to the vehicle acceleration data from a three-axis accelerometer, determining by an edge reversing-determination machine learning mode, a machine-learning-determined reversing indication for the vehicle asset. The edge reversing-determination machine-learning model being updated based on a centralized reversing-determination machine-learning model trained using a vehicle-provided reversing indication.

An apparatus for controlling backward driving of a vehicle including: a driving trajectory generation unit configured to generate a driving trajectory for backward driving of an ego vehicle on a target path, using sensing information acquired while the ego vehicle drives forward along the target path; and a control unit configured to control the backward driving of the ego vehicle on the target path according to the driving trajectory generated by the driving trajectory generation unit, correct the driving trajectory using driving information of another vehicle, which has driven backward on the target path before the ego vehicle, when a change on the target path is sensed in comparison to during the forward driving of the ego vehicle during the process of controlling the backward driving of the ego vehicle, and control the backward driving of the ego vehicle according to the corrected driving trajectory.

A system for assisting in aligning a vehicle for hitching with a trailer includes a vehicle steering system, a wireless communication module, a detection system outputting a signal including scene data of an area to a rear of the vehicle, and a controller. The controller receives, via the wireless communication module, an automated hitching initiation command from an external wireless device, receives the scene data and identifying the trailer within the area to the rear of the vehicle, derives a backing path to align a hitch ball mounted on the vehicle to a coupler of the trailer, and controls the vehicle steering system to maneuver the vehicle including reversing along the backing path.

A driving assistance system for automated driving of a vehicle includes at least one processor unit, which is designed to perform the following when the driving assistance system is carrying out a maneuver of turning onto a street: to determine, on the basis of environment data of an environment sensor system of the vehicle, whether another, on-coming road user is blocking a lane of the street which corresponds to the vehicle; and when it is determined that the other road user is blocking the lane of the street which corresponds to the vehicle to carry out a situation evaluation in order to determine whether the vehicle should back up in order to allow the other road user to exit the street or whether the other road user should be requested to clear the lane by backing up.

Provided is a vehicle control method for protecting a vehicle and a driver during forward driving while in reverse gear of an electric vehicle, the vehicle control method including: detecting a gear position of a vehicle; generating a negative torque command to a motor of the vehicle by detecting the gear position as R stage; detecting a vehicle speed of the vehicle; and displaying a warning light or generating a warning sound through a cluster of the vehicle when the vehicle speed is detected as a positive vehicle speed.

A system for determining a distance between a camera and a hitch ball of a vehicle. The system includes a camera configured to be mounted on a vehicle and an electronic processor connected to the camera. The electronic processor is configured to determine a first position and a second position associated with a point on a trailer, determine an angle of rotation between the first position and the second position, and using the first position, the second position, and the angle of rotation, determine a null space of a matrix. In one example, the matrix is

[00001]$A=\left[\begin{array}{ccccc}1& 0& 0& -{\mathrm{cu}}_{\mathrm{xo}}& {\mathrm{cl}}_x\\ 0& 1& 0& -{\mathrm{cu}}_{y0}& {\mathrm{cl}}_y\\ 0& 0& 0& {\mathrm{cu}}_{z0}& -{\mathrm{cl}}_z\\ 0& 0& 1& \frac{-{\mathrm{cu}}_{z0}}{{\mathrm{cu}}_{z1}}{\mathrm{cu}}_{x1}& {\mathrm{cl}}_x\\ -\cos \delta & \sin \delta & 1& 0& 0\end{array}\right]$

and the null space of the matrix includes a value of a distance (d.sub.l) between the camera and the hitch ball. The electronic processor is further configured to perform an autonomous or semi-autonomous vehicle operation based on the distance (d.sub.l) between the camera and the hitch ball.

An autonomous dock system for a vehicle, comprises a control system with instructions comprising steps for receiving a request to implement an autonomous dock routine. A vehicle speed and clutch position are calculated. A clutch position controller is commanded to maintain the calculated clutch position. An actual torque amount is iteratively detected as transferred across the clutch. A vehicle speed-control mechanism is commanded to maintain the calculated vehicle speed, and the actual vehicle speed is iteratively detected. When comparing the commanded vehicle speed to the detected actual vehicle speed indicates that the detected actual vehicle speed is below a speed threshold, and when the actual torque amount transferred across the clutch exceeds a torque threshold, the control system commands an increase in vehicle speed.

A system for operating a hybrid electric vehicle includes a hybrid starter generator generating a counter-electromotive force while rotating with an engine when conditions are satisfied, including where starting of the engine is secured, a main relay is turned off, and an engine clutch is opened according to a request for reverse traveling, in a state where a component of a high-voltage system is failed, a motor reversely rotating using the counter-electromotive force of the hybrid starter generator, an electronic load component operated using the counter-electromotive force of the hybrid starter generator, and a controller determining an engine speed required by load output values according to operations of the motor and the electronic load component, and restricting the operation of the motor or the electronic load component according to a determined engine speed.

In embodiments, a method positions and aligns an autonomous tractor coupling with an articulated trailer located in a pick-up spot. A staging path that terminates at a staging point corresponding to the pick-up spot is determined, and the tractor is controlled to follow the staging path to the staging point and then couple with the trailer. In embodiments, a method positions and aligns an autonomous tractor coupled to an articulated trailer in preparation for the tractor to reverse the trailer into a drop-off spot. A staging path having a shape and a staging point is determined, and the autonomous tractor is controlled to follow the staging path to the staging point. The staging path is shaped such that, after following the staging path to the staging point, the tractor and trailer are positioned for reversing into the drop-off spot.

A method for moving a vehicle to a component of an object at a distance therefrom, the vehicle having a navigation module which has a camera and an evaluation electronics, and an identification element is attached to the object in a predetermined position in such a way that it is recognized by the camera in a far range (D.sub.max) of the vehicle from the object, and a reverse driving line of the vehicle is calculated by the evaluation electronics from the perspective position of the camera in relation to the identification element. The method improves the approach of a vehicle to a stationary object. A close-range (D.sub.min) is defined in the direction of the object by a close-range radius (R.sub.min) and the reverse driving line is calculated up to a virtual pre-positioning point (S.sub.Vi, S.sub.Vii, S.sub.Viii) lying on the close-range radius (R.sub.min).