Abstract: Various examples are directed to systems and methods for operating a vehicle comprising a tractor and a trailer attached for pulling behind the tractor. A center-of-mass system may determine a mass of the trailer and a tractor understeer. The center-of-mass system may determine the tractor understeer using steering input data describing a steering angle of the tractor and yaw data describing a yaw of the tractor. The center-of-mass system may determine a load center of mass using the tractor understeer and a mass of the trailer. The center-of-mass system may further determine that the load center of mass transgresses a center-of-mass threshold and send an alert message indicating that the load transgresses the load center-of-mass threshold.

Abstract: The present disclosure is directed to deviating from a planned path for an autonomous vehicle. In particular, a computing system comprising one or more computing devices physically located onboard an autonomous vehicle can identify one or more boundaries at least in part defining a lane in which the autonomous vehicle is traveling along a path of a planned route. Responsive to identifying one or more obstructions ahead of the autonomous vehicle along the path, the computing system can: determine one or more deviations from the path that would result in the autonomous vehicle avoiding the obstruction(s) and at least partially crossing at least one of the one or more boundaries; and generate, based at least in part on the deviation(s), a motion plan instructing the autonomous vehicle to deviate from the path such that it avoids the obstruction(s) and continues traveling along the planned route.

Abstract: The present disclosure is directed to deviating from a planned path for an autonomous vehicle. In particular, a computing system comprising one or more computing devices physically located onboard an autonomous vehicle can identify one or more boundaries at least in part defining a lane in which the autonomous vehicle is traveling along a path of a planned route. Responsive to identifying one or more obstructions ahead of the autonomous vehicle along the path, the computing system can: determine one or more deviations from the path that would result in the autonomous vehicle avoiding the obstruction(s) and at least partially crossing at least one of the one or more boundaries; and generate, based at least in part on the deviation(s), a motion plan instructing the autonomous vehicle to deviate from the path such that it avoids the obstruction(s) and continues traveling along the planned route.

Abstract: Various examples are directed to systems and methods for operating a vehicle comprising a tractor and a trailer attached for pulling behind the tractor. A center-of-mass system may determine a mass of the trailer and a tractor understeer. The center-of-mass system may determine the tractor understeer using steering input data describing a steering angle of the tractor and yaw data describing a yaw of the tractor. The center-of-mass system may determine a load center of mass using the tractor understeer and a mass of the trailer. The center-of-mass system may further determine that the load center of mass transgresses a center-of-mass threshold and send an alert message indicating that the load transgresses the load center-of-mass threshold.

Abstract: Various examples are directed to systems and methods for operating a vehicle comprising a tractor and a trailer attached for pulling behind the tractor. A center-of-mass system may determine a mass of the trailer and a tractor understeer. The center-of-mass system may determine the tractor understeer using steering input data describing a steering angle of the tractor and yaw data describing a yaw of the tractor. The center-of-mass system may determine a load center of mass using the tractor understeer and a mass of the trailer. The center-of-mass system may further determine that the load center of mass transgresses a center-of-mass threshold and send an alert message indicating that the load transgresses the load center-of-mass threshold.

Abstract: The present disclosure is directed to deviating from a planned path for an autonomous vehicle. In particular, a computing system comprising one or more computing devices physically located onboard an autonomous vehicle can identify one or more boundaries at least in part defining a lane in which the autonomous vehicle is traveling along a path of a planned route. Responsive to identifying one or more obstructions ahead of the autonomous vehicle along the path, the computing system can: determine one or more deviations from the path that would result in the autonomous vehicle avoiding the obstruction(s) and at least partially crossing at least one of the one or more boundaries; and generate, based at least in part on the deviation(s), a motion plan instructing the autonomous vehicle to deviate from the path such that it avoids the obstruction(s) and continues traveling along the planned route.

Abstract: Various examples are directed to systems and methods for at least partially controlling a vehicle. A vehicle system may access motion plan data for the vehicle. The vehicle system may generate drivetrain bias data representative of drivetrain effects of the vehicle. The vehicle system may generate a biased throttle command using the motion plan data and the drivetrain bias data and apply the biased throttle command to a propulsion system of the vehicle.

Abstract: Various examples are directed to systems and methods of monitoring a vehicle. At least one processor unit may access first slope data indicative of a first slope referenced to a cab of the vehicle and access second slope data indicative of a second slope independent of the cab of the vehicle. The at least one processor unit may generate cab tilt data indicative of a cab tilt of the cab using the first slope data and the second slope data.

Abstract: Various examples are directed to systems and methods for operating a vehicle comprising a tractor and a trailer attached for pulling behind the tractor. A center-of-mass system may determine a mass of the trailer and a tractor understeer. The center-of-mass system may determine the tractor understeer using steering input data describing a steering angle of the tractor and yaw data describing a yaw of the tractor. The center-of-mass system may determine a load center of mass using the tractor understeer and a mass of the trailer. The center-of-mass system may further determine that the load center of mass transgresses a center-of-mass threshold and send an alert message indicating that the load transgresses the load center-of-mass threshold.