Abstract: A method of autonomously backing a vehicle (e.g., a tractor unit) to a trailer (e.g., a semi-trailer) comprising a trailer-mounted coupling device (e.g., a kingpin). The method includes determining, by an autonomous backing module of the vehicle, a target corresponding to the trailer-mounted coupling device; determining, by the autonomous backing module, a path to maneuver the vehicle to the target and align a vehicle-mounted coupling device (e.g., a fifth wheel) with the trailer-mounted coupling device, determining, by the autonomous backing module, commands to components of the vehicle to autonomously control the vehicle to maneuver along the determined path to the target, and transmitting, by the autonomous backing module, the commands to the components of the vehicle (e.g., a braking control module, a steering control module, and/or a torque request module). Suitably configured vehicles are also described.

Abstract: In some embodiments, a range sensor is configured to detect a distance between a portion of a vehicle and an object above the portion of the vehicle. In some embodiments, the detected distance may be presented to an operator to allow the operator to control a height of an adjustable suspension in order to manually control the distance. In some embodiments, the detected distance may be used to automatically control the distance. In some embodiments, the distance may be controlled in order to allow the vehicle to couple to the object, such as a fifth wheel of the vehicle coupling to a kingpin of a trailer.

Abstract: In some embodiments, techniques for updating a model that represents turning dynamics of a vehicle are provided. In some embodiments, an initial location and orientation of the vehicle with respect to an object outside the vehicle are determined using information from environment sensors including but not limited to image sensors and/or range sensors. In some embodiments, vehicle state information including but not limited to steering angle and wheel speed is received before determining a new location and orientation of the vehicle with respect to the object. In some embodiments, the model is updated using the initial location and orientation, the new location and orientation, and the vehicle state information.

Abstract: A method of autonomously backing a vehicle (e.g., a tractor unit) to a trailer (e.g., a semi-trailer) comprising a trailer-mounted coupling device (e.g., a kingpin). The method includes determining, by an autonomous backing module of the vehicle, a target corresponding to the trailer-mounted coupling device; determining, by the autonomous backing module, a path to maneuver the vehicle to the target and align a vehicle-mounted coupling device (e.g., a fifth wheel) with the trailer-mounted coupling device, determining, by the autonomous backing module, commands to components of the vehicle to autonomously control the vehicle to maneuver along the determined path to the target, and transmitting, by the autonomous backing module, the commands to the components of the vehicle (e.g., a braking control module, a steering control module, and/or a torque request module). Suitably configured vehicles are also described.

Abstract: In some embodiments, techniques are provided for autonomously backing a vehicle (such as a Class 8 truck) to a trailer. In some embodiments, environment sensors such as image sensors and range sensors mounted to the vehicle detect a trailer and determine distances between the trailer and the vehicle as well as relative angles of the trailer and the vehicle. In some embodiments, the vehicle determines a path to the trailer based on this information, and autonomously controls braking, torque, and/or steering of the vehicle to autonomously back the vehicle along the determined path.

Abstract: In some embodiments, a range sensor is configured to detect a distance between a portion of a vehicle and an object above the portion of the vehicle. In some embodiments, the detected distance may be presented to an operator to allow the operator to control a height of an adjustable suspension in order to manually control the distance. In some embodiments, the detected distance may be used to automatically control the distance. In some embodiments, the distance may be controlled in order to allow the vehicle to couple to the object, such as a fifth wheel of the vehicle coupling to a kingpin of a trailer.

Abstract: A method of autonomously maneuvering a vehicle using environment sensors comprises calculating first coordinate data based on information received from environment sensors mounted on a first portion of the vehicle; determining, based on the first coordinate data, a first target at a first location; determining a path to maneuver the vehicle to the first location; determining and transmitting commands to autonomously control the vehicle to maneuver to the first location; calculating second coordinate data based on information received from environment sensors mounted on a second portion of the vehicle; determining based on the second coordinate data, a second target at a second location, determining a path to maneuver the vehicle from the first location to the second location; and determining and transmitting commands to autonomously control the vehicle to maneuver from the first location to the second location. Suitably configured vehicles (e.g., tractor units) are also described.

Abstract: In some embodiments, techniques for updating a model that represents turning dynamics of a vehicle are provided. In some embodiments, an initial location and orientation of the vehicle with respect to an object outside the vehicle are determined using information from environment sensors including but not limited to image sensors and/or range sensors. In some embodiments, vehicle state information including but not limited to steering angle and wheel speed is received before determining a new location and orientation of the vehicle with respect to the object. In some embodiments, the model is updated using the initial location and orientation, the new location and orientation, and the vehicle state information.

Abstract: In some embodiments, techniques are provided for autonomously backing a vehicle to a target object such as a loading dock, a loading bay, a dock level er, a garage door, a wall area, another vehicle, or an end of an alley. The target object is determined, and an autonomous backing module of the vehicle determines relevant distances and angles. Using this information, the autonomous backing module may determine a path to the target object, and transmit commands to components of the vehicle to autonomously control the vehicle along the determined path to the target object.